Low Pass Filter Question. (SensorFusion Library 7.0)

[youngguekim]

Hi. 

I want to use a only accelerometer. So I am using a Function : "fRun_3DOF_G_BASIC"

My Question is :

fRun_3DOF_G_BASIC has a LPF Function "fLPFOrientationQuaternion"

and the rotation matrix should convert into Quaternion for Low pass filter.

is it impossible that Rotation matrix has Low pass filter directly without converting Quaternion??

Why they go through the step 1, 3   bearing the loss of time

step 1 : fQuaternionFromRotationMatrix

step 2 : fLPFOrientationQuaternion

step 3 : fRotationMatrixFromQuaternion

step 4 : fNEDAnglesDegFromRotationMatrix

[michaelestanley · Accepted solution]

We've not found a method we are comfortable with to low pass filter a rotation matrix directly.  Quaternions are simpler and have some very nice properties numerically.  So yes, this is the way we chose to go.  FYI, none of these operations takes a lot of time to execute.  You should be using a small fraction of your available CPU cycles.

Regards,

Mike

[youngguekim]

Thank you for your kind reply