rsasaki0109/imu_estimator

attitude estimator with gyro bias correction

imu_estimator

a header-file program of attitude estimator by using 6-axis imu with gyro bias correction

how to use

#include <imu_estimator/ekf.hpp>

EKFEstimator ekf;
ekf.setProcessNoize(0.033); // [(rad/sec)^2]
ekf.setObservationNoize(0.033);// [(m/sec^2)^2]
// input
dt = 0.1; // [sec]
Eigen::Vector3d gyro{0, 0, 0};
Eigen::Vector3d acc{0, 0, 0};
// output
Eigen::Quaternion<double> quat;

ekf.filterOneStep(quat, dt, acc, gyro);

ros2 example

• input

/imu/data (sensor_msgs/Imu)(gyro and acc)

• how to run

ros2 run imu_estimator imu_estimator