Ikf.hpp File Reference

#include <Eigen/Geometry>
#include <Eigen/StdVector>
#include <Eigen/LU>
#include <Eigen/SVD>
#include <Eigen/Eigenvalues>
#include <vector>
#include <boost/shared_ptr.hpp>
#include "AdaptiveAttitudeCov.hpp"

Go to the source code of this file.

Classes
class	filter::Ikf< _Scalar, _Accelerometers, _Inclinometers >

Namespaces
	filter

Detailed Description

This class has the primitive methods for an Indirect Kalman Filter implementation for an Attitude and Heading Reference System - AHRS. The filter is Quaternion based using accelerometers, gyroscopes and magnetometers. The filter performs the prediction step based on the gyroscopes and therefore quaternion integration. The measurement is formed by two step. First measurement step uses the accelerometers in order to correct the pitch and roll angles. Second measurement step uses the magnetometers only for the yaw angle. The first one estimates external acceleration and compensate it increasing the measurement noise matrix.

This indirect Kalman filter is based on the paper: Young Soo Suh, Member, IEEE "Orientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration"

Author

Javier Hidalgo Carrio | DFKI RIC Bremen | javie.nosp@m.r.hi.nosp@m.dalgo.nosp@m._car.nosp@m.rio@d.nosp@m.fki..nosp@m.de

Date

January 2014.

Version

2.0.