q-mekf

C++ implementation of the Quaternion Multiplicative Extended Kalman Filter (Q-MEKF), with support for accelerometer and magnetometer measurements.

Based on the following papers:

Lefferts, Ern J., F. Landis Markley, and Malcolm D. Shuster. "Kalman filtering for spacecraft attitude estimation." Journal of Guidance, control, and Dynamics 5.5 (1982): 417-429.
Markley, F. Landis. "Attitude error representations for Kalman filtering." Journal of guidance, control, and dynamics 26.2 (2003): 311-317.

Dependencies

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
include		include
src		src
.gitignore		.gitignore
CMakeLists.txt		CMakeLists.txt
LICENSE.md		LICENSE.md
README.md		README.md