AHRS: Attitude and Heading Reference Systems#
Welcome! ahrs is an open source Python toolbox for attitude estimation
using the most known algorithms, methods and resources.
It is designed to be flexible and simple to use, making it a great option for fast prototyping, testing and integration with your own Python projects.
This package collects functions and utilities to help you understand and use the most common techniques for attitude estimation, and in no way it is recommended to be used commercially.
All algorithms and implementations have their proper documentation and references, in case you need further clarification of their usage.
New in version 0.4#
New attitude estimation algorithms: FKF and UKF.
New submodules:
sensorsandgeodesy.More methods for Quaternion and Direction Cosine Matrix representations.
Improved documentation and examples.
All functions and objects are type hinted.
For a complete list of changes, please refer to the changelog.
Attitude Estimation#
The available algorithms to compute attitude from inertial / magnetic sensors are:
Algorithm |
Gyroscope |
Accelerometer |
Magnetometer |
|---|---|---|---|
AQUA |
Optional |
YES |
Optional |
Complementary |
YES |
YES |
Optional |
Davenport’s |
NO |
YES |
YES |
EKF |
YES |
YES |
YES |
FAMC |
NO |
YES |
YES |
FLAE |
NO |
YES |
YES |
FKF |
YES |
YES |
YES |
Fourati |
YES |
YES |
YES |
FQA |
NO |
YES |
Optional |
Integration |
YES |
NO |
NO |
Madgwick |
YES |
YES |
Optional |
Mahony |
YES |
YES |
Optional |
OLEQ |
NO |
YES |
YES |
QUEST |
NO |
YES |
YES |
ROLEQ |
NO |
YES |
YES |
SAAM |
NO |
YES |
YES |
Tilt |
NO |
YES |
Optional |
TRIAD |
NO |
YES |
YES |
UKF |
YES |
YES |
Optional |
Deprecations#
Submodules io and plot are removed. Loading and visualizing the data is
left to the preference of the user.