├── .gitignore ├── AllanVar ├── Figures │ ├── allan_accX_multi.jpg │ ├── allan_accZ_multi.jpg │ └── allan_gyroY_multi.jpg └── Table │ └── AllanTable.xlsx ├── README.md ├── conversions ├── dcm2euler.m ├── euler2dcm.m ├── euler2qua.m ├── qua2dcm.m ├── qua2euler.m └── skewm.m ├── data-acquire ├── data-processing │ ├── calibration │ │ ├── allan.m │ │ ├── arch1_mov1_navCM.mat │ │ ├── calibrate_imu.m │ │ ├── calibrate_mems.m │ │ ├── computePowerSpectralDensities.m │ │ ├── get_offset.m │ │ ├── imu1_error.mat │ │ ├── imu1_error_multi.mat │ │ ├── imu2_error.mat │ │ ├── imu2_error_multi.mat │ │ ├── imu3_error.mat │ │ ├── imu3_error_multi.mat │ │ ├── imu4_error.mat │ │ ├── imu4_error_multi.mat │ │ ├── main.m │ │ ├── mov1_time.mat │ │ └── store_errors.m │ ├── post-processing │ │ ├── plot_raw.m │ │ └── read_4imu.m │ └── spatial-manager │ │ └── spatial_parser_file_VerBETA.py └── data-reading │ ├── .cproject │ ├── .mxproject │ ├── .project │ ├── Core │ ├── Inc │ │ ├── MPU9250.h │ │ ├── MPU9250_Config.h │ │ ├── gpio.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f4xx_hal_conf.h │ │ ├── stm32f4xx_it.h │ │ └── usart.h │ ├── Src │ │ ├── MPU9250.c │ │ ├── gpio.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f4xx_hal_msp.c │ │ ├── stm32f4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32f4xx.c │ │ └── usart.c │ └── Startup │ │ └── startup_stm32f446retx.s │ ├── Drivers │ ├── CMSIS │ │ ├── Device │ │ │ └── ST │ │ │ │ └── STM32F4xx │ │ │ │ └── Include │ │ │ │ ├── stm32f446xx.h │ │ │ │ ├── stm32f4xx.h │ │ │ │ └── system_stm32f4xx.h │ │ └── Include │ │ │ ├── cmsis_armcc.h │ │ │ ├── cmsis_armclang.h │ │ │ ├── cmsis_compiler.h │ │ │ ├── cmsis_gcc.h │ │ │ ├── cmsis_iccarm.h │ │ │ ├── cmsis_version.h │ │ │ ├── core_armv8mbl.h │ │ │ ├── core_armv8mml.h │ │ │ ├── core_cm0.h │ │ │ ├── core_cm0plus.h │ │ │ ├── core_cm1.h │ │ │ ├── core_cm23.h │ │ │ ├── core_cm3.h │ │ │ ├── core_cm33.h │ │ │ ├── core_cm4.h │ │ │ ├── core_cm7.h │ │ │ ├── core_sc000.h │ │ │ ├── core_sc300.h │ │ │ ├── mpu_armv7.h │ │ │ ├── mpu_armv8.h │ │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ │ ├── Inc │ │ ├── Legacy │ │ │ └── stm32_hal_legacy.h │ │ ├── stm32f4xx_hal.h │ │ ├── stm32f4xx_hal_cortex.h │ │ ├── stm32f4xx_hal_def.h │ │ ├── stm32f4xx_hal_dma.h │ │ ├── stm32f4xx_hal_dma_ex.h │ │ ├── stm32f4xx_hal_exti.h │ │ ├── stm32f4xx_hal_flash.h │ │ ├── stm32f4xx_hal_flash_ex.h │ │ ├── stm32f4xx_hal_flash_ramfunc.h │ │ ├── stm32f4xx_hal_gpio.h │ │ ├── stm32f4xx_hal_gpio_ex.h │ │ ├── stm32f4xx_hal_pwr.h │ │ ├── stm32f4xx_hal_pwr_ex.h │ │ ├── stm32f4xx_hal_rcc.h │ │ ├── stm32f4xx_hal_rcc_ex.h │ │ ├── stm32f4xx_hal_spi.h │ │ ├── stm32f4xx_hal_tim.h │ │ ├── stm32f4xx_hal_tim_ex.h │ │ └── stm32f4xx_hal_uart.h │ │ └── Src │ │ ├── stm32f4xx_hal.c │ │ ├── stm32f4xx_hal_cortex.c │ │ ├── stm32f4xx_hal_dma.c │ │ ├── stm32f4xx_hal_dma_ex.c │ │ ├── stm32f4xx_hal_exti.c │ │ ├── stm32f4xx_hal_flash.c │ │ ├── stm32f4xx_hal_flash_ex.c │ │ ├── stm32f4xx_hal_flash_ramfunc.c │ │ ├── stm32f4xx_hal_gpio.c │ │ ├── stm32f4xx_hal_pwr.c │ │ ├── stm32f4xx_hal_pwr_ex.c │ │ ├── stm32f4xx_hal_rcc.c │ │ ├── stm32f4xx_hal_rcc_ex.c │ │ ├── stm32f4xx_hal_spi.c │ │ ├── stm32f4xx_hal_tim.c │ │ ├── stm32f4xx_hal_tim_ex.c │ │ └── stm32f4xx_hal_uart.c │ ├── data-sheet.pdf │ ├── registers.pdf │ └── spi-characterization.pdf ├── ins ├── error_correction.m ├── my_quat_update.m └── qua_update.m ├── kalman ├── arch1_imu2cm_filter.m ├── arch1_imu2cm_filter_nomag.m ├── arch2_imu2cm_filter.m ├── arch2_imu2cm_filter_nomag.m ├── arch3_imu2cm_filter.m ├── arch3_imu2cm_filter_nomag.m ├── arch4_imu2cm_filter.m ├── arch4_imu2cm_filter_nomag.m ├── attitude_average_arch2.m ├── attitude_average_arch3.m ├── attitude_average_arch4.m ├── imu_filter_magnetometer.m ├── imu_filter_nomag.m ├── kalman.m ├── kf_prediction.m ├── kf_update.m ├── multiple_imu_filter.m └── sensor_fusion_arch1.m ├── real-data ├── get_sigmas.m ├── get_sigmas_arch2.m ├── get_sigmas_arch4.m ├── in-plane-config │ ├── LQR.m │ ├── architecture-1 │ │ ├── arch1_mov1_navCM.mat │ │ ├── arch1_mov2_navCM.mat │ │ ├── arch1_mov3_navCM.mat │ │ ├── gyrotable1_architecture1.m │ │ ├── mov1_time.mat │ │ ├── mov2_time.mat │ │ └── mov3_time.mat │ ├── architecture-2 │ │ ├── arch2_mov1_navCM.mat │ │ ├── arch2_mov2_navCM.mat │ │ ├── arch2_mov3_navCM.mat │ │ └── gyrotable1_architecture2.m │ ├── architecture-3 │ │ ├── arch1_mov7_navCM.mat │ │ ├── arch2_mov7_navCM.mat │ │ ├── arch3_mov1_navCM.mat │ │ ├── arch3_mov2_navCM.mat │ │ ├── arch3_mov3_navCM.mat │ │ ├── arch3_mov7_navCM.mat │ │ ├── gyrotable1_architecture3.m │ │ └── mov7_time.mat │ ├── architecture-4 │ │ ├── arch1_mov7_navCM.mat │ │ ├── arch4_mov1_navCM.mat │ │ ├── arch4_mov2_navCM.mat │ │ ├── arch4_mov3_navCM.mat │ │ ├── arch4_mov7_navCM.mat │ │ ├── arch4_mov9_navCM.mat │ │ ├── gyro1_architecture4.m │ │ └── mov7_time.mat │ ├── main_results.m │ └── readme.txt ├── known_motion.m ├── read_realdata.m ├── separate_motion.m ├── set_imu.m ├── skew-redundant-config │ ├── LQR.m │ ├── architecture-1 │ │ ├── arch1_mov1_navCM.mat │ │ ├── arch1_mov2_navCM.mat │ │ ├── arch1_mov3_navCM.mat │ │ ├── arch1_mov4_navCM.mat │ │ ├── arch1_mov5_navCM.mat │ │ ├── gyrotable2_architecture1.m │ │ ├── mov1_time.mat │ │ ├── mov2_time.mat │ │ ├── mov3_time.mat │ │ ├── mov4_time.mat │ │ └── mov5_time.mat │ ├── architecture-2 │ │ ├── arch2_mov1_navCM.mat │ │ ├── arch2_mov2_navCM.mat │ │ ├── arch2_mov3_navCM.mat │ │ ├── arch2_mov4_navCM.mat │ │ ├── arch2_mov5_navCM.mat │ │ └── gyrotable2_architecture2.m │ ├── architecture-3 │ │ ├── arch3_mov1_navCM.mat │ │ ├── arch3_mov2_navCM.mat │ │ ├── arch3_mov3_navCM.mat │ │ ├── arch3_mov4_navCM.mat │ │ ├── arch3_mov5_navCM.mat │ │ └── gyrotable2_architecture3.m │ ├── architecture-4 │ │ ├── arch4_mov1_navCM.mat │ │ ├── arch4_mov2_navCM.mat │ │ ├── arch4_mov3_navCM.mat │ │ ├── arch4_mov4_navCM.mat │ │ ├── arch4_mov5_navCM.mat │ │ └── gyro2_architecture4.m │ ├── main_results.m │ └── readme.txt ├── static │ ├── imu1_raw.mat │ ├── imu2_raw.mat │ ├── imu3_raw.mat │ ├── imu4_raw.mat │ ├── plot_raw.m │ └── simulation.m └── test_known.m ├── real-time-dsp ├── .cproject ├── .mxproject ├── .project ├── Core │ ├── Inc │ │ ├── arm_math.h │ │ ├── gpio.h │ │ ├── main.h │ │ ├── spi.h │ │ ├── stm32f4xx_hal_conf.h │ │ ├── stm32f4xx_it.h │ │ └── usart.h │ ├── Lib │ │ └── libarm_cortexM4lf_math.a │ ├── Src │ │ ├── gpio.c │ │ ├── main.c │ │ ├── spi.c │ │ ├── stm32f4xx_hal_msp.c │ │ ├── stm32f4xx_it.c │ │ ├── syscalls.c │ │ ├── sysmem.c │ │ ├── system_stm32f4xx.c │ │ └── usart.c │ └── Startup │ │ └── startup_stm32f446retx.s ├── Debug │ └── makefile └── Drivers │ ├── CMSIS │ ├── Device │ │ └── ST │ │ │ └── STM32F4xx │ │ │ └── Include │ │ │ ├── stm32f446xx.h │ │ │ ├── stm32f4xx.h │ │ │ └── system_stm32f4xx.h │ └── Include │ │ ├── cmsis_armcc.h │ │ ├── cmsis_armclang.h │ │ ├── cmsis_compiler.h │ │ ├── cmsis_gcc.h │ │ ├── cmsis_iccarm.h │ │ ├── cmsis_version.h │ │ ├── core_armv8mbl.h │ │ ├── core_armv8mml.h │ │ ├── core_cm0.h │ │ ├── core_cm0plus.h │ │ ├── core_cm1.h │ │ ├── core_cm23.h │ │ ├── core_cm3.h │ │ ├── core_cm33.h │ │ ├── core_cm4.h │ │ ├── core_cm7.h │ │ ├── core_sc000.h │ │ ├── core_sc300.h │ │ ├── mpu_armv7.h │ │ ├── mpu_armv8.h │ │ └── tz_context.h │ └── STM32F4xx_HAL_Driver │ ├── Inc │ ├── Legacy │ │ └── stm32_hal_legacy.h │ ├── stm32f4xx_hal.h │ ├── stm32f4xx_hal_cortex.h │ ├── stm32f4xx_hal_def.h │ ├── stm32f4xx_hal_dma.h │ ├── stm32f4xx_hal_dma_ex.h │ ├── stm32f4xx_hal_exti.h │ ├── stm32f4xx_hal_flash.h │ ├── stm32f4xx_hal_flash_ex.h │ ├── stm32f4xx_hal_flash_ramfunc.h │ ├── stm32f4xx_hal_gpio.h │ ├── stm32f4xx_hal_gpio_ex.h │ ├── stm32f4xx_hal_pwr.h │ ├── stm32f4xx_hal_pwr_ex.h │ ├── stm32f4xx_hal_rcc.h │ ├── stm32f4xx_hal_rcc_ex.h │ ├── stm32f4xx_hal_spi.h │ ├── stm32f4xx_hal_tim.h │ ├── stm32f4xx_hal_tim_ex.h │ └── stm32f4xx_hal_uart.h │ └── Src │ ├── stm32f4xx_hal.c │ ├── stm32f4xx_hal_cortex.c │ ├── stm32f4xx_hal_dma.c │ ├── stm32f4xx_hal_dma_ex.c │ ├── stm32f4xx_hal_exti.c │ ├── stm32f4xx_hal_flash.c │ ├── stm32f4xx_hal_flash_ex.c │ ├── stm32f4xx_hal_flash_ramfunc.c │ ├── stm32f4xx_hal_gpio.c │ ├── stm32f4xx_hal_pwr.c │ ├── stm32f4xx_hal_pwr_ex.c │ ├── stm32f4xx_hal_rcc.c │ ├── stm32f4xx_hal_rcc_ex.c │ ├── stm32f4xx_hal_spi.c │ ├── stm32f4xx_hal_tim.c │ ├── stm32f4xx_hal_tim_ex.c │ └── stm32f4xx_hal_uart.c └── synthetic-data ├── data-fusion ├── architecture-1 │ ├── EKF_arch1.m │ └── sensor_fusion.m ├── architecture-2 │ ├── EKF_arch2.m │ └── attitude_average.m ├── architecture-3 │ ├── EKF_arch3.m │ └── attitude_average.m └── architecture-4 │ └── EKF_arch4.m ├── kinematic-v&v ├── kinematics.m ├── multiple_imu.m └── new_sensor_config.m ├── rocket-data ├── rocket_data.m └── rocketdata1.mat └── simulation ├── IMU_simulator.m ├── attitude_computer.m └── imu2cm ├── IMU_to_VIMU.m ├── VIMU_to_IMU.m ├── acc_imu2cm.m ├── mag_imu2cm.m └── w_imu2cm.m /.gitignore: -------------------------------------------------------------------------------- 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