Sources used to compare the MKF orientation estimation algorithms.
The code is shown running at:
- Quick demonstration: https://www.youtube.com/watch?v=JpjQP7dHhgk
- Short explanatory video: https://www.youtube.com/watch?v=YbhUdnTHcMo
- Long explanatory video: https://www.youtube.com/watch?v=6oH4Stb2Ifs
- About dead reckoning: https://www.youtube.com/watch?v=IS-jpxXiTjE
There are 9 orientation estimation algorithms:
- 4 of them are based on the UKF (Manifold Unscented Kalman Filter).
- 4 of them are based on the EKF (Manifold Extended Kalman Filter).
- the last one is the Madgwick algorithm
Each version of the UKF and the EKF is different from the others by the used chart. 4 charts are studied:
- Orthographic
- Rodrigues Parameters
- Modified Rodrigues Parameters
- Rotation Vector
The sensor is an IMU, that provide measurements of acceleration, and angular velocity.
For more information see: