Imufusion accelerometer and gyroscope orientation and formatting

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li chen 2021-7-15

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链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/879578-imufusion-accelerometer-and-gyroscope-orientation-and-formatting

I am currently using the MATLAB "imufilter" function to estimate yaw, pitch, and roll. But I have been having problems. The documentation says NED orientation. Although when aligning im accelerometer and gyroscope to NED my testing this the imufilter claims to have been rotated by 180 degrees around the x axis.

https://www.mathworks.com/matlabcentral/answers/486192-what-is-the-imu-sensor-measuring-in-the-sensor-fusion-and-tracking-toolbox

After looking at this link and reading the documentation that was attached to it, I gained some insight to the format and orientation of the accelerometer and gyroscope data. The problem is I cannot find anything specific to the "imufusion" function and am finding it hard to validate what orientation to mount my accelerometer and gyroscope.