vqf · PyPI

A Versatile Quaternion-based Filter for IMU Orientation Estimation

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Project description

This is the implementation of the IMU orientation estimation filter described in the following publication:

D. Laidig and T. Seel. “VQF: Highly Accurate IMU Orientation Estimation with Bias Estimation and Magnetic Disturbance Rejection.” Information Fusion 2023, 91, 187–204. doi:10.1016/j.inffus.2022.10.014. [Accepted manuscript available at arXiv:2203.17024.]

The filter can perform simultaneous 6D (magnetometer-free) and 9D (gyr+acc+mag) sensor fusion and can also be used without magnetometer data. Different sampling rates for gyroscopes, accelerometers, and magnetometers are supported as well. While in most cases, the defaults will be reasonable, the algorithm can be influenced via two tuning parameters.

Documentation

Detailed documentation can be found at https://vqf.readthedocs.io/.

Installation

The VQF Python package can easily be installed from PyPI via pip, e.g.:

pip install vqf

For more information, please refer to the documentation.

License

VQF is licensed under the terms of the MIT license.

Contact

Daniel Laidig <laidig at control.tu-berlin.de>

Project details

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Release history Release notifications | RSS feed

This version

2.0.0

Oct 28, 2022

1.0.0

Apr 1, 2022

0.0.1

Oct 5, 2021

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Hashes for vqf-2.0.0-cp311-cp311-win_amd64.whl
Algorithm	Hash digest
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Hashes for vqf-2.0.0-cp311-cp311-win32.whl

Hashes for vqf-2.0.0-cp311-cp311-win32.whl
Algorithm	Hash digest
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Hashes for vqf-2.0.0-cp311-cp311-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl

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Algorithm	Hash digest
SHA256	`4b7a8e757d95dbb2406ddb51f3f506d74a1199e563bb0d5a95be40ee1b85ad64`
MD5	`178e7d90ef2058fb4e2ea4894e7ab52b`
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Algorithm	Hash digest
SHA256	`07d6e90160af4ffce0cc717a34a5bc0a19606dd6d7a4e4293545a17fc97d27c9`
MD5	`27f33b59ef951ee66a689d4dfb943371`
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Algorithm	Hash digest
SHA256	`8358cb51d1577d076e2819c3b97b68fb2f25169f31a21b7d7ccf9549fac09ad3`
MD5	`7b2cf530253b5c3c1f1afcbbacb55d3d`
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Hashes for vqf-2.0.0-cp311-cp311-macosx_10_9_x86_64.whl
Algorithm	Hash digest
SHA256	`7b266d9c1850544a96853b878a22f4a28a73f5717e6041e28e26edbcd8b46896`
MD5	`8f944eab1dacee27164abee4bf00adab`
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Hashes for vqf-2.0.0-cp311-cp311-macosx_10_9_universal2.whl
Algorithm	Hash digest
SHA256	`2c076fc1dd705158cd63a080d6f85aaf029348a7f6ec82bfe1ad65fea12fdf99`
MD5	`357b75e6d89004eab217c3e692ff6325`
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Hashes for vqf-2.0.0-cp310-cp310-win_amd64.whl

Hashes for vqf-2.0.0-cp310-cp310-win_amd64.whl
Algorithm	Hash digest
SHA256	`b81b034f81e6044a12ce60da33374d654f8023ba590d471ddfcf5601fed1e53c`
MD5	`a9d2a4cefd76c8ead274fd24b7995c1d`
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Hashes for vqf-2.0.0-cp310-cp310-win32.whl

Hashes for vqf-2.0.0-cp310-cp310-win32.whl
Algorithm	Hash digest
SHA256	`5e7e11a2a47bccfeb85289d35540f035d5343fae8911c8865f39bc0007f671bf`
MD5	`9affc1e20f507ebcd13ccb42e8f77655`
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Hashes for vqf-2.0.0-cp310-cp310-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl

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Algorithm	Hash digest
SHA256	`5e7d111c9385e804edb232d4437432aceb0b0c32230d5ff4f777a3207a92044c`
MD5	`05c797c1b37bb82d4bc3a06fe2abcb7c`
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Hashes for vqf-2.0.0-cp310-cp310-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm	Hash digest
SHA256	`95eceeded64b350d93a384ab1d30defabd8290b3e8b10bf5c39a79cea77ec592`
MD5	`5eea0d05e64472de43732a18bb59cea8`
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Hashes for vqf-2.0.0-cp310-cp310-macosx_11_0_arm64.whl
Algorithm	Hash digest
SHA256	`0c4feca143cd3157b6d3cc9fff80cad37b49f8d55c42157bd7ce4f830309ce4e`
MD5	`308029ee1d13c81ed1e1858c96fbfc1d`
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Hashes for vqf-2.0.0-cp310-cp310-macosx_10_9_x86_64.whl
Algorithm	Hash digest
SHA256	`08f34672d6fd565de331852bc05ca1c5b8b25ae41f7d6a4f893859b35ea4a5d7`
MD5	`e818c95d2ab4dc0a684c977c49df2335`
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Hashes for vqf-2.0.0-cp310-cp310-macosx_10_9_universal2.whl
Algorithm	Hash digest
SHA256	`e7b613c5193f03af756ef217120c0e1a3a4094297eeecbbd19ffeaffffb44b84`
MD5	`62905b7dcfc49ee5d142c2c7b602c955`
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Hashes for vqf-2.0.0-cp39-cp39-win_amd64.whl

