AHRS算法，英文版
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An ecient orientation lter for inertial and inertialmagnetic sensor arrays Sebastian OH Madgwick April 30 2010 Abstract This report presents a novel orientation lter applicable to IMUs consisting of triaxis gyroscopes and accelerometers and MARG sensor arrays that also include triaxis magnetometers The MARG implementation incorporates magnetic distortion and gyroscope bias drift compensation The lter uses a quaternion representation allowing accelerometer and magnetometer data to be used in an a......
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