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Repository Summary
| Description | attitude estimator with gyro bias correction |
| Checkout URI | https://github.com/rsasaki0109/imu_estimator.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2023-11-29 |
| Dev Status | UNKNOWN |
| Released | UNRELEASED |
| Tags | imu ekf bias-correction |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| imu_estimator | 0.0.0 |
README
imu_estimator
a header-file program of attitude estimator by using 6-axis imu with gyro bias correction
how to use
#include <imu_estimator/ekf.hpp>
EKFEstimator ekf;
ekf.setProcessNoize(0.033); // [(rad/sec)^2]
ekf.setObservationNoize(0.033);// [(m/sec^2)^2]
// input
dt = 0.1; // [sec]
Eigen::Vector3d gyro{0, 0, 0};
Eigen::Vector3d acc{0, 0, 0};
// output
Eigen::Quaternion<double> quat;
ekf.filterOneStep(quat, dt, acc, gyro);
ros2 example
- input
/imu/data (sensor_msgs/Imu)(gyro and acc)
- how to run
ros2 run imu_estimator imu_estimator
CONTRIBUTING
Any contribution that you make to this repository will be under the BSD license 2.0, as dictated by that license.
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