├── .gitattributes ├── LICENSE.md ├── README.md ├── UnscentedKalmanFilter.m ├── cam ├── .gitattributes ├── cam1.mat ├── cam9.mat ├── camTest.mat └── showImages.m ├── computeAngles.m ├── computeAvgQuaternion.m ├── computeBias.m ├── computeCrossCorrelationMatrix.m ├── computeMeanCovar.m ├── computeMeanCovarMeasurementModel.m ├── computeMeasurementModel.m ├── computeNoiseSigmaPoints.m ├── computePoseFromAccelerometer.m ├── computeProcessModel.m ├── computeStateSigmaPoints.m ├── computeViconAngles.m ├── generateCoordinates.m ├── getIMUparams.m ├── getSynchronizedTime.m ├── imageStitches ├── set1.jpg ├── testset.jpg └── testsetUKF2.jpg ├── imageStitching.m ├── imu ├── imuRaw1.mat ├── imuRaw2.mat ├── imuRaw3.mat ├── imuRaw4.mat ├── imuRaw5.mat ├── imuRaw6.mat ├── imuRaw7.mat ├── imuRaw8.mat ├── imuRaw9.mat └── imuRawTest.mat ├── init.m ├── main.m ├── plotGyroData.m ├── plots ├── UKF2outputset1.jpg ├── UKF2outputset4.jpg ├── UKF2outputset7.jpg ├── UKF2outputset8.jpg ├── UKF2outputsetTEST.jpg ├── UKFoutputset1.fig ├── UKFoutputset1.jpg ├── UKFoutputset4.fig ├── UKFoutputset4.jpg ├── UKFoutputset7.fig ├── UKFoutputset7.jpg ├── UKFoutputset8.fig ├── UKFoutputset8.jpg ├── UKFoutputsetTEST.fig ├── UKFoutputsetTEST.jpg ├── onlygyroaccelero.fig └── onlygyroaccelero.jpg ├── processIMUData.m ├── quat2vect.m ├── quatInverse.m ├── quatMultiply.m ├── quatNormalize.m ├── quaternionsToolbox ├── q_getAverage.m ├── q_getPositive.m ├── q_getSquaredModulus.m └── q_getUnit.m ├── ref ├── .README.swp ├── IMU_reference.pdf ├── Kraft03.pdf ├── LavYerKatAnt14.pdf ├── README ├── WellingKalman.pdf ├── ankitvor_report2_project2.pdf ├── proj2_platform1.jpg └── proj2_platform2.jpg ├── rotXaxis.m ├── rotYaxis.m ├── rotZaxis.m ├── rotplot.m ├── scaleSphrCoordinates.m ├── submissions └── ankitvor_project2.zip ├── tolgabirdal-averaging_quaternions-212f649 ├── LICENSE ├── README.md ├── avg_quaternion_markley.m ├── test_avg_quat.m └── wavg_quaternion_markley.m ├── transformToViconFrame.m ├── updateKalman.m 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