VQF - Versatile Quaternion-based Filter for IMU Orientation Estimation: compact Eigen3 implementation
This is a more compact Eigen3 implementation of the VQF - Versatile Quaternion-based Filter. D. Laidig, T. Seel. "VQF: Highly Accurate IMU Orientation Estimation with Bias Estimation and Magnetic Disturbance Rejection." arXiv preprint, 2022. arXiv:2203.17024. https://arxiv.org/abs/2203.17024
For now, only the basic version ("basic VQF") is provided. Gyroscope bias estimation and magnetometer disturbance rejection to come soon...
The original repository can be found here: https://github.com/dlaidig/vqf
- Eigen3