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This library is written independent of any specific IMU. The idea is you pass in the appropriatemeasurements and error terms from your IMU and get the desired output.

This is still under heavy development

• WGS84
  • Holds properties of the Earth
  • Converts between ECEF (GPS) and LLH
  • Haversine
• Filters
  • TiltCompensatedCompass
  • Madgwick
  • Mahony
• Storage (Python only)
  • to_yaml
  • to_pickle
• Calibration (Python only)
  • Seedocs/jupyter

• ECI: Earth-centered Inertial is aninertial frame where Newton's laws of motion apply. It has its origin at the center of theEarth with:
  • x-axis in the direction of the vernal equinox
  • z-axis is parallel to the rotation of the Earth
  • y-axis completes the right-handed coordinate system
• ECEF: Earth-centered, Earth-fixed has the same originas ECI, but rotates with the Earth and the x-axis points towards the zero/primemeridian. The ECEF frame rotates at 7.2921E-5 rads/sec with respect to the ECIframe
• LLA(H): Latitude, Longitude, Altitude(Height) is similar to the ECEF frame, butis the frame historically used for GPS navigation

While ECEF can be used to navigate the globe, often, you only need to travel 100's of metersor kilometers. Thus a local navigational frame that is tangental to the curvature of theEarth is more useful (and intuitive). Two common ones are:

• ENU: East North Upa local navigation frame, whereup and the z-axis align, but clockwise right turnsare negative
• NED: North East Down a local navigationframe, whereup and the z-axis are opposite, but the direction of right (clockwise)turns are in the positive direction and is the standard vehicle roll-pitch-yaw frame

Copyright (c) 2016 Kevin J. Walchko

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