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SimulinkEKFAttitude

version 1.0 (167 KB) by Alireza Ghaderi
Real time EKF Attitude Estimation for Simulink

165 Downloads

Updated 20 Nov 2020

From GitHub

View license on GitHub

Real-time EKF Attitude Estimation for Simulink

Using the attached Simulink Model, You can use a real-time Accelerometer, Gyroscope, Magnetometer from any source you have to estimate the Euler angles of your device. Extended Kalman Filter (EKF) is being used which is commonly used in UAVs and many flight controllers e.g. Pixhawk.

Inputs:

Accelerometer data should be m/s
Gyroscope data should be rad/s
Magnetometer data should be ut
dt (time step) can be either a fixed step time or variable (in seconds)
Outputs:

Euler Angles Roll, Pitch, Heading (Yaw) in Radians
*** Remember to add the path to AHRS-master folders and subfolders in your Matlab setting.

Soon I will publish a demonstration Video as well.

I used the project "Attitude and Heading Reference System using MATLAB as simple as possible" in github for the algorithm link: https://github.com/raimapo/AHRS

Cite As

Alireza Ghaderi (2021). SimulinkEKFAttitude (https://github.com/alireza787b/SimulinkEKFAttitude/releases/tag/1.0), GitHub. Retrieved .

MATLAB Release Compatibility
Created with R2020b
Compatible with R2019a and later releases
Platform Compatibility
Windows macOS Linux

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AHRS-master

AHRS-master/@MadgwickAHRS

AHRS-master/@MahonyAHRS

AHRS-master/AccelerometerMagnetometer

AHRS-master/EKF

AHRS-master/EulerEKF

AHRS-master/EulerKF

AHRS-master/EulerUKF

AHRS-master/GyroscopeIntegration

AHRS-master/UKF

AHRS-master/quaternion_library

To view or report issues in this GitHub add-on, visit the GitHub Repository.
To view or report issues in this GitHub add-on, visit the GitHub Repository.