README
¶
ahrs
Go package implementing an Attitude and Heading Reference System (AHRS) for use in the stratux package, including simulation.
Directories
¶
| Path | Synopsis |
|---|---|
|
Package ahrs implements a Kalman filter for determining aircraft kinematic state based on inputs from IMU and GPS The idea behind the Simple AHRS algorithm is to use the GPS to compute what the accelerometer should show and then to create a rotation matrix to map the measured accelerometer vector onto this vector and the speed vector (GPS Track) onto the sensor x-axis.
|
Package ahrs implements a Kalman filter for determining aircraft kinematic state based on inputs from IMU and GPS The idea behind the Simple AHRS algorithm is to use the GPS to compute what the accelerometer should show and then to create a rotation matrix to map the measured accelerometer vector onto this vector and the speed vector (GPS Track) onto the sensor x-axis. |
|
The Kalman computation uses a Kalman Filter to estimate the K and L. It works by using the measurement of the magnitude of the magnetic field The Simple procedure bases K, L on the measured min/max value along each axis.
|
The Kalman computation uses a Kalman Filter to estimate the K and L. It works by using the measurement of the magnitude of the magnetic field The Simple procedure bases K, L on the measured min/max value along each axis. |
Click to show internal directories.
Click to hide internal directories.