This is the implementation of the IMU orientation estimation filter described in the following publication:
D. Laidig and T. Seel. "VQF: Highly Accurate IMU Orientation Estimation with Bias Estimation and Magnetic Disturbance Rejection." Information Fusion 2023, 91, 187--204. doi:10.1016/j.inffus.2022.10.014. [Accepted manuscript available at arXiv:2203.17024.]
The filter can perform simultaneous 6D (magnetometer-free) and 9D (gyr+acc+mag) sensor fusion and can also be used without magnetometer data. Different sampling rates for gyroscopes, accelerometers, and magnetometers are supported as well. While in most cases, the defaults will be reasonable, the algorithm can be influenced via two tuning parameters.
Detailed documentation can be found at https://vqf.readthedocs.io/.
The VQF Python package can easily be installed from PyPI via pip, e.g.:
pip install vqfFor more information, please refer to the documentation.
VQF is licensed under the terms of the MIT license.
Daniel Laidig <laidig at control.tu-berlin.de>