IMU tools

Overview

IMU-related filters and visualizers. The stack contains:

• imu_filter_madgwick: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation. Based on the work of [1].

• imu_complementary_filter: a filter which fuses angular velocities, accelerations, and (optionally) magnetic readings from a generic IMU device into an orientation quaternion using a novel approach based on a complementary fusion. Based on the work of [2].

Based on

http://wiki.ros.org/imu_tools

License

• imu_filter_madgwick: currently licensed as GPL, following the original implementation

• imu_complementary_filter: BSD

References

[1] http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

[2] http://www.mdpi.com/1424-8220/15/8/19302