This repository contains new AHRS filters (different variations of JustaAHRS) and new dataset with 9-DOF inertial measurement unit (3x accelerometer, 3x magnetometer, 3x gyroscope) with VICON reference. The filter responses can be compared to the well-known methods in MATLAB gui application which is also included in repository (screen below).
The implemented optimization methods are robust against stuck in local minimums (are not so precise)
JUSTA, Josef; ŠMÍDL, Václav; HAMÁČEK, Aleš. Fast AHRS Filter for Accelerometer, Magnetometer, and Gyroscope Combination with Separated Sensor Corrections. Sensors, 2020, 20.14: 3824.