Attitude Heading Reference System using Kalman Filter
In this project, I have developed an AHRS with Linear Kalman Filter. A clear documentation on how I built it is given as a blog.
https://technoo7blogs.blogspot.com/2022/08/attitude-heading-reference-system.html
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This project will help you understand on how to intuitively develop a sensor fusion algorithm using linear kalman filter that estimates Roll, Pitch and Yaw of the vehicle with accelerometer, gyroscope and magnetometer as sensor inputs. The sensor data is used from a smartphone using MATLAB Support Package for Android Sensors. Realtime sensor fusion is also possible using this algorithm.
Check out the complete documentation:
Cite As
Farhan Ahamed (2026). Attitude Heading Reference System using Kalman Filter (https://www.mathworks.com/matlabcentral/fileexchange/116295-attitude-heading-reference-system-using-kalman-filter), MATLAB Central File Exchange. Retrieved .
Acknowledgements
Inspired by: Smart Phone AHRS
General Information
- Version 1.0.1 (832 KB)
MATLAB Release Compatibility
- Compatible with R2017b and later releases
Platform Compatibility
- Windows
- macOS
- Linux
| Version | Published | Release Notes | Action |
|---|---|---|---|
| 1.0.1 | Updated documentation |
|
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| 1.0.0 |
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