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