**Introduction**

The CH Robotics content library provides an overview of some of the fundamental topics needed to use AHRS and Orientation Sensors like the UM7 and the GP9.

We begin with a brief description of Euler Angles, Quaternions, and types of sensors to give the user a practical understanding of how CH Robotics sensors work and how the data that they provide can be used.

More advanced tutorials about using CH Robotics Orientation Sensors for specific applications are also provided for users who want to dig in. We will be adding content to the library, so visit again for updates.

**The Basics**

- Understanding Euler Angles

An introduction to Euler Angles and an overview of how to interpret the angle estimates produced by the UM6 and the UM6-LT. - Understanding Quaternions

Learn how to take advantage of the quaternion outputs of CH Robotics sensors. - Heading, Course, and Crab Angle

Learn the difference between heading, course, and crab angle. - Sensors for Orientation Estimation

Learn about accelerometers, rate gyros, and magnetometers.

**Advanced Topics**

- Fundamentals of Attitude Estimation

An introduction to the basic idea behind attitude estimation. This chapter describes exactly how the different types of sensors are used to produce reliable orientation estimates. - Using Accelerometers to Estimate Velocity and Position

Learn about the mathematics involved in estimating velocity and position using accelerometers. This chapter discusses the “gotchas” that make velocity and position estimation difficult.