A set of tools to reconstruct trajectorys from Inertial Motion Unit measurements (Gyroscope and Accelerometer).

• quaternion.py - An implimentation of quaternions for sue in attitude estimation see: wiki:Quaternion
• Deadreckoning.py - An implimentation of simple deadreckoning by directly intergating measurements
• EKF.py - A refined deadreckoning implimentation that uses prior gravity vector measurments to correct the attitude estimation via Extended Kalman Filtering (EKF)
• EKF_fut.py - An EKF implimentaion that uses prior and future gavity measurements to correct the attitude.

• Pandas
• Numpy
• matplotlib
• pytest

The mathematical basis for the trajectory reconstruction methods used here cna be found in the accompanying paper.

The research for this paper was conducted using a 6 axis LSM6SD3 IMU embedded on a Arduino 33Iot board.

[1] D. Tedaldi, A. Pretto, and E. Menegatti, A robust and easy to implement method for imu calibration without external equipments, 2014.