Kalman
Estimates absolute attitude using a Kalman filter. This is based on: https://github.com/liviobisogni/quaternion-kalman-filter And: Young Soo Suh. Orientation estimation using a quaternion-based indirect Kalman filter with adaptive estimation of external acceleration.
Parameters
current device location or null if location is not known. When location and currentDate are provided, magnetic field dip and declination angles are estimated along with current gravity norm.
method to compute the matrix exponential to integrate orientation.
method to compute process noise covariance matrix.
type of integrator to use to compute quaternions.
Constructors
Properties
accelerometer noise standard deviation expressed in meters per squared second (m/s^2).
Estimated device attitude expressed in body coordinates.
Estimated external acceleration applied on the device expressed in NED coordinates respect to device body.
true to compute covariances, false otherwise.
true to compute Euler angles of estimated attitude, false otherwise.
true to compute Euler angles covariance, false otherwise.
true to compute external acceleration, false otherwise.
current date. This is used to estimate magnetic field dip and declination angles and provided location. If null, current date is assumed.
Estimated device attitude expressed in ECEF coordinates respect to Earth.
Estimated external acceleration applied on the device expressed in ECEF coordinates respect to Earth.
Euler angles associated to estimated NED attitude. Array contains roll, pitch and yaw angles expressed in radians (rad) and following order indicated here. This is only available if computeCovariances and computeEulerAngles are true.
Error covariance of estimated Euler angles for NED attitude. This is only available if computeCovariances and computeEulerAnglesCovariance are true.
Gets expected gravity norm at current location. If no location is available, average gravity at sea level is returned instead.
gyroscope noise PSD (Power Spectral Density) expressed in (rad^2/s)/Hz.
Gets or sets current device location. When location and currentDate are provided, magnetic field dip and declination angles are estimated along with current gravity norm.
Obtains magnetic field declination of local NED reference system expressed in radians if World Magnetic Model is used, otherwise zero is returned. Magnetic field declination indicates how much deviation the heading angle has between the magnetic north pole and the true geographic north pole.
Returns magnetic field dip angle of local NED reference system expressed in radians if World Magnetic Model is used, otherwise zero is returned. Magnetic field dip angle indicates how much the magnetic field points towards Earth's center. At magnetic equator dip angle is zero, at Norm magnetic pole is +90º, and at South magnetic pole is -90º. At the north hemisphere dip angle is positive (magnetic field points downwards), indicating the vertical deviation of magnetic field respect local Earth surface at a given position (latitude, longitude and height). At the south hemisphere dip angle is negative (magnetic field points upwards), indicating the vertical deviation of magnetic field respect local Earth surface at a given position (latitude, longitude and height).
Returns magnetic flux density at current location expressed in local NED reference system. This is only available if World Magnetic Model is used, otherwise a zero triad is returned.
magnetometer noise standard deviation expressed in Teslas (T).
Estimated device attitude expressed in leveled local NED coordinates respect to Earth.
Error covariance of estimated quaternion attitude expressed in NED coordinates. This is only available if computeCovariances is true.
Estimated external acceleration applied on the device expressed in leveled local NED coordinates respect to Earth.
listener to handle events raised by this processor.
Time interval between measurements expressed in seconds (s).
Indicates whether world magnetic model is taken into account magnetic field dip and declination angles, so that orientation pointing to the true north is estimated.
Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.
Functions
Gets error covariance of estimated quaternion attitude expressed in NED coordinates. This is only available if computeCovariances is true.
Gets estimated external acceleration applied on the device expressed in NED coordinates respect to device body.
Gets estimated external acceleration applied on the device end expressed in ECEF coordinates respect to Earth.
Gets Euler angles associated to estimated NED attitude. Array contains roll, pitch and yaw angles expressed in radians (rad) and following order indicated here. This is only available if computeCovariances and computeEulerAngles are true.
Gets error covariance of estimated Euler angles for NED attitude. This is only available if computeCovariances and computeEulerAnglesCovariance are true.
Gets estimated external acceleration applied on the device and expressed in leveled local NED coordinates respect to Earth.
Processes provided synced accelerometer, gyroscope and magnetometer measurement to obtain a relative leveled attitude.
Processes provided accelerometer, gyroscope and magnetometer measurements at provided timestamp to obtain a relative leveled attitude.