shaolinbit / ABC-EqF

Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration"

ABC EqF: Attitude Biase and Calibration states Equivariant Filter

Maintainer: Alessandro Fornasier

• Credit
  • Usage for academic purposes
• Description
• Requirements

Credit

This code was written by the Control of Networked System (CNS), University of Klagenfurt.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding paper and consult the LICENSE file for a detailed explanation.

@article{Fornasier2022ABCEqF,
    title        = {Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration},
    author       = {Fornasier, Alessandro and Ng, Yonhon and Brommer, Christian and Böhm, Christoph and Mahony, Robert and Weiss, Stephan},
    journal      = {IEEE Robotics and Automation Letters},
    year         = {2022},
}

Description

ABC EqF contains an educational implementation of the Equivariant filter presented in the Robotics and Automation Letter "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration".

Requirements

• pylie