*01.00* About
Welcome to quaternion.cafe! A portal into the world of sensor fusion with quaternions. This vim-inspired tutorial has interactive code editors and 3D visualizations scattered throughout. The content is centered around fusing and integrating a gyroscope with an accelerometer, and explains (with code) how to accomplish this task. All the visualization use real datasets from an actual IMU to illustrate some of the concepts.
I spent the last 5 years making this IMU-based telescope accessory (looking for beta testers!) and during that time I had to learn everything from scratch. The knowledge has been synthesized. Beep boop. And thus I created quaternion cafe. There's a lot of information about sensor fusion nobody seems to talk about, so I'm trying to fill some gaps.
Table of Contents
*02.00* Quaternions?
What is a quaternion? Well, don't be alarmed, but a quaternion is a 4D representation of a rotation in 3D space. It contains a scalar component (often denoted as w ) and a 3D vector. Putting it together, you get: (w,x,y,z) . Quaternions are used heavily in many industries such as computer graphics, video games, virtual-reality headsets, and more.
Why?
... continue reading