IMU_Attitude_Estimator

This project is aimed at estimating the attitude of Attitude Heading and Reference System(AHRS). And the project contains three popular attitude estimator algorithms.

Mahony’s algorithm
Extend Kalman Filter(EKF)
Error State Kalman Filter(ESKF)

DataSets.py for converting estimator data.
Allan_Analysis for Allan Variance analysis.

Refrence

[1] Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.
[2] Pixhawk state estimation
[3] Solà, Joan. Quaternion kinematics for the error-state Kalman filter[J]. 2017.
[4] Trawny N, Roumeliotis S I. Indirect Kalman Filter for 3D Attitude Estimation[J]. 2005.

Dependencies

Eigen3.2.0
glog
```
sudo apt-get install libgoogle-glog-dev
```
matplotlib-cpp

Simple Test

Simple comparision among three methods. And the params of Mahony filter can be further tuned.