jeljaik / extended-kalman-filter

Matlab and C++ code for implementation of the Extended Kalman Filter for estimating dynamic quantities for a single rigid body with distributed force/torque measurements and distributed gyroscopes and accelerometers measurements.It also include estimation of the orientation under the quaternion representation.

MIT License

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Quaternion-based Orientation Estimation #9

Open jeljaik opened 9 years ago

jeljaik commented 9 years ago

CURRENTLY working on it. Very very soon pushing initial code and brief report describing the method.

TODO List

[x] Write 3D visualizer.
[ ] Write summary on Quest Attitude Determination.
[x] Write model function.
[x] Write measurement derivative function.
[x] Finish coding simplified version of the quaternion-based EKF.
[x] Push code when first full skeleton is ready.
[x] Notes on theory and implementation.
[ ] Update website with the first corrected draft version of my notes.
[ ] Unify notation.
[x] Online estimation with visualization

jeljaik commented 9 years ago

First perfectly working version in https://github.com/jeljaik/extended-kalman-filter/commit/80f34407bf7da10ff5981be1d5ba43afcfbf0e6e

e.g. mainVisualizer('batchEKF', 'fullPitchRotation.mat', [])

jeljaik commented 9 years ago

Visualization of a full pitch rotations without singularities.

fullpitch

naveenoid commented 9 years ago

Excellent work @jeljaik

Naveen Kuppuswamy, PhD Post-doctoral Fellow, Cognitive Humanoids Lab, Department of Robotics, Brain and Cognitive Sciences (RBCS), Istituto Italiano di Tecnologia, Genova, Italy

On Wed, Mar 18, 2015 at 3:31 PM, Jorhabib Eljaik notifications@github.com wrote:

Visualization of a full pitch rotations without singularities. [image: fullpitch] https://cloud.githubusercontent.com/assets/5030039/6710862/bc8e0d20-cd83-11e4-96b3-f377b42c68c7.png

— Reply to this email directly or view it on GitHub https://github.com/jeljaik/extended-kalman-filter/issues/9#issuecomment-82996381 .