Comparison of Methods for IMU Orientation Estimation (Part.1) скачать в хорошем качестве

Comparison of Methods for IMU Orientation Estimation (Part.1)

UPDATE You can download the VS2008 solution now. This demo compares different methods for 6 DOF IMU orientation estimation in real-time. The orientation is calculated with 3 methods and shown simultaneously on the screen (from left to right): 1. Simple Simpson integration with hard thresholding weighted gravity update 2. Gradient descent 3. Mayhony's DCM 2 & 3 are based on Madgwick's implementation with minor modifications. Source code and documentation available here: http://code.google.com/p/imumargalgor... My implementation is here: http://dl.dropbox.com/u/14624144/OriM... http://dl.dropbox.com/u/14624144/OriM... http://dl.dropbox.com/u/14624144/OriD... The yaw cannot be calibrated and the orientation eventually drifts away. I'm not sure if my implementation of Mayhony's DCM is correct, but its compensation term makes the drifting in yaw even worse. I plan to use Wiimote as an orientation tracker for short-term and highly dynamic motions. In such case, I think Madgwick's gradient descent approach works best. NOTE: 6 DOF IMU: the new Wiimote with Motion Plus inside. Ogre + WiiYourself! The LED mounted at the head of Wiimote is for the purpose of position tracking and is not used in this demo.