aau-cns / abc-eqf

Equivariant Filter implementation for attitude, gyroscope bias and calibration estimation. From "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration"

ABC EqF: Attitude Biase and Calibration states Equivariant Filter

Maintainer: Alessandro Fornasier

• Credit
  • Usage for academic purposes
• Description
• Requirements

Credit

This code was written by the Control of Networked System (CNS), University of Klagenfurt.

Usage for academic purposes

If you use this software in an academic research setting, please cite the corresponding paper and consult the LICENSE file for a detailed explanation.

@ARTICLE{9905914,
  author={Fornasier, Alessandro and Ng, Yonhon and Brommer, Christian and Böhm, Christoph and Mahony, Robert and Weiss, Stephan},
  journal={IEEE Robotics and Automation Letters}, 
  title={Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation With Online Calibration}, 
  year={2022},
  volume={7},
  number={4},
  pages={12118-12125},
  doi={10.1109/LRA.2022.3210867}}

Description

ABC EqF contains an educational implementation of the Equivariant filter presented in the Robotics and Automation Letter "Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration".

Requirements

• pylie

abc-eqf's Issues

Will you offer the code for "Equivariant Symmetries for Inertial Navigation Systems" soon?

Will you offer the code for "Equivariant Symmetries for Inertial Navigation Systems" soon?

Code is not running due to a pylie module error

Unfortunatey, i tired many times and following different procedures to install the package pylie, but it seems not to work. I always get the following error:
"Traceback (most recent call last):
File "/home/pietro/ABC-EqF/examples/simulation.py", line 30, in
from pylie import SO3
ModuleNotFoundError: No module named 'pylie'".

I hope you can help me.