| Title: | Estimate Orientation of an Inertial Measurement Unit |
|---|---|
| Description: | Estimate the orientation of an inertial measurement unit (IMU) with a 3-axis accelerometer and a 3-axis gyroscope using a complementary filter. 'imuf' takes an IMU's accelerometer and gyroscope readings, time duration, its initial orientation, and a gain factor as inputs, and returns an estimate of the IMU's final orientation. |
| Authors: | Felix Chan [aut, cre, cph] |
| Maintainer: | Felix Chan <[email protected]> |
| License: | GPL (>= 3) |
| Version: | 0.2.1 |
| Built: | 2024-10-18 12:36:38 UTC |
| Source: | CRAN |
'compUpdate' update orientation with 3-axis acc and gyr data
compUpdate(acc, gyr, dt, initQuat, gain)compUpdate(acc, gyr, dt, initQuat, gain)
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 |
A numeric 4-vector of the ending orientation in quaternion
compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)