Sensor Fusion using Madgwick/Mahony/kalman filters the MATLAB coding

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Hi all,
I have 6-DOF raw imu sensor data(only accelerometer and gyroscope). Now , wanted to fuse this data inorder to calculate 'Quaternions' and know the orientation. I am stuck at this point how to build a working algorithm in MATLAB of any of the above mentioned filters.
Any leads,references and already existing matlab scripts?? will be grateful.
Looking Forward.

Answers (1)

Amey Waghmare
Amey Waghmare on 22 Nov 2022
As per my understanding, you have raw accelerometer and gyroscope data and want to obtain the Quaternion orientation estimates using a Sensor Fusion algorithm.
The Sensor Fusion and Tracking Toolbox contains ‘imufilter’ and ‘complementaryFilter’ objects to fuse accelerometer and magnetometer data. The ‘imufilter’ uses an internal error-state Kalman filter and the ‘complementaryFilter’ uses a complementary filter.
More details about the sensor fusion objects are available at the documentation;
You can also refer to the following documentation to align and preprocess the raw sensor data:
Hope this resolves the issue.

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