Complementary Filter

C++ implementation of a Nonlinear Attitude Estimator for Aerial Vehicles.

Dependencies

• Eigen3
• Boost/math

References

[1] R. Mahony, T. Hamel and J. Pflimlin, "Nonlinear Complementary Filters on the Special Orthogonal Group," in IEEE Transactions on Automatic Control, vol. 53, no. 5, pp. 1203-1218, June 2008

[2] MD Hua, G. Ducard, T. Hamel R. Mahony, K. Rudin "Implementation of a Nonlinear Attitude Estimator for Aerial Robotic Vehicles" in IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, VOL. 22, NO. 1, JANUARY 2014