C++ implementation of the Quaternion Multiplicative Extended Kalman Filter (Q-MEKF), with support for accelerometer and magnetometer measurements.
Based on the following papers:
- Lefferts, Ern J., F. Landis Markley, and Malcolm D. Shuster. "Kalman filtering for spacecraft attitude estimation." Journal of Guidance, control, and Dynamics 5.5 (1982): 417-429.
- Markley, F. Landis. "Attitude error representations for Kalman filtering." Journal of guidance, control, and dynamics 26.2 (2003): 311-317.
- Eigen3 (libeigen3-dev)