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 accelerationimus.kalman_quat()
... Calculate orientation from IMU-data using an Extended Kalman Filter
Classes for Sensor-Integration¶
imus.MahonyAHRS |
|
imus.MadgwickAHRS |