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

Question

Revanth Kumar Adireddy 2022-10-27

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https://ww2.mathworks.cn/matlabcentral/answers/1837558-sensor-fusion-using-madgwick-mahony-kalman-filters-the-matlab-coding

回答： Amey Waghmare 2022-11-22

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.

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Answer 1

Amey Waghmare 2022-11-22

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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;