orientation_estimat​ion_sensor_fusion_a​lgorithm_codes

MATLAB implementations of 10 sensor fusion algorithms for orientation estimation using magneto-inertial measurement units (MIMU).

Repository containing the optimization and source open code of several sensor fusion algorithms for estimating the orientation based on inertial and magnetic sensing.

Please, refer to https://www.mdpi.com/1424-8220/21/7/2543

Caruso, M.; Sabatini, A.M.; Laidig, D.; Seel, T.; Knaflitz, M.; Della Croce, U.; Cereatti, A. Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All. Sensors 2021, 21, 2543. https://doi.org/10.3390/s21072543

Authors: Marco Caruso ([e-mail]) PolitoBIOMed Lab – Biomedical Engineering Lab and Department of Electronics and Telecommunications, Politecnico di Torino, Torino, Italy; Last modified: 03/06/2021

This repository contains the following folders and script.

SFA: open MATLAB function of each sensor fusion algorithm;

Optimization codes: function to compute the absolute orientation errors for each unit. The orientation is computed with all the combination of parameters given as input;

function_utilities: includes some MATLAB functions helpful for the algorithms.

When using these codes, please cite: M. Caruso, A. M. Sabatini, D. Laidig, T. Seel, M. Knaflitz, U. Della Croce, and A. Cereatti, “Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All,” Sensors, vol. 21, no. 7, p. 2543, Apr. 2021. https://www.mdpi.com/1424-8220/21/7/2543