uf-ahrs

uf-ahrs rust no_std library for orientation estimation using gyroscope, accelerometer and magnetometer.

Features

• no_std and allocator-free for embedded systems.
• IO and MCU agnostic.
• Implements Mahony, Madgwick and VQF filters.
• Filters evaluated using BROAD dataset.

Note

Library is under active development and testing, API might change at any time.

Installation

Add uf-ahrs to your Cargo.toml:

[dependencies]
uf-ahrs = "*" # replace * by the latest version of the crate.

Or use the command line:

cargo add uf-ahrs

Usage

Here is a simple example showing how to initialize and use Mahony, Madgwick, and VQF filters.

use core::time::Duration;
use nalgebra::Vector3;
use uf_ahrs::{Ahrs, Madgwick, MadgwickParams, Mahony, MahonyParams, Vqf, VqfParameters};

fn main() {
    let dt = Duration::from_secs_f32(1.0 / 100.0);

    let mut mahony = Mahony::new(dt, MahonyParams::default());
    let mut madgwick = Madgwick::new(dt, MadgwickParams::default());
    let mut vqf = Vqf::new(dt, VqfParameters::default());

    // Sensor data
    let gyr = Vector3::new(0.0, 0.0, 0.0);
    let acc = Vector3::new(0.0, 0.0, 9.81);
    let mag = Vector3::new(20.0, 0.0, 0.0);

    mahony.update(gyr, acc, mag);
    madgwick.update(gyr, acc, mag);
    vqf.update(gyr, acc, mag);

    // Get orientation as UnitQuaternion
    let q_mahony = mahony.orientation();
    let q_madgwick = madgwick.orientation();
    let q_vqf = vqf.orientation();

    println!("Mahony:   {:?}", q_mahony.euler_angles());
    println!("Madgwick: {:?}", q_madgwick.euler_angles());
    println!("VQF:      {:?}", q_vqf.euler_angles());
}

License

This project is licensed under the Apache 2.0. See the LICENSE file for details.

References

This library incorporates ideas and data from the following projects and publications.

Publications

• BROAD - A benchmark for robust inertial orientation estimation D. Laidig, M. Caruso, A. Cereatti, and T. Seel, Data, vol. 6, no. 7, p. 72, 2021.

• Nonlinear complementary filters on the special orthogonal group R. Mahony, T. Hamel, and J.-M. Pflimlin, IEEE Transactions on Automatic Control, vol. 53, no. 5, pp. 1203–1218, 2008.

• An efficient orientation filter for inertial and inertial/magnetic sensor arrays S. O. H. Madgwick et al., 2010.

• VQF: Highly accurate IMU orientation estimation with bias estimation and magnetic disturbance rejection D. Laidig and T. Seel, Information Fusion, vol. 91, pp. 187–204, 2023.

Related Projects

• ahrs-rs: alternative Mahony and Madgwick filter implementation in Rust. https://github.com/jmagnuson/ahrs-rs

• vqf-rs: alternative VQF filter implementation in Rust. https://github.com/vgskye/vqf-rs

• vqf: another VQF filter implementation in Rust. https://github.com/oxkitsune/vqf

• broad: Berlin Robust Orientation Estimation Assessment Dataset (BROAD). https://github.com/dlaidig/broad