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

Parents
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??
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??
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