Robotics Project II: Localization

In my second robotics project, my partner and I implemented a Mahony filter which is an algorithm which tracks the orientation of a coordinate frame using acceleration and magnetic field data. Data was collected from a phone's IMU and a matrix differential equation was updated on that data. The acceleration of gravity and the earths magnetic field are treated as landmarks whose signal is polluted by noise caused by sensor inaccuracies and movement for the magmetic and acceleration landmarks respectively. This noise is then estimated using gyroscope data in the first order and a bias estimate in the second order and removed from the signal, filtering it. This estimate was then visualized using MuJoCo. Additionally another localization algorithm, the TRIAD algorithm was created, and both me and my partner made variations on these algorithms to make our own. Below you will find the instructions for the project, the final report and a video of the Mahony filter in action.