meyiao/imufusion

EKF IMU Fusion Algorithms

ImuFusion

EKF IMU Fusion Algorithms

1. orien.m uses Kalman filter for fusing the gyroscope's and accelerometer's readings to get the IMU's attitude(quaternion).
   
2. zupt.m implenments the so called 'zero-velocity-update' algorithm for pedestrian tracking(gait tracking), it's also a ekf filter.
   

• Video: http://v.youku.com/v_show/id_XMTg2NjI4NTI4NA==.html

Usage

Example data already included.
Simply run the orien.m or zupt.m. For zupt, set 'CreateVideo' as true if you'd like to save the results as a video.
Note that the datasets and the code for visualizing the results were from: https://github.com/xioTechnologies/Gait-Tracking-With-x-IMU

References:

[1] S. Madgwick. An efficient orientation filter for inertial and inertial/magnetic sensor arrays.
[2] Fischer C, et. Implementing a Pedestrian Tracker Using inertial Sensors.
[3] Isaac Skog, et. Zero-Velocity Detection — An Algorithm Evaluation.

imufusion's Issues

關於compVq的問題

您好！
想要請問您compVq的公式是參考哪個reference?
而F矩陣如何求得?
因為沒有聯繫的方式，所以在github上留言請教您。謝謝。

What is the meaning of compVq

Hi! I cant understand the meaning of compVq... but I know it has an important role in the state transiction matrix F. I tried to match it with quaternion multiplicaton, madgwick... but I dont understand it.

Thanks!

关于视觉惯性历程计的问题

大哥，您好！
之前看过您的视频，最近在研究有些问题想请教您一下。因为没有其余的联系方式，冒昧在github留言。
如果在紧耦合的VIO中，使用fast或者harris,利用光流进行跟踪。联立相机误差和IMU误差进行优化。请问此时相机的误差是像ORB-SLAM一样的几何误差还是像DSO一样的光度误差？
万分感谢

need help

IMU data only has 6 axes, can you add magnetometer to input 9 axes data? Thank you very much