IMUs

These routines facilitate the calculation of 3d movement kinematics for recordings from inertial measurement units (IMUs). Currently data from 4 systems are supported:

  • XSens
  • xio
  • YEI
  • polulu

Functions

Data-Handling

  • imus.import_data() ... Read in rate and 3D parameters from different IMUs.
  • sensors.xio.get_data() ... Read in rate and 3D parameters from xio sensors.
  • sensors.xsens.get_data() ... Read in rate and 3D parameters from XSens sensors.
  • sensors.yei.get_data() ... Read in rate and 3D parameters from YEI sensors.
  • sensors.polulu.get_data() ... Read in rate and 3D parameters from polulu sensors.

Data-Analysis

  • imus.calc_QPos() ... Calculate orientation and position, from angular velocity and linear acceleration
  • imus.kalman_quat() ... Calculate orientation from IMU-data using an Extended Kalman Filter

Class

imus.IMU

Methods

imus.IMU.calc_orientation
imus.IMU.calc_position
imus.IMU.setData

Classes for Sensor-Integration

imus.MahonyAHRS
imus.MadgwickAHRS

Details