wuyou33 / matrix-fisher-gaussian-code

Attitude-Gyro bias estimation using matrix Fisher-Gaussian distributions

Matrix Fisher-Gaussian Distribution

This repository contains Matlab implementations for using matrix Fisher-Gaussian distribution in estimating the attitude and gyro-bias concurrently.

The mathematical fomulation of the presented algorithms are available at the following paper:

• W. Wang and T. Lee , "Matrix Fisher-Gaussian Distribution on SO(3)×R^n for Attitude Estimation with a Gyro Bias" arXiv:2003.02180, 2020

Major functions

MFGAnalytic.m : filtering with MFG using analytical moment propagation
MFGUnscented.m: filtering with MFG using unscented moment propagation
MEKF.m : filtering using the standard multiplicative extended Kalman filter

First step to use

Try the following script

test.m : generate a reference motion and implement the above three filters