Indirect Kalman Filter (IKF) for attitude estimation

This repository contains the Matlab code implementation of the research paper entitled: Orientation Estimation Using a Quaternion-Based Indirect Kalman Filter With Adaptive Estimation of External Acceleration and published by Young Soo Suh

Abstract

This paper is concerned with orientation estimation using inertial and magnetic sensors. A quaternion-based indirect Kalman filter structure is used. The magnetic sensor output is only used for yaw angle estimation using two-step measurement updates. External acceleration is estimated from the residual of the filter and compensated by increasing the measurement noise covariance. Using the direction information of external information, the proposed method prevents unnecessarily increasing the measurement noise covariance corresponding to the accelerometer output, which is not affected by external acceleration. Through numerical examples, the proposed method is verified.

you can find this paper here: https://ieeexplore.ieee.org/document/5462839

Overview of the indirect Kalman filter

Estimated Pitch, Roll and Yaw against real Pitch, Roll and Yaw