Open source IMU and AHRS algorithms

In 2009 Sebastian Madgwick developed an IMU and AHRS sensor fusion algorithm as part of his Ph.D research at the University of Bristol. The algorithm was posted on Google Code with IMU, AHRS and camera stabilisation application demo videos on YouTube. The algorithm received thousands of downloads but the code project was never maintained or updated. All resources are now provided and maintained here. The algorithm source code is available in C, C# andMATLAB. The source code also includes Madgwick’s implementation of Robert Mayhony’s ‘DCM filter‘ in quaternion form.

Open-source resources available on this website are provided under the GNU General Public Licence unless an alternative licence is provided in source.