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--- tamiwiki:projects:lidar [2023/10/13 04:01] – [IMU] yair
+++ tamiwiki:projects:lidar [2023/10/13 22:17] (current) – yair
@@ Line 46: / Line 46: @@
 ==== IMU ====
-=== ICM-20948 ===
-{{ :tamiwiki:projects:pasted:20231013-032017.png?300}}
-  * https://arxiv.org/pdf/2112.08854.pdf
-  * https://learn.sparkfun.com/tutorials/sparkfun-9dof-imu-icm-20948-breakout-hookup-guide
-https://github.com/jremington/ICM_20948-AHRS.git - this will do calibration of imu! (also kalman?)
+=== is Mahony AHRS same as kalman filter? ===
-> is Mahony AHRS samke as kalman filter?
+{{tamiwiki:projects:kalmanvsothers.pdf}}
 The Mahony AHRS (Attitude and Heading Reference System) filter and the Kalman filter are both used for sensor fusion and estimation, but they are fundamentally different algorithms based on different mathematical foundations and assumptions.
@@ Line 77: / Line 72: @@
 In summary, Mahony AHRS and Kalman filters serve similar purposes but are different in their approach, complexity, and accuracy. Mahony is generally simpler and less computationally intensive, making it well-suited for simpler systems or those with limited computational resources. Kalman filters offer more accuracy and are more flexible but require more computational power and are more complex to set up.
+=== ICM-20948 ===
+{{ :tamiwiki:projects:pasted:20231013-032017.png?300}}
+  * https://arxiv.org/pdf/2112.08854.pdf
+  * https://learn.sparkfun.com/tutorials/sparkfun-9dof-imu-icm-20948-breakout-hookup-guide
+https://github.com/jremington/ICM_20948-AHRS.git - this will do calibration of imu! (also kalman?)
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