Python Sensor Fusion

Fuse IMU data into a Quaternion pose.

Install

To install the library run: pip install py-imu

Development

0. Install Poetry
1. make init to create the virtual environment and install dependencies
2. make format to format the code and check for errors
3. make test to run the test suite
4. make clean to delete the temporary files and directories
5. poetry publish --build to build and publish to https://pypi.org/project/py-imu

Usage

from py_imu.madgwick import Madgwick
from py_imu.motion import Motion
from py_imu.quaternion import Vector3D

def main():
    """Test the modules in py-imu."""
    madgwick = Madgwick(frequency=100.0, gain=0.033)
    estimator = Motion(
        declination=9.27, latitude=32.253460, altitude=730, magfield=47392.3
    )

    # provide time increment dt based on time expired between each sensor reading
    for data in data_stream:
        gyr = Vector3D(data[0:3])
        acc = Vector3D(data[3:6])
        madgwick.update(gyr=gyr, acc=acc, dt=0.01)
        estimator.update(q=madgwick.q, acc=acc, timestamp=0.01, moving=True)

if __name__ == "__main__":
    main()