STM32-based IMU orientation estimation with Kalman filtering
Axis is an experimental project exploring IMU sensor filtering and orientation estimation. It uses an MPU6050 IMU sensor connected to an STM32F103 microcontroller to provide real-time attitude determination through Kalman filtering. This project was created as a learning exercise to explore IMU sensor fusion and filtering techniques.
- STM32F103RBTx microcontroller
- MPU6050 IMU integration
- Extended Kalman filter(EKF) for orientation estimation
- Built with CMake and STM32CubeMX
- Clone the repository:
git clone https://github.com/h3rl/Axis
cd Axis
code .- Install recommended VS Code extensions when prompted
- Basic IMU readings implementation
- Extended Kalman filter python POC
- Extended Kalman filter c implementation
- DMP integration and comparison
- RcdMathLib - Matrix math and vector operations library
- libdriver/mpu6050 - MPU6050 sensor driver implementation