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.
- 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.
- 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.
- Using GPS to Measure Attitude and Heading (GPS-Aided AHRS)
Learn how GPS can be used not only to measure position, but also to measure attitude (pitch and roll) and heading.