Orientation Tracking using Unscented Kalman Filter

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

Roll	Pitch	Yaw

Dataset 2

Roll	Pitch	Yaw

Dataset 3

Roll	Pitch	Yaw

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.