‘imuf’ uses complementary filtering to estimate the orientation of an inertial measurement unit (IMU) with a 3-axis accelerometer and a 3-axis gyroscope. It takes the IMU’s accelerometer and gyroscope readings, time duration, its initial orientation, and a ‘gain’ factor as inputs, and provides an estimate of the final orientation as outputs.
‘imuf’ adopts the north-east-down (NED) coordinate system. The initial and final orientations are expressed as quaternions in (w, x, y, z) convention.
Installation
install.packages("imuf")You can install the development version of imuf from GitHub with:
# install.packages("pak")
pak::pak("gitboosting/imuf")Example
This is a basic example which shows you how to solve a common problem:
library(imuf)
acc <- c(0, 0, -1) # accelerometer NED readings in g (~ 9.81 m/s^2)
gyr <- c(1, 0, 0) # gyroscope NED readings in radians per second
deltat <- 0.1 # time duration in seconds
initq <- c(1, 0, 0, 0) # initial orientation expressed as a quaternion
gain <- 0.1 # a weight (0-1) given to the accelerometer readings
#
# final orientation expressed as a quaternion
(final <- compUpdate(acc, gyr, deltat, initq, gain))
#> [1] 0.99898767 0.04498481 0.00000000 0.00000000