1. I am using ADIS16448A MEMS IMU. I would like to know how to fuse the magnetometer data with attitudes derived from angular rates / change in angles.

2. I have problem in deriving positions accurately from change in velocities with assumed initial conditions

• Thank you for your work with the ADIS16448.  You raise great questions, which relate to very hot areas of research in the industry. For simple applications, which have relaxed accuracy objectives and relatively benign environments to operate in, sensor fusion/processing code is relatively simple, which is why we see a lot of code examples that are associated with consumer-targetted MEMS IMUs. As accuracy requirements tighten and conditions get tougher, the need for application-specific fusion approaches increases, which is why we do not presently maintain code libraries for this type of function. I have been told that the Madgwick's (2010) paper is very good:

I have also been told that these references are useful as well:

Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Second Edition (Artech House Remote Sensing…

https://www.cl.cam.ac.uk/techreports/UCAM-CL-TR-696.pdf

I hope that this helps you get started. We look forward to continuing this discussion with you and hope to hear how about how things progress for you moving forward.

Thank you for the prompt reply.
I tried to use the MARG sensor fusion algorithm.
I need some clarifications to get the required results.
Kindly guide me to define the following parameters in the algorithm

1.      gyroMeasError

2.      gyroMeasDrift

From the quaternion parameters I have used the following
Equations to arrive at angular attitudes

PHI= atan2(2*(SEq_1*SEq_2+2*SEq_3*SEq_4),1-(2*(SEq_2*SEq_2+2*SEq_3*SEq_3)));
THETA=asin(2*SEq_1*SEq_3-2*SEq_2*SEq_4);
YAW=atan2((2*SEq_1*SEq_4)+(2*SEq_2*SEq_3),1-((2*SEq_3*SEq_3)+(2*SEq_4*SEq_4)));

Is this Ok??
• To be honest, I do not know.  I told you all that I knew about this in the last message. Our support is focused on understanding and optimizing the sensor behaviors.  Sorry about that!

• I tried to implement the quaternion mentioned in the link:

with ADIS1633, but I faced an issue related to final euler angles measured, when applying input on the Y axis only (90 deg)  the quaternion output showed angle change also in z and x axes of values arround 170 deg

So is there any sample documentation for quaternion definition for ADI IMUs that can be used as reference?

Thanks.