How can I get kinematic data from quaternions?

Hi,

The ahrsfilter System object™ fuses accelerometer, magnetometer, and gyroscope sensor data to estimate device orientation.

Is there a way to invert the process and get the accelerometer, magnetometer, and gyroscope sensor data from the orientation (=quaternions)?

Thanks,

Max

Answer 1

[Ayush]

Hey Max,

I understand that you want to invert the process of “ahrsfilter System object” and get the accelerometer, magnetometer, and gyroscope sensor data from the orientation i.e., quaternions.

The "ahrsfilter object" operates by combining sensor measurements to estimate the orientation using a sensor fusion algorithm and hence it does not retain the original sensor data separately. Therefore, it is not possible to directly obtain the accelerometer, magnetometer, and gyroscope sensor data from the estimated orientation (quaternions) using the ahrsfilter object alone.

If you require the original sensor data from the estimated orientation, you will need to capture and store the sensor data separately before applying the “ahrsfilter” algorithm. This way, you can access the original data for further analysis or reverse engineering if needed.

For more information on "ahrsfilter object”, refer to the MathWorks documentation link below:

https://in.mathworks.com/help/fusion/ref/ahrsfilter-system-object.html

Hope the above information helps!

Regards,

Ayush Goyal