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How to calculate attitude from IMU ?

For example, mathematical equations

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  • $\begingroup$ I assume you meant to ask how to calculate attitude, not altitude. $\endgroup$ – Ian Sep 1 '14 at 2:21
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Altitude is usually determined from pressure and temperature sensors of an IMU. You can see a formula here.

However, you must realize that raw data from a sensor is NEVER RELIABLE. Sensors do not always give a correct reading. Instead, they give you a value somewhat close to the true value, but with some random "noise" added to it. So, instead of just using the data that you obtain from the sensor, you should always filter out the noise using some form of kalman filter.

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  • $\begingroup$ Can i have your Email for personal contact @paul $\endgroup$ – xsari3x Sep 1 '14 at 22:48
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    $\begingroup$ @xsari3x: I am, by no means, an expert at these kinds of things. It's better to keep on posting your questions here on the robotics SE site. If i can't answer your question, it is likely that someone else can. $\endgroup$ – Paul Sep 2 '14 at 2:05
  • $\begingroup$ Are there IMUs available that include pressure and temperature sensors? $\endgroup$ – Ian Sep 2 '14 at 13:34
  • $\begingroup$ @Ian: Some do, but not normally. I would say that it's more common that the altimeter sensors are separate from the IMU. $\endgroup$ – Paul Sep 2 '14 at 14:09
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An aircraft's attitude can be calculated from an IMU, but a full-fledged Attitude and Heading Reference System (AHRS) needs a bit more data -- magnetometers and GPS sensors can help. Your question is a little vague as to what you're hoping to accomplish.

Here is an article describing some of the code you need in order to do this with quaternions, but in general there's not much I can suggest besides searching for "IMU attitude estimation".

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    $\begingroup$ Based on the OP's recent questions, it's highly likely that he meant to say 'attitude' (with a T), but as it is written, he's asking for 'altitude' (with an L). $\endgroup$ – Paul Sep 1 '14 at 21:00
  • $\begingroup$ I meant altitude , but thanks your answer still a great reference $\endgroup$ – xsari3x Sep 1 '14 at 22:49
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    $\begingroup$ Hmm... then the short answer is "you don't calculate altitude from an IMU". You just measure it directly with a pressure sensor or altimeter. $\endgroup$ – Ian Sep 2 '14 at 13:35

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