No usable results when using insEKF() instead of imufilter()

Hi Christian,

I need your help to share your code snippets in order to resolve your issue. The issue that I am running into is regarding to insOptions requires one of the following:Sensor Fusion and Tracking Toolbox and Navigation Toolbox while executing “insEKF_orientation_tune.m” as shown in the attached screenshot.

However, I did notice the following while executing the file

Warning: Variable 'qmean' originally saved as a quaternion cannot be instantiated as an object and will be read in as a uint32. > In insEKF_orientation_tune (line 1)

This warning lies in “load("orientation_truth.mat");”

To fix this warning, you can utilize function like quaternion to convert the variable appropriately. Here's an example of how you can convert a uint32 variable to a quaternion in Matlab:

% Assuming qmean_uint32 is the uint32 variable

qmean_quaternion = quaternion(qmean_uint32);

By converting 'qmean' to a quaternion object before passing it to the function, you can resolve the instantiation issue and ensure proper handling of the variable within the insEKF_orientation_tune function. Also, it can affect the spinning and jumping of the estimated orientation, so make sure you properly initialize and process sensor data. Another thing, I can think of handling of sensor measurements in your code needs to be revised. For more information on quaternion function, please refer to:

https://www.mathworks.com/help/robotics/ref/quaternion.html

Also,I did get chance to review “insEKF_orientation_tune.m” ignoring comments, your code is loading sensor data, processes it using an Extended Kalman Filter (EKF) for Inertial Navigation System (INS) estimation, and then visualizing the estimated orientation. However, there are potential issues with the code that need to be addressed. It seems to lack proper initialization and tuning of the EKF parameters, which can lead to erratic behavior in the estimated orientation. Additionally, the loop for visualization may not be optimal for displaying the orientation accurately.