compUpdate: Update orientation with 3-axis acc and gyr data

In imuf: Estimate Orientation of an Inertial Measurement Unit

Update orientation with 3-axis acc and gyr data

Description

compUpdate() uses complementary filtering to update the orientation, given an initial orientation, readings of a 3-axis accelerometer and a 3-axis gyroscope. time duration, and a gain factor

Usage

compUpdate(acc, gyr, dt, initQuat, gain)

Arguments

acc	A numeric 3-vector of 3-axis accelerometer readings in g
gyr	A numeric 3-vector of 3-axis gyroscope readings in rad/sec
dt	A numeric of time duration in sec
initQuat	A numeric 4-vector of the starting orientation in quaternion
gain	A numeric gain factor between 0 and 1

Value

A numeric 4-vector of the ending orientation in quaternion

Examples

compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)

imuf documentation built on April 3, 2025, 8:10 p.m.