Willing to learn more about capability of the proposed filter

[oozarslan15]

Hello,

I have some questions, they might be silly but I am willing to learn more about IMU&MARG literature. Thanks for your time in advance.

I just come across your "Keeping a Good Attitude: A Quaternion-Based Orientation Filter for IMUs and MARGs" paper and your youtube video of demonstration of the filter. Thanks for such impressive method and well explanation. It pushed me to investigate your method in detail. I understand the implementation and the procedures of your proposed method. Your filter seems like requiring low computational power. However, I have some questions of the capability of the filter or I need your suggestions.

1) I am looking for a filter to obtain orientation quaternions of 8-12 MARG sensors for basic mocap wearable that will be used in VR applications. Motions that I intented to capture is around ~30-40Hz So at least 100Hz filter update rate would be enough for my purpose. Whether it is possible to obtain those specified filter update rate using single 160Mhz-240Mhz uC? What is your suggestion?

2) Will it be enough to convert finally obtained quaternions to the euler angles for obtaining orientation? or is there an extra step?

[mintar]

I think that's a question for @robertogl .