An interactive guide to sensor fusion with quaternions
9 days ago
- #sensor-fusion
- #IMU
- #quaternions
- Introduction to quaternion.cafe, a portal for sensor fusion with quaternions featuring interactive code editors and 3D visualizations.
- Explanation of quaternions as a 4D representation of 3D rotation, used in industries like computer graphics and VR.
- Basic quaternion functions and operations, including normalization, axis-angle conversion, and multiplication.
- Technique for rotating vectors using quaternions, demonstrated with code examples.
- Overview of sensor fusion using accelerometers and gyroscopes, including challenges like sensor noise and bias.
- Method for integrating gyroscope data to track orientation over time, with Euler integration and tilt compensation.
- Importance of coordinate system alignment and chirality (handed-ness) in sensor data processing.
- Practical example of sensor fusion applied to a telescope-mounted IMU, with tilt compensation and initial orientation estimation.
- Discussion on improving sensor fusion accuracy with complementary filters and Mahoney filters.
- Tools and techniques for debugging and characterizing sensor fusion errors, including telemetry systems and 3D visualization.
- Final example highlighting the impact of sensor axis mapping and chirality on orientation tracking.