Open source IMU and AHRS algorithms

Posted on July 31, 2012 by x-io Technologies

Looking for the Madgwick algorithm?

The open source Madgwick algorithm is now called Fusion and is available on GitHub. This algorithm powers the x-IMU3, our third generation, high-performance IMU.

In 2009 Sebastian Madgwick developed an IMU and AHRS sensor fusion algorithm as part of his Ph.D research at the University of Bristol. The algorithm was posted on Google Code with IMU, AHRS and camera stabilisation application demo videos on YouTube. The algorithm received thousands of downloads but the code project was never maintained or updated. All resources are now provided and maintained here. The algorithm source code is available in C, C# and MATLAB. The source code also includes Madgwick’s implementation of Robert Mayhony’s ‘DCM filter‘ in quaternion form.

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DOWNLOADS

Original internal report (.pdf)

IEEE conference paper (IEEE Explore)

MATLAB code (Includes example data and script)

C# code (x-IMU Example project)

C code (Header and source files)

USER CONTRIBUTIONS

LabVIEW library by Roger Isaksson (Google Code)