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STM32 Attitude Estimation: IMU, Euler Angles, Filters

 

Master attitude estimation: IMU sensor interfacing, Euler angles, Quaternions, and Kalman Filter. Learn practical STM32 programming for SPI, UART, and Timer interrupts.

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Highly Practical

What you'll learn

 ✔ Mastering basic and advanced topics related to Orientation estimation

✔ Learning to work with datasheets and reference manuals of sensors

✔ Applying math equations in real-world applications

✔ Working with SPI and UART in polling and DMA modes

✔ Streaming IMU sensor readings in real-time

✔ Using an IMU sensor (gyroscope, accelerometer, and magnetometer) to compute Euler angles

✔ Learning the math behind Quaternions

✔ Learning the Extended Kalman Filter

✔ Using the Extended Kalman Filter for Orientation estimation

Video Poster Image

Course Content

  1. CH0 - Introduction

    4 lessons
    1. 1 - Welcome to the course
    2. 3 - Prerequisites and is this course for you?
    3. 4 - Attitude estimation problem
    4. 5 - The pdf file contains slides to be used in the course

  2. Ch 1 - STM32 Embedded programming

    9 lessons
    1. 1 - Introductory words
    2. 2 - STM32 CubeIde Project creation
    3. 3 - Using SWV for printf function
    4. 4 - Using SWV to plot variables
    5. 5 - SPI theory
    6. 6 - SPI Configuration using STM32CubeMx
    7. 7 - SPI wirings
    8. 8 - Reading ‘Who am I’ register
    9. 9 - Sending data through SPI

  3. CH2 - ICM20948 Driver Development

    8 lessons
    1. 1 - First version of the library
    2. 2 - Testing the library
    3. 3 - How to read the magnetometer?
    4. 4 - Magnetometer update 1
    5. 5 - Magnetometer update 2
    6. 6 - Testing a new version of the library
    7. 7 - DMA Theory
    8. 8 - DMA configuration

  4. CH 3 - IMU Calibration: bias removal, normalization, and scaling

    9 lessons
    1. 1 - Removing gyroscope biases
    2. 2 - Magnetometer bias explanation
    3. 3 - Timer Update Interrupts
    4. 4 - Magnetometer bias removal
    5. 5 - Normalization and scaling of IMU data
    6. 6 - ARM MATH Library Installation
    7. 7 - Library Integration
    8. 8 - A notion of frame
    9. 9 - Testing the library

  5. CH 4 - Euler angles

    10 lessons
    1. 1 - Attitude estimation, slides
    2. 2 - A notion of frame in detail
    3. 3 - 2D rotation
    4. 4 - Euler angles and Rotation Matrix
    5. 5 - Using the accelerometer to obtain pitch and Roll angles
    6. 6 - Using the magnetometer to obtain the Yaw angle
    7. 7 - Using the gyroscope to obtain the Euler angles
    8. 8 - Library Integration
    9. 9 - Complementary Filter
    10. 10 - Testing the libraries

  6. CH 5 - Quaternion Theory

    9 lessons
    1. 1 - Gimbal Lock or why we need quaternions
    2. 2 - Introduction to Quaternions
    3. 3 - Quaternions, practice work
    4. 4 - Quaternion Multiplication
    5. 5 - Quaternion Rotation
    6. 6 - Quaterion Rotation Example
    7. 7 - Rotation matrix based on the Quaternions
    8. 8 - Quaternion Library integration
    9. 9 - Defining multiple rotations using quaternions

  7. CH 6 - Quaternion Attitude estimation and Complementary Filter

    8 lessons
    1. 1 - How to obtain the Quaternions using the accelerometer?
    2. 2 - How to obtain the Quaternions using the magnetometer?
    3. 3 - How to obtain the Quaternions using the gyroscope?
    4. 4 - Complementary Filter for the Quaternion based Attitude Estimation
    5. 5 - Library Integration 1
    6. 6 - Library Integration 2
    7. 7 - Complementary Filter Library Integration/Explanation
    8. 8 - Quanternion Complementary Filter Test

  8. CH 7 - Extended Kalman Filter Sensor Fusion

    7 lessons
    1. 1