tborensztejn / openahrs_library

OpenAHRS is an open-source project that provides a collection of functions for Attitude and Heading Reference System (AHRS) algorithms. The project is written in C and provides functionalities for quaternion manipulation, matrix operations, and raw sensor measurements processing.

OpenAHRS

Overview

OpenAHRS is an open-source project that provides a collection of functions for Attitude and Heading Reference System (AHRS) algorithms. The project is written in C and provides functionalities for quaternion manipulation, matrix operations, and raw sensor measurements processing.

Table of Contents

• License
• Dependencies
• Features
• Usage
• Contributing
• Authors
• Resources
• Acknowledgments

Licence

This project is licensed under the MIT License.

Dependencies

The project has minimal dependencies, and it is designed to be easily integrated into other projects. The code uses standard C libraries and should be compatible with various platforms.

Features

Quaternion manipulation and operations:

• Initialization
• Conjugation
• Normalization
• Multiplication
• Conversion to rotation matrix
• Conversion to DCM (Direct Cosine Matrix)
• Conversion to Tait-Bryan Angles

Matrix manipulation and operations:

• Initialization
• Identity matrix initialization
• Copying
• Addition
• Subtraction
• Multiplication
• Transposition
• Inversion
• Eigenvalues and Eigenvectors

Sensor Measurements:

• Structures for raw gyroscope, accelerometer, and magnetometer measurements

Various filter, sensor fusion and orientation/attitude estimator algorithms:

• AR (Angular Rate) based on Taylor series interpolation (Tested)
• AQUA - Algebraic Quaternion Algorithm (Tested)
• Davenport - Davenport's Q Method (Tested)
• FAMC - Fast Accelerometer-Magnetometer Combination (Tested)

Future algorithms:

• FLAE - Fast Linear Attitude Estimator
• EKF - Extended Kalman Filter
• FNAE - Fourati’s Nonlinear Attitude Estimation)
• FQA - Factored Quaternion Algorithm
• MOF - Madgwick's Orientation Filter
• MOF2 - Mahony's Orientation Filter
• OLEQ - Optimal Linear Estimator of Quaternion
• QUEST - Quaternion Estimator
• MEKF - Multiplicative Extended Kalman Filter
• IEKF - Invariant Extended Kalman Filter
• EF - Equivariant Filter
• PF - Particle Filter (Euler angles, DCM and quaternion)
• VQF - Versatile Quaternion-based Filter

Usage

To use OpenAHRS in your project, include the necessary header files in your source code. For more details on function usage, refer to the individual header files in the source code.

Contributing

Contributions are welcome! If you would like to contribute to the project, please contact me.

Author

I'm Titouan BORENSZTEJN (french mechatronic engineer). You can contact me for any information about this project at [email protected] or [email protected]

Resources

All the scientific and technical documentation and other resources are available with the project. However, some errors are hidden in the documents, often due to a lack of proofreading. The errors I have found are corrected in the PDF files. If you find any others, please share them. Thank you for your contribution.

Acknowledgments

Special thanks to the open-source community and contributors for their valuable contributions.