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Unscented Kalman Filter for orientation tracking

The ground truth of the orientation is captured by the vicon and is present in the vicon folder. The IMU datasets is present in the imu folder. estimate_rot.py tracks the orientation using the IMU data and UKF.

Dataset 1

Dataset 2

Reference

E. Kraft, "A quaternion-based unscented Kalman filter for orientation tracking," Sixth International Conference of Information Fusion, 2003. Proceedings of the, Cairns, Queensland, Australia, 2003, pp. 47-54, doi: 10.1109/ICIF.2003.177425.

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UKF for orientation tracking on inertial data

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