Hello everyone,
I am using the Sensor Fusion and Tracking Toolbox. I have raw data from accelerometer and gyroscope.. I imported them to matlab and logged them to imufilter in order to estimate the orientation. ( i want to compare the results of matlab with my own algorithm for gettting the orientation)
However, The quaternions estimated from the toolbox have an unexpected behavior.
the i (x-axis) values are switched with the w values (the real part). So for example , the initial quaternions are someting like 0.0023 + 0.99i -0.001k + 0.001j.
and going along the data set .. it seems they are so similar to my orientation output except that the values of i and w components are switched. I wanted to know why ? or what i am doing wrong. Thank you

Update: I have now transformed the quaternions to normal vectors using (compact) and I noticed the following when I compared the results from the toolbox and results from my alogrithm (assuming Q = [w,x,y,z]) :
The scalar w component is at i (x) and has an inversed sign
The x compnent is at w position with the same sign
The y component is at the z position with an inversed sign
The z component is at the y position with the same signHello everyone,
I am using the Sensor Fusion and Tracking Toolbox. I have raw data from accelerometer and gyroscope.. I imported them to matlab and logged them to imufilter in order to estimate the orientation. ( i want to compare the results of matlab with my own algorithm for gettting the orientation)
However, The quaternions estimated from the toolbox have an unexpected behavior.
the i (x-axis) values are switched with the w values (the real part). So for example , the initial quaternions are someting like 0.0023 + 0.99i -0.001k + 0.001j.
and going along the data set .. it seems they are so similar to my orientation output except that the values of i and w components are switched. I wanted to know why ? or what i am doing wrong. Thank you

Update: I have now transformed the quaternions to normal vectors using (compact) and I noticed the following when I compared the results from the toolbox and results from my alogrithm (assuming Q = [w,x,y,z]) :
The scalar w component is at i (x) and has an inversed sign
The x compnent is at w position with the same sign
The y component is at the z position with an inversed sign
The z component is at the y position with the same sign Hello everyone,
I am using the Sensor Fusion and Tracking Toolbox. I have raw data from accelerometer and gyroscope.. I imported them to matlab and logged them to imufilter in order to estimate the orientation. ( i want to compare the results of matlab with my own algorithm for gettting the orientation)
However, The quaternions estimated from the toolbox have an unexpected behavior.
the i (x-axis) values are switched with the w values (the real part). So for example , the initial quaternions are someting like 0.0023 + 0.99i -0.001k + 0.001j.
and going along the data set .. it seems they are so similar to my orientation output except that the values of i and w components are switched. I wanted to know why ? or what i am doing wrong. Thank you

Update: I have now transformed the quaternions to normal vectors using (compact) and I noticed the following when I compared the results from the toolbox and results from my alogrithm (assuming Q = [w,x,y,z]) :
The scalar w component is at i (x) and has an inversed sign
The x compnent is at w position with the same sign
The y component is at the z position with an inversed sign
The z component is at the y position with the same sign imu, sensor fusion, orientation, quaternion MATLAB Answers — New Questions

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