test_MKF

Sources used to compare the MKF orientation estimation algorithms.

The code is shown running at:

• Quick demonstration: https://www.youtube.com/watch?v=JpjQP7dHhgk
• Short explanatory video: https://www.youtube.com/watch?v=YbhUdnTHcMo
• Long explanatory video: https://www.youtube.com/watch?v=6oH4Stb2Ifs
• About dead reckoning: https://www.youtube.com/watch?v=IS-jpxXiTjE

There are 9 orientation estimation algorithms:

• 4 of them are based on the UKF (Manifold Unscented Kalman Filter).
• 4 of them are based on the EKF (Manifold Extended Kalman Filter).
• the last one is the Madgwick algorithm

Each version of the UKF and the EKF is different from the others by the used chart. 4 charts are studied:

• Orthographic
• Rodrigues Parameters
• Modified Rodrigues Parameters
• Rotation Vector

The sensor is an IMU, that provide measurements of acceleration, and angular velocity.

For more information see:

• Paper: https://www.mdpi.com/1424-8220/19/1/149