Understanding Sensor Fusion and Tracking, Part 2: Fusing a Mag, Accel, & Gyro Estimate
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Check out the other videos in this series:
Part 1 - What Is Sensor Fusion?: https://youtu.be/6qV3YjFppuc
Part 2 - Fusing an Accel, Mag, and Gyro to Estimation Orientation: https://youtu.be/0rlvvYgmTvI
Part 3 - Fusing a GPS and IMU to Estimate Pose: https://youtu.be/hN8dL55rP5I
Part 4 - Tracking a Single Object With an IMM Filter: https://youtu.be/hJG08iWlres
Part 5 - How to Track Multiple Objects at Once: https://youtu.be/IIt1LHIHYc4
This video describes how we can use a magnetometer, accelerometer, and a gyro to estimate an object’s orientation. The goal is to show how these sensors contribute to the solution, and to explain a few things to watch out for along the way.
We’ll cover what orientation is and how we can determine orientation using an accelerometer and a magnetometer. We’ll also talk about calibrating a magnetometer for hard and soft iron sources and ways to deal with corrupting accelerations.
We’ll also show a simple dead reckoning solution that uses the gyro on its own. Finally, we’ll cover the concept of blending the solutions from the three sensors.
Check out these other references!
Estimating Orientation Using Inertial Sensor Fusion and MPU-9250: https://bit.ly/2VK3Qju
Kalman Filter Tech Talks: https://bit.ly/2pnEA6a
Drone Control and the Complementary Filter: https://youtu.be/whSw42XddsU
Madgwick Filter: https://bit.ly/32IGHW5
Mahony Filter: https://bit.ly/35FaXhs
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