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;
- Imufilter: https://in.mathworks.com/help/fusion/ref/imufilter-system-object.html
- complementaryFilter: https://in.mathworks.com/help/fusion/ref/complementaryfilter-system-object.html
You can also refer to the following documentation to align and preprocess the raw sensor data: https://in.mathworks.com/help/fusion/ug/logged-sensor-data-alignment-for-orientation-estimation.html
Hope this resolves the issue.
