imuf

Installation

install.packages("imuf")

# install.packages("pak")pak::pak("gitboosting/imuf")

Example

library(imuf)#acc<- c(0,0,-1)# accelerometer NED readings in g (~ 9.81 m/s^2)gyr<- c(1,0,0)# gyroscope NED readings in radians per seconddeltat<-0.1# time duration in secondsinitq<- c(1,0,0,0)# initial orientation expressed as a quaterniongain<-0.1# a weight (0-1) given to the accelerometer readings## final orientation expressed as a quaternion(final<- compUpdate(acc,gyr,deltat,initq,gain))#> [1] 0.99898767 0.04498481 0.00000000 0.00000000### rotate a vector pointing east by 90 deg about northq<- c(cos(pi/4), sin(pi/4),0,0)# quaternion to rotate 90 deg about northvin<- c(0,1,0)# vector in east direction(vout<- rotV(q,vin))# after rotation, vector is in down direction#> [1] 0.000000e+00 2.220446e-16 1.000000e+00