compUpdate {imuf} | R Documentation |
Update orientation with 3-axis acc and gyr data
Description
compUpdate()
uses complementary filtering to update the orientation, given
an initial orientation, readings of a 3-axis accelerometer and a 3-axis
gyroscope. time duration, and a gain factor
Usage
compUpdate(acc, gyr, dt, initQuat, gain)
Arguments
acc |
A numeric 3-vector of 3-axis accelerometer readings in g |
gyr |
A numeric 3-vector of 3-axis gyroscope readings in rad/sec |
dt |
A numeric of time duration in sec |
initQuat |
A numeric 4-vector of the starting orientation in quaternion |
gain |
A numeric gain factor between 0 and 1 |
Value
A numeric 4-vector of the ending orientation in quaternion
Examples
compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)
[Package imuf version 0.6.0 Index]