https://github.com/sunsided/marg-orientation

MARG IMU based orientation estimation using TRIAD
https://github.com/sunsided/marg-orientation

dcm imu kalman-filter orientation-estimation rust triad uav

Last synced: 5 months ago
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MARG IMU based orientation estimation using TRIAD

• Host: GitHub
• URL: https://github.com/sunsided/marg-orientation
• Owner: sunsided
• License: eupl-1.2
• Created: 2024-06-22T17:08:03.000Z (almost 2 years ago)
• Default Branch: main
• Last Pushed: 2024-07-21T10:28:55.000Z (almost 2 years ago)
• Last Synced: 2025-03-18T22:35:49.543Z (about 1 year ago)
• Topics: dcm, imu, kalman-filter, orientation-estimation, rust, triad, uav
• Language: Rust
• Homepage: https://crates.io/crates/marg-orientation
• Size: 162 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md

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README

          
# MARG (Magnetic, Angular Rate, and Gravity) orientation estimation

> ⚠️ **Work in progress.** ⚠️

[![Crates.io](https://img.shields.io/crates/v/marg-orientation)](https://crates.io/crates/marg-orientation)

[![Crates.io](https://img.shields.io/crates/l/marg-orientation)](https://crates.io/crates/marg-orientation)

![GitHub Workflow Status](https://img.shields.io/github/actions/workflow/status/sunsided/marg-orientation/rust.yml)

[![docs.rs](https://img.shields.io/docsrs/marg-orientation)](https://docs.rs/marg-orientation/)

[![codecov](https://codecov.io/gh/sunsided/marg-orientation/graph/badge.svg?token=LTSCCVqdTp)](https://codecov.io/gh/sunsided/marg-orientation)

This crate provides MARG IMU orientation estimation based on TRIAD DCM-estimation and Kalman Filtering techniques.

It is aimed at `no_std` environments and type-generic.

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**Work in progress:** The estimator currently requires an allocator to construct the internal filters and is generally

considered work in progress.