27 lines
872 B
Markdown
27 lines
872 B
Markdown
# att_ekf
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Extented Kalman filter for attitude estimation using imu and magnetic filed.
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# How to run the code
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cd catkin_ws/src
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git clone git@github.com:libing64/att_ekf.git
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cd ..
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catkin_make -DCATKIN_WHITELIST_PACKAGES="att_ekf"
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roslaunch att_ekf att_ekf.launch
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#rosbag for test
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1. download the rosbag
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https://drive.google.com/folderview?id=0B4hFvojO5r3sQ01WSHRkWFU2WVE&usp=sharing
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2. replay the rosbag
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rosbag play 2016-02-29-19-05-57.bag
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# reference:
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https://pixhawk.org/_media/firmware/apps/attitude_estimator_ekf/ekf_excerptmasterthesis.pdf
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http://web.cs.iastate.edu/~cs577/handouts/quaternion.pdf |