Low Pass Filter Question. (SensorFusion Library 7.0)

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Low Pass Filter Question. (SensorFusion Library 7.0)

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youngguekim
Contributor III

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

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michaelestanley
NXP Employee
NXP Employee

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

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341件の閲覧回数
michaelestanley
NXP Employee
NXP Employee

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

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youngguekim
Contributor III

Thank you for your kind reply

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