leonshaw06/imu-fusion

Implementing IMU fusion both in sim and in real.

imu-fusion

The goal of this repo is to implement IMU sensor fusion in simulation and on real hardware using an Arduino.

Todos

• Implement 2 integrators: Euler's and 4th-order Runge-Kutta.
• Implement various state classes.
• Create 3 sensor classes: accelerometer, gyroscope and magnetometer.
• Implement a Kalman Filter and an EKF.
• Create a linear state estimation problem and apply the Kalman filter to it.

References

Here's a list of resources I consulted for this project:

• https://lpsa.swarthmore.edu/NumInt/NumIntFourth.html
• https://www.bzarg.com/p/how-a-kalman-filter-works-in-pictures/
• http://cs229.stanford.edu/section/more_on_gaussians.pdf
• https://github.com/trbabb/kalman
• https://arxiv.org/abs/1704.06053