Attitude Estimator

This code estimates the angles roll and pitch using an accelerometer dataset. A file with a generic name is read, and a file with the name attitude_result.log is generated, as shown in this diagram.

  graph LR;
      input_file-->AttitudeEstimator;
      AttitudeEstimator-->attitude_result.log;

Loading

The input file name, , is a parameter that must be passed when calling the main function. This file must be follow the pattern: <time_stamp_ms; accel_x_axis; accel_y_axis; accel_z_axis>.

The output file is generated in the same path that complied code, and this file follows the pattern: <time_stamp_ms; roll; pitch>. The unit of this angle is degree.

To build and execute the project, run

$ mkdir build
$ cd build
$ cmake ..
$ make
$ ./AttitudeEstimator <input file>

Estimation calculation

The estimation calculation of pitch $\theta_{xyz}$ and roll $\phi_{xyz}$ is done from the following equations:

$$ \theta_{xyz}=\tan^{-1}{\frac{-G_{px}}{\sqrt{G_{py}^2 + G_{pz}^2}}}, $$

$$ \phi_{xyz}=\tan^{-1}{\frac{G_{py}}{G_{pz}}}, $$

whrer $G_{px}$ is the acceleration in the $x$ axis, $G_{py}$ is the acceleration in the $y$ axis, and $G_{pz}$ is the acceleration in the $z$ axis. To obtain the angle in the correct quadrant, the function ATAN2 was used.