About The Project

• Least-squares estimation of the attitude quaternion using vector measurements,
• Recursive,
• Suitable for Embedded systems,
• Unit tested.

Built With

Project is built using Meson build system.

Getting Started

1. Install dependancies sudo ./scripts/install_deps.sh
2. Build project make build
3. Run example make run

Installation

TODO

Usage

See main.c file for an example.

Testing

See test folder.

Matlab

The Optimal-REQUEST algorithm was firstly implemented in MATLAB. The implementation is located in the matlab directory with the files:

• misc folder has miscellaneous files which were used in the development of the algorithm. The explanation for every file is in their comment sections located at the top.
• matlab/tests has files used to test the algorithm implemented in MATLAB and to generate artificial measurements for the testing of algorithm generated by the Matlab Coder in C language. In the matlab/tests/figures folder we are saving plots generated by the Maltab tests scripts.
• matlab/utils folder has utilities scripts used in the algorithm itself. In every file there is an explanation.
• other files are used to invode the Matlab Coder and the main files for the algorithm itself.

Documentation

In the docs folder, there is a document about development of the Optimal-REQUEST in Croatian language.

Acknowledges

Optimal-REQUEST Algorithm for Attitude Determination  
D. Choukroun, I. Y. Bar-Itzhack and Y. Oshman  
Published Online:23 May 2012  
https://doi.org/10.2514/1.10337

License

MIT