Sensor Fusion using Madgwick/Mahony/kalman filters the MATLAB coding

조회 수: 195 (최근 30일)
Revanth Kumar Adireddy
Revanth Kumar Adireddy 2022년 10월 27일
답변: Amey Waghmare 2022년 11월 22일
Hi all,
I have 6-DOF raw imu sensor data(only accelerometer and gyroscope). Now , wanted to fuse this data inorder to calculate 'Quaternions' and know the orientation. I am stuck at this point how to build a working algorithm in MATLAB of any of the above mentioned filters.
Any leads,references and already existing matlab scripts?? will be grateful.
Looking Forward.
Thanks.

답변 (1개)

Amey Waghmare
Amey Waghmare 2022년 11월 22일
Hi,
As per my understanding, you have raw accelerometer and gyroscope data and want to obtain the Quaternion orientation estimates using a Sensor Fusion algorithm.
The Sensor Fusion and Tracking Toolbox contains ‘imufilter’ and ‘complementaryFilter’ objects to fuse accelerometer and magnetometer data. The ‘imufilter’ uses an internal error-state Kalman filter and the ‘complementaryFilter’ uses a complementary filter.
More details about the sensor fusion objects are available at the documentation;
You can also refer to the following documentation to align and preprocess the raw sensor data: https://in.mathworks.com/help/fusion/ug/logged-sensor-data-alignment-for-orientation-estimation.html
Hope this resolves the issue.

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by