# IMU-Position-Tracking

**Repository Path**: fyo/IMU-Position-Tracking

## Basic Information

- **Project Name**: IMU-Position-Tracking
- **Description**: Position Tracking With IMU
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 1
- **Created**: 2021-06-04
- **Last Updated**: 2025-05-25

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IMU Position Tracking
3D position tracking based on data from 9 degree of freedom IMU (Accelerometer, Gyroscope and Magnetometer). This can track orientation pretty accurately and position but with significant accumulated errors from double integration of acceleration.

## Project Structure
- `main.py`: where the main Extended Kalman Filter(EKF) and other algorithms sit.
- `butter.py`: a digital realtime butterworth filter implementation from [this repo](https://github.com/keikun555/Butter) with minor fixes. But I don't use realtime filtering now.
- `mathlib`: contains matrix definitions for the EKF and a filter helper function.
- `plotlib.py`: some wrappers for visualization used in prototyping.
- `main.ipynb`: almost the same as `main.py`, just used for prototyping.
- `/Ref`: Some paper found on the internet that is helpful.
- `/Doc`: an Algorithm description (you can view it in html as github doesn't support markdown latex extension) and an API documentation in Chinese.

# Data Source
I use an APP called [HyperIMU](https://play.google.com/store/apps/details?id=com.ianovir.hyper_imu) to pull (uncalibrated) data from my phone. Data is sent through TCP and received using `data_receiver.py`.