https://github.com/sunsided/sensor-fusion

Experiments in sensor fusion
https://github.com/sunsided/sensor-fusion

compass-calibration dataset experiment magnetometer magnetometer-calibration marg matlab mems-sensors quaternions sensor-fusion triad

Last synced: 3 months ago
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Experiments in sensor fusion

• Host: GitHub
• URL: https://github.com/sunsided/sensor-fusion
• Owner: sunsided
• License: eupl-1.2
• Created: 2013-11-12T08:43:49.000Z (over 11 years ago)
• Default Branch: main
• Last Pushed: 2024-06-29T13:27:24.000Z (11 months ago)
• Last Synced: 2025-02-28T12:32:53.235Z (3 months ago)
• Topics: compass-calibration, dataset, experiment, magnetometer, magnetometer-calibration, marg, matlab, mems-sensors, quaternions, sensor-fusion, triad
• Language: MATLAB
• Homepage:
• Size: 29.4 MB
• Stars: 5
• Watchers: 3
• Forks: 1
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE.md

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README

        
# MARG Sensor Fusion with InvenSense MPU6050 and Honeywell HMC5883L

Experiments with MEMS accelerometer, angular rate and magnetometer sensor fusion algorithms in MATLAB.

The first part around [set-1](processing/set-1/) is concerned with

direct estimation from raw data.

The second part around [set-2](processing/set-2) is concerned with

filtering the raw inputs to smoothen the estimation.

![](processing/set-1/readme/screenshot.png)

The MATLAB code was later factored into an on-device pose orientation estimation

on a Freescale FRDM-KL25Z board, the code of which can be found

in the [frdm-kl25z-marg-fusion](https://github.com/sunsided/frdm-kl25z-marg-fusion) repo.

Here, 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.

A video recording of the outcome can be found on YouTube:

[![](readme/later.png)](https://www.youtube.com/watch?v=tmC5kjQn-uA)