Complementary Filtering High Res Barometer and Accelerometer for Reliable Altitude Estimation
This is a simple example of some of the stuff I've been working on recently. This is a demonstration of the soon to be released filtering capabilities of the FreeIMU library using the FreeIMU v0.4.3 as sensor board.
The sensor fusion algorithm estimates the orientation of the board and from that an estimation of the dynamic acceleration is computed by subtracting the gravity from the accelerometer readings. The dynamic acceleration is the fused with the high resolution barometer readings coming from the MS5611 through a complementary filter.
The result, as seen in the graphs is an extremely reliable altitude estimation which can go up to 5-10 cm of precision with almost immediate response to motion.
Graphs programmed in python with pyqtgraph.