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IMU-Optical Fusion Filter
Example Configuration
Real-time IMU-optical fusion with LPMS-IG1 and ART Dtrack: imuOpticalFusion.json
Configuration Block
Node name: fusion
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In the LD filter, pitch and roll has to be derived from the acceleration data based on a model of the stiffness of the chassis. That assumes a flat surface. The HD model offers the full 6-DOF, and we are planning to unify them to have all data available at all times.
Example Configuration
Playback and fusion of prerecorded data: gpsImuFusionPlayback.json
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Parameter name | Description | Unit |
|---|---|---|
lastDataTime | Unused | s |
orientation | Orientation quaternion | without unit |
position | Unused | m |
timestamp | Time of data acqusition | ns |
Example Configuration
Playback and fusion of prerecorded data: gpsImuFusionPlayback.json
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