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  • Mahony Filter - Orientation Estimation

    calendarDec 12, 2024 · 6 min read · filters mahony imu orientation quaternions sensor-fusion pi-controller  ·
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    Comprehensive guide to the Mahony filter - a complementary filter with PI feedback for IMU orientation estimation. Overview The Mahony filter is an orientation estimation algorithm that uses a complementary filter approach with PI (Proportional-Integral) feedback to fuse: Gyroscope (angular velocity) Accelerometer …


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