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Orientation estimation

Roll Pitch Yaw
Roll 1 Pitch 1 Roll 1

Overview

This repostory estimates the orientation (roll, pitch and yaw) given IMU data using a unscented kalman filter. Ground truth was found out using a vicon mocap setup.

Dependencies

  • Numpy
  • Scipy
  • Matplotlib

Approach

The main approach taken can be found in this paper. 2 approaches were taken to the state size, a state with 7 elements (4 for orientation and 3 for angular velocity) and a state with 4 elements (for orientation). The 7 state version still has to be tuned more but the 4 state has been tuned for the given datasets.

Results

Below are some results using the first dataset. The roll and pitch are on point, while the yaw drifts. This is a limitation with estimating yaw using only an IMU.

7 state 4 state
Roll
Pitch
Yaw