williamcfrancis/EKF-and-UKF-for-3D-Robot-Orientation-Tracking

Python implementation of an Unscented Kalman Filter (UKF) to track the orientation of a robot in three dimensions given observations from an inertial measurement unit (IMU) that consists of gyroscopes and accelerometers and corresponding data from a motion-capture system called Vicon.

PythonMIT