ObjectOrientationEstimationSystem

This is a result after I investigated on many pieces of related published paper. It includes Matlab modeling and simulating on KF (Kalman Filter), EKF (Extended Kalman Filter) and other optimization approaches in the object-orientation-estimation system.

Input

• Accelerometer raw data
• Gyroscope raw data
• Magnetometer raw data

Output

• Estimated Euler angles
• Estimated Quaternion set

Approaches

Tilt-compensation Method

Gauss Newton Method

AHRS

Quaternion based – gyro bias – EKF

Quaternion based – gyro rate – EKF

DCM based KF