Sensor Fusion using Madgwick/Mahony/kalman filters the MATLAB coding

Hi all,

I have 6-DOF raw imu sensor data(only accelerometer and gyroscope). Now , wanted to fuse this data inorder to calculate 'Quaternions' and know the orientation. I am stuck at this point how to build a working algorithm in MATLAB of any of the above mentioned filters.

Any leads,references and already existing matlab scripts?? will be grateful.

Looking Forward.

Thanks.

Answer 1

[Amey Waghmare]

Hi,

As per my understanding, you have raw accelerometer and gyroscope data and want to obtain the Quaternion orientation estimates using a Sensor Fusion algorithm.

The Sensor Fusion and Tracking Toolbox contains ‘imufilter’ and ‘complementaryFilter’ objects to fuse accelerometer and magnetometer data. The ‘imufilter’ uses an internal error-state Kalman filter and the ‘complementaryFilter’ uses a complementary filter.

More details about the sensor fusion objects are available at the documentation;

• Imufilter: https://in.mathworks.com/help/fusion/ref/imufilter-system-object.html
• complementaryFilter: https://in.mathworks.com/help/fusion/ref/complementaryfilter-system-object.html

You can also refer to the following documentation to align and preprocess the raw sensor data: https://in.mathworks.com/help/fusion/ug/logged-sensor-data-alignment-for-orientation-estimation.html

Hope this resolves the issue.