https://github.com/oxkitsune/vqf

A Rust implementation of the Versatile Quaternion-based Filter (VQF) algorithm
https://github.com/oxkitsune/vqf

accelerometer gyroscope imu quaternion robotics sensor-fusion signal-processing

Last synced: about 14 hours ago
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A Rust implementation of the Versatile Quaternion-based Filter (VQF) algorithm

• Host: GitHub
• URL: https://github.com/oxkitsune/vqf
• Owner: oxkitsune
• License: apache-2.0
• Created: 2024-11-03T18:13:42.000Z (11 months ago)
• Default Branch: main
• Last Pushed: 2024-11-30T12:22:06.000Z (11 months ago)
• Last Synced: 2025-08-20T23:17:20.214Z (about 2 months ago)
• Topics: accelerometer, gyroscope, imu, quaternion, robotics, sensor-fusion, signal-processing
• Language: Rust
• Homepage:
• Size: 47.9 KB
• Stars: 6
• Watchers: 1
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE-APACHE

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README

          
# vqf 🧭

[![License](https://img.shields.io/badge/license-MIT%2FApache-blue.svg)](https://github.com/oxkitsune/vqf#license)

[![Crates.io](https://img.shields.io/crates/v/vqf.svg)](https://crates.io/crates/vqf)

[![Downloads](https://img.shields.io/crates/d/vqf.svg)](https://crates.io/crates/vqf)

[![Docs](https://docs.rs/vqf/badge.svg)](https://docs.rs/vqf/latest/vqf/)

![demo](https://github.com/user-attachments/assets/2934d825-be6f-4c5d-a2b5-f9deefcf5973)

A Rust implementation of the Versatile Quaternion-based Filter (VQF) algorithm, as described in [this paper](https://arxiv.org/pdf/2203.17024).

> [!NOTE]

> Currently this crate does *not* implement the magnometer update.

## Example

```rust

use nalgebra::Vector3;

use std::time::Duration;

use vqf::{Vqf, VqfParameters};

let gyro_rate = Duration::from_secs_f32(0.01); // 100Hz

let accel_rate = Duration::from_secs_f32(0.01);

let params = VqfParameters::default();

let mut vqf = Vqf::new(gyro_rate, accel_rate, params);

let gyro_data = Vector3::new(0.01, 0.02, -0.01); // rad/s

let accel_data = Vector3::new(0.0, 0.0, 9.81); // m/s^2

vqf.update(gyro_data, accel_data);

let orientation = vqf.orientation();

println!("Current orientation: {:?}", orientation);

```