====== Sensor Fusion ======


===== Terms =====

  * IMU: Inertial Measurement Unit
  * MARG: Magnetic, angular rate, gravity
  * AHRS: Attitude and heading reference system
  * Madgwick Filter
  * 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 


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 =====