Hashes for vqf-2.0.0-cp39-cp39-win_amd64.whl
Algorithm	Hash digest
SHA256	`59045049c0a5cb7c179dc0b68b30705fe247e29509a604e3392e0621c8d100d1`
MD5	`3d8e720998d905d4fea4dd1c109ab5bc`
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Hashes for vqf-2.0.0-cp39-cp39-win32.whl

Hashes for vqf-2.0.0-cp39-cp39-win32.whl
Algorithm	Hash digest
SHA256	`1c0860e3722755274e61cdbdaf10a216e3a0cd74c99998e4cb0f2268a5e48a73`
MD5	`8fd5cfe7dfc6e2d05f77b2a187b82a3d`
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Hashes for vqf-2.0.0-cp39-cp39-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl

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Algorithm	Hash digest
SHA256	`35a08c1570207a8f32ecbf6b3290571e06c1d9c98502063087f42fa450370da9`
MD5	`fc70cf809de29e9a02303e45af3fc295`
BLAKE2b-256	`bad24b61c4c198201ae7d9859a53395219d6f7657cfedad6a4ce8f661009c397`

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Hashes for vqf-2.0.0-cp39-cp39-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm	Hash digest
SHA256	`b655a9b38c117704ea1edb1f116fd0adae00e3ca77f578ec021651e7e6553ea5`
MD5	`856723940dd027f9f2069a4ce351f96f`
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Hashes for vqf-2.0.0-cp39-cp39-macosx_11_0_arm64.whl
Algorithm	Hash digest
SHA256	`89fad0ffd1f6a917d48f7eabcd441ffe67baf116d4f1813dde6cce64da9e4dc2`
MD5	`04615b9f078429c5fab17417a5707acd`
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Hashes for vqf-2.0.0-cp39-cp39-macosx_10_9_x86_64.whl
Algorithm	Hash digest
SHA256	`8f872cb391d9624f66f099b3714d3711afe937c1fb05fdd02909b1c3d8570631`
MD5	`0f82c6ef05859513aecbaf42a57ee491`
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Hashes for vqf-2.0.0-cp39-cp39-macosx_10_9_universal2.whl
Algorithm	Hash digest
SHA256	`1e479a39e034a28e93f72f99638b21757ce636333b9d372633ad8b701af3c408`
MD5	`e7e04279c9c33ee31df891dbcd147995`
BLAKE2b-256	`df2d9a4a73e0a7e72421971d082e2380ca4a92ee257bbc3877795cb3cdc7e0a6`

Hashes for vqf-2.0.0-cp38-cp38-win_amd64.whl

Hashes for vqf-2.0.0-cp38-cp38-win_amd64.whl
Algorithm	Hash digest
SHA256	`4d6170b7902e1725d9b2bd3d98be6a10154c798c3feccbfbb973f93fcc842cfc`
MD5	`4a95acd9522e527bd231e50e3a506b2f`
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Hashes for vqf-2.0.0-cp38-cp38-win32.whl

Hashes for vqf-2.0.0-cp38-cp38-win32.whl
Algorithm	Hash digest
SHA256	`beabf8775d744ff41ca214f279106bafabfe6a428c406efcb49421b989a8f51c`
MD5	`2655575d89fc67975519d53a85009886`
BLAKE2b-256	`f02d8f0d50a808f04fae7c944e7be0a8b916aeb14f2a860ff8562b9a75447384`

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Algorithm	Hash digest
SHA256	`9af975a11672b9fd756bfbcf75509b66b32d80ac60518ff9ea25ab4a93451750`
MD5	`7bab4ca9568be9f949c764bae76d4ecc`
BLAKE2b-256	`da89605085c91974ade9c8d050026bd706169f49f3ce3a904c530df3efa17987`

