本文仅用做个人学习总结,方便自己查找相关资料。
网页链接
OlliW’s Bastelseiten介绍关于IMU data fusion的网站: http://www.olliw.eu/2013/imu-data-fusing/
luoshi066的博客:mahony 互补滤波器 https://blog.csdn.net/luoshi006/article/details/51513580
JesseChen79的博客:
一起深入读懂Mahony互补滤波器:https://blog.csdn.net/jessecw79/article/details/84668189
Mahony互补滤波器代码详解:https://blog.csdn.net/jessecw79/article/details/85763512
感觉作者的数学功底很高,分析也很到位。
一篇对Mahony的简洁介绍:https://nitinjsanket.github.io/tutorials/attitudeest/mahony (可能需要翻出去)
知乎对互补滤波器的介绍:说透互补滤波(1) - 线性互补滤波器从原理到实现:https://zhuanlan.zhihu.com/p/108101458?from_voters_page=true
代码:
Madgwick滤波器作者对Madgwick和Mahony滤波器的实现(C, C#, Matlab):https://x-io.co.uk/open-source-imu-and-ahrs-algorithms/
AHRS的github:https://github.com/xioTechnologies/Open-Source-AHRS-With-x-IMU
参考论文:
Mahony滤波器:Nonlinear Complementary Filters on the Special Orthogonal Group
Madgwick滤波器:An efficient orientation filter for inertial and inertial/magnetic sensor arrays
参考论文、代码打包下载:链接: https://pan.baidu.com/s/1i5LVlXCvgsKFTfaMFzwlkg 提取码: 3pvn