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Inertial Sensor Fusion

Inertial navigation with IMU and GPS, sensor fusion, custom filter tuning

Inertial sensor fusion uses filters to improve and combine readings from IMU, GPS, and other sensors. To model specific sensors, see Sensor Models.

For simultaneous localization and mapping, see SLAM.

Functions

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ahrsfilterOrientation from accelerometer, gyroscope, and magnetometer readings
ahrs10filterHeight and orientation from MARG and altimeter readings
complementaryFilterOrientation estimation from a complementary filter
ecompassOrientation from magnetometer and accelerometer readings
imufilterOrientation from accelerometer and gyroscope readings
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
tunerconfigFusion filter tuner configuration options
tunerPlotPosePlot filter pose estimates during tuning

Blocks

AHRSOrientation from accelerometer, gyroscope, and magnetometer readings

Topics

Sensor Fusion

Choose Inertial Sensor Fusion Filters

Applicability and limitations of various inertial sensor fusion filters.

Estimate Orientation Through Inertial Sensor Fusion

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

Estimate Orientation with a Complementary Filter and IMU Data

This example shows how to stream IMU data from an Arduino and estimate orientation using a complementary filter.

Logged Sensor Data Alignment for Orientation Estimation

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

Lowpass Filter Orientation Using Quaternion SLERP

This example shows how to use spherical linear interpolation (SLERP) to create sequences of quaternions and lowpass filter noisy trajectories.

Pose Estimation From Asynchronous Sensors

This example shows how you might fuse sensors at different rates to estimate pose.

Custom Tuning of Fusion Filters

Use the tune function to optimize the noise parameters of several fusion filters, including the ahrsfilter object.

Applications

Binaural Audio Rendering Using Head Tracking

Track head orientation by fusing data received from an IMU, and then control the direction of arrival of a sound source by applying head-related transfer functions (HRTF).

Estimating Orientation Using Inertial Sensor Fusion and MPU-9250

This example shows how to get data from an InvenSense MPU-9250 IMU sensor, and to use the 6-axis and 9-axis fusion algorithms in the sensor data to compute orientation of the device.

Wireless Data Streaming and Sensor Fusion Using BNO055

This example shows how to get data from a Bosch BNO055 IMU sensor through an HC-05 Bluetooth® module, and to use the 9-axis AHRS fusion algorithm on the sensor data to compute orientation of the device.

Featured Examples