#kalman-filter #estimation #imu #aerospace #embedded

no-std marg-orientation

A MARG (Magnetic, Angular Rate, and Gravity) orientation estimator

1 unstable release

0.1.0-alpha.2 Jul 13, 2024
0.0.1 Jun 23, 2024

#92 in Robotics

EUPL-1.2

3.5MB
3K SLoC

MARG (Magnetic, Angular Rate, and Gravity) orientation estimation

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This crate provides MARG IMU orientation estimation based on TRIAD DCM-estimation and Kalman Filtering techniques. It is aimed at no_std environments and type-generic.


Work in progress: The estimator currently requires an allocator to construct the internal filters and is generally considered work in progress.

Dependencies