Hashes for vqf-2.0.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl

Hashes for vqf-2.0.0-cp38-cp38-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm	Hash digest
SHA256	`69408a07caf4e9a0adde8118d38732962cdd797f8c1192880c3b73e592c4c12a`
MD5	`b66dda65659cb19a2863ae756f2749ec`
BLAKE2b-256	`724baaad406ff25979ee6dcda32e46ddee706a798154d32799403c5ac867a8cc`

Hashes for vqf-2.0.0-cp38-cp38-macosx_11_0_arm64.whl

Hashes for vqf-2.0.0-cp38-cp38-macosx_11_0_arm64.whl
Algorithm	Hash digest
SHA256	`81f1e8fa9bdcde0c7ec256482f41c3b10fb58309dfe6bf42403dfbbb05c59af7`
MD5	`0c27d746752ac75283d774a8714dc4f8`
BLAKE2b-256	`2ef3c6e6a9e25f0aef26d3fd12455f310b5b6ac729e1682164e492bb2b276809`

Hashes for vqf-2.0.0-cp38-cp38-macosx_10_9_x86_64.whl

Hashes for vqf-2.0.0-cp38-cp38-macosx_10_9_x86_64.whl
Algorithm	Hash digest
SHA256	`ebc01b60264c45bd7cd119d00a807a5e74bc763306de3028d8310238b6922c07`
MD5	`2a6bb7705971330c6b087ed9969440d6`
BLAKE2b-256	`cee90fdfbd0eb0548205fcef45cedfa01fbbe1fcc0503009bddbf2fa29f09cd6`

Hashes for vqf-2.0.0-cp38-cp38-macosx_10_9_universal2.whl

Hashes for vqf-2.0.0-cp38-cp38-macosx_10_9_universal2.whl
Algorithm	Hash digest
SHA256	`4d35f7faf2a476e97b07e34f3bd3f17a53c9cf48aefdfd38a2b7807e14dad7e1`
MD5	`70a8ac331e3dc41439cfcb8a001552e0`
BLAKE2b-256	`6db1141e55055d74ff24b951f57312116d5d169c6d166b31542d4d77d46164eb`

Hashes for vqf-2.0.0-cp37-cp37m-win_amd64.whl

Hashes for vqf-2.0.0-cp37-cp37m-win_amd64.whl
Algorithm	Hash digest
SHA256	`4715597f611a97b8d3b466f8e0a6ed7ff01288e5309ff1c505c9d0843099cc3c`
MD5	`247a18acf2fbdbaa56c8e2f8c1c3bf0c`
BLAKE2b-256	`a850d0f057b0f60224f93bf420595211c9c57dfbca87a527197b7dc982cd58b1`

Hashes for vqf-2.0.0-cp37-cp37m-win32.whl

Hashes for vqf-2.0.0-cp37-cp37m-win32.whl
Algorithm	Hash digest
SHA256	`cdb3f5ba2ad3dd8a33354ec65558d4a45414161aa352a3848638da2fe24be69e`
MD5	`35b9d42879a6c1e361362838dab6e402`
BLAKE2b-256	`d4c0a50d9b8d1f1c35f4faf3cf0ebd2993f080b578177fbc308619c41b97fa49`

Hashes for vqf-2.0.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl

Hashes for vqf-2.0.0-cp37-cp37m-manylinux_2_5_x86_64.manylinux1_x86_64.manylinux_2_17_x86_64.manylinux2014_x86_64.whl
Algorithm	Hash digest
SHA256	`db5eaee6b6a0b8f382fd54fd49b85673e9a16a83bd50738dedecc249ab6c91ff`
MD5	`d4a1886b3463612d5b3bbfd2610a98c3`
BLAKE2b-256	`a64ce452e2adb93631e9e7923475d6aac07309aeb32ab7b234c531d8d681c283`

Hashes for vqf-2.0.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl

Hashes for vqf-2.0.0-cp37-cp37m-manylinux_2_5_i686.manylinux1_i686.manylinux_2_17_i686.manylinux2014_i686.whl
Algorithm	Hash digest
SHA256	`c43b125a2bf612296c659fe0b3b629520f1eed7684463a38e07fdca092c55803`
MD5	`1990c396de66cdec865cde4ab01b75c5`
BLAKE2b-256	`5bcd65122e6445e53d07becaa630b4f385cf40d1266ed61933a4bf6211c22d58`

Hashes for vqf-2.0.0-cp37-cp37m-macosx_10_9_x86_64.whl

Hashes for vqf-2.0.0-cp37-cp37m-macosx_10_9_x86_64.whl
Algorithm	Hash digest
SHA256	`0d3c62764d353f4b9492a56a0470bf7471de08606d6b29d078841d12ad912282`
MD5	`b914c28452c6d2aaa5f990413475017f`
BLAKE2b-256	`b327ad597af0f03164fa8e9f6f7246167de107d764c136e2cdeca0e9ddc66be9`