Inertial Sensor Fusion

IMU and GPS sensor fusion to determine orientation and position

Use inertial sensor fusion algorithms to estimate orientation and position over time. The algorithms are optimized for different sensor configurations, output requirements, and motion constraints. To learn more about inertial sensor fusion algorithms and their uses, see Determine Orientation Using Inertial Sensors and Determine Pose Using Inertial Sensors and GPS.


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ecompassOrientation from magnetometer and accelerometer readings
imufilterOrientation from accelerometer and gyroscope readings
ahrsfilterOrientation from accelerometer, gyroscope, and magnetometer readings
ahrs10filterHeight and orientation from MARG and altimeter readings
complementaryFilterOrientation estimation from a complementary filter
insfilterMARGEstimate pose from MARG and GPS data
insfilterAsyncEstimate pose from asynchronous MARG and GPS data
insfilterErrorStateEstimate pose from IMU, GPS, and monocular visual odometry (MVO) data
insfilterNonholonomicEstimate pose with nonholonomic constraints
insfilterCreate inertial navigation filter


Estimate Orientation Through Inertial Sensor Fusion

This example shows how to use 6-axis and 9-axis fusion algorithms to compute orientation.

Determine Pose Using Inertial Sensors and GPS

Use Kalman filters to fuse IMU and GPS readings to determine pose.

Logged Sensor Data Alignment for Orientation Estimation

This example shows how to align and preprocess logged sensor data.

Featured Examples