Wireless IMU Android App + Quaternion Kalman Filter in MATLAB

Demo video

Link to video

The Android smartphone raw sensor data is transmitted by the "Wireless IMU" app to a MATLAB Quaternion Kalman Filter via UDP on a WiFi network. The result of the navigation filter is displayed in an OpenGL live preview window. The smartphone sends the data with 100 Hz, the MATLAB filter processing for each epoch takes about 1 ms.

The following sensors are used:

  • Accelerometer
  • Gyroscope
  • Magnetometer

Link to Google Play