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--- supp:sensor_fusion:start [2024/05/25 10:16] – created rolf
+++ supp:sensor_fusion:start [2024/05/25 10:48] – [Kalman Filter] rolf
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   * Kalman Fliter
   * Extended Kalman Filter (EMF)
+===== Literature =====
+Caruso, M.; Sabatini, A.M.; Laidig, D.; Seel, T.; Knaflitz, M.; Della Croce, U.; Cereatti, A. Analysis of the Accuracy of Ten Algorithms for Orientation Estimation Using Inertial and Magnetic Sensing under Optimal Conditions: One Size Does Not Fit All. Sensors 2021, 21, 2543. https://doi.org/10.3390/s21072543 or https://www.mdpi.com/10607
+Debertin, D.; Wargel, A.; Mohr, M. Reliability of Xsens IMU-Based Lower Extremity Joint Angles during In-Field Running. Sensors 2024, 24, 871. https://doi.org/10.3390/s24030871
+M. Kok, J. D. Hol and T. B. Schön, "Indoor Positioning Using Ultrawideband and Inertial Measurements," in IEEE Transactions on Vehicular Technology, vol. 64, no. 4, pp. 1293-1303, April 2015, https://doi.org/10.1109/TVT.2015.2396640
+===== Xsens / Daniel Roetenberg =====
+  * Patents: https://patents.justia.com/inventor/daniel-roetenberg
+===== Kalman Filter =====
+{{youtube>5HuN9iL-zxU?}}
+{{youtube>6qV3YjFppuc?}}
+{{youtube>E-6paM_Iwfc?}}
+\\
+===== Madgwick Filter =====
+{{youtube>fOSTOnQzZCI?}}
+\\
+\\
+https://ahrs.readthedocs.io/en/latest/filters/madgwick.html
+===== Sensor fusion approach as a maximum a posteriori (MAP) problem =====