Orientation & Pose

This section goes over the fundamentals of determining the Position and Orientation, commonly refered to as Pose, of a system. This may be accomplished by using one or more Inertial Measurement Units(IMUs).

  1. Sensor Calibration
    1. Accelerometer
    2. Magnetometer
    3. Gyroscope
  2. Euler Angles, Coordinate Frames, & Rotation Basics
    1. Euler Angles
    2. Coordinate Frames & Rotations
  3. Quaternion Basics
    1. Quaternion Fundamentals
    2. Quaternion Properties
    3. Quaternion Arithmetic
  4. Quaternion Rotations
    1. Euler-Quaternion Conversions
    2. Quaternion Rotations
  5. Extended Kalman Filter
    1. EKF Algorithm Overview
    2. Defining the System Model
    3. Algorithm Explanation
    4. Error Correction
    5. Implementation