{"id":16162403,"url":"https://github.com/sunsided/sensor-fusion","last_synced_at":"2025-03-18T22:31:10.449Z","repository":{"id":141992992,"uuid":"14326821","full_name":"sunsided/sensor-fusion","owner":"sunsided","description":"Experiments in sensor fusion","archived":false,"fork":false,"pushed_at":"2024-06-29T13:27:24.000Z","size":30845,"stargazers_count":5,"open_issues_count":0,"forks_count":1,"subscribers_count":3,"default_branch":"main","last_synced_at":"2025-02-28T12:32:53.235Z","etag":null,"topics":["compass-calibration","dataset","experiment","magnetometer","magnetometer-calibration","marg","matlab","mems-sensors","quaternions","sensor-fusion","triad"],"latest_commit_sha":null,"homepage":"","language":"MATLAB","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"eupl-1.2","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/sunsided.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE.md","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2013-11-12T08:43:49.000Z","updated_at":"2025-02-10T21:38:04.000Z","dependencies_parsed_at":"2024-10-27T19:17:13.908Z","dependency_job_id":"8f6872f0-e951-4555-815b-7607c482f03b","html_url":"https://github.com/sunsided/sensor-fusion","commit_stats":null,"previous_names":[],"tags_count":1,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sunsided%2Fsensor-fusion","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sunsided%2Fsensor-fusion/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sunsided%2Fsensor-fusion/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/sunsided%2Fsensor-fusion/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/sunsided","download_url":"https://codeload.github.com/sunsided/sensor-fusion/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":243950927,"owners_count":20373664,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["compass-calibration","dataset","experiment","magnetometer","magnetometer-calibration","marg","matlab","mems-sensors","quaternions","sensor-fusion","triad"],"created_at":"2024-10-10T02:30:00.314Z","updated_at":"2025-03-18T22:31:08.947Z","avatar_url":"https://github.com/sunsided.png","language":"MATLAB","funding_links":[],"categories":[],"sub_categories":[],"readme":"# MARG Sensor Fusion with InvenSense MPU6050 and Honeywell HMC5883L\n\nExperiments with MEMS accelerometer, angular rate and magnetometer sensor fusion algorithms in MATLAB.\n\nThe first part around [set-1](processing/set-1/) is concerned with\ndirect estimation from raw data.\nThe second part around [set-2](processing/set-2) is concerned with\nfiltering the raw inputs to smoothen the estimation.\n\n![](processing/set-1/readme/screenshot.png)\n\nThe MATLAB code was later factored into an on-device pose orientation estimation\non a Freescale FRDM-KL25Z board, the code of which can be found\nin the [frdm-kl25z-marg-fusion](https://github.com/sunsided/frdm-kl25z-marg-fusion) repo.\nHere, two of the eigenvectors of the direction cosine matrix are estimated directly on the device using a regular (i.e., non-extended, non-unscented) Kalman filter with TRIAD.\nA video recording of the outcome can be found on YouTube:\n\n[![](readme/later.png)](https://www.youtube.com/watch?v=tmC5kjQn-uA)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsunsided%2Fsensor-fusion","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsunsided%2Fsensor-fusion","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsunsided%2Fsensor-fusion/lists"}