hhyyti/dcm-imu
The DCM-IMU algorithm is designed for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements. An extended Kalman filter is used to estimate attitude in direction cosine matrix (DCM) formation and gyroscope biases online. A variable measurement covariance method is implemented for acceleration measurements to ensure robustness against temporarily non-gravitational accelerations which usually induce errors to attitude estimate in ordinary IMU-algorithms. The code and data will be added after related scientific work is published and open source publication is approved.
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