Estimate AHRS attitude with EKF, ESKF and Mahony filter.
This project is aimed at estimating the attitude of Attitude Heading and Reference System(AHRS). And the project contains three popular attitude estimator algorithms.
DataSets.py
for converting estimator data.
Allan_Analysis
for Allan Variance analysis.
[1] Mahony R, Hamel T, Pflimlin J M. Nonlinear complementary filters on the special orthogonal group[J]. IEEE Transactions on automatic control, 2008, 53(5): 1203-1218.
[2] Pixhawk state estimation
[3] Solà, Joan. Quaternion kinematics for the error-state Kalman filter[J]. 2017.
[4] Trawny N, Roumeliotis S I. Indirect Kalman Filter for 3D Attitude Estimation[J]. 2005.
sudo apt-get install libgoogle-glog-dev
Simple comparision among three methods. And the params of Mahony filter can be further tuned.