Data Fusion Filters for Attitude Heading Reference System (AHRS) with Several Variants of the Kalman Filter and the Mahoney and Madgwick Filters

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Documentation for package ‘RAHRS’ version 1.0.2

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accl.coefs accelerometer coefficients
ahrs.EKF.QUATERNION EKF-based AHRS algorithm
ahrs.LKF.EULER Euler angles estimation with vector matching and Kalman filter
ahrs.LKF.QUATERNION LKF-based AHRS algorithm
ahrs.LKF.VMATCH Quaternion estimation with vector matching and Kalman filter
ahrs.UKF.QUATERNION Estimate the current quaternion attitude by UKF-based AHRS algorithm
anglesGyroLib Test recording and calibration recording data
calibrationGyroLib Test recording and calibration recording data
ekf.calibration.indirect Calibration coefs by complementary EKF
MadgwickAHRS Madgwick's AHRS algorithm
MadgwickAHRSupdate Madgwick's AHRS update method
MadgwickAHRSupdate2 Madgwick's AHRS update method
MadgwickAHRSupdateDbl Madgwick's AHRS update method
MadgwickAHRSupdateIMU Madgwick's IMU update method
MadgwickAHRSupdateIMU2 Madgwick's IMU update method
MadgwickAHRSupdateIMUDbl Madgwick's IMU update method
MadgwickData Test data for Sebastian Madgwick's IMU and AHRS sensor fusion algorithms
MadgwickIMU Madgwick's IMU algorithm
magn.coefs magnetometer coefficients
MahonyAHRSupdate Mahony's AHRS update method
MahonyAHRSupdate2 Mahony's AHRS update method
MahonyAHRSupdateDbl Mahony's AHRS update method
MahonyAHRSupdateIMU Mahony's IMU update method
MahonyAHRSupdateIMU2 Mahony's IMU update method
MahonyAHRSupdateIMUDbl Mahony's IMU update method
MahonykAHRS Mahony's AHRS algorithm
MahonykIMU Mahony's IMU algorithm
svd.calibration calibration coefs by Merayo's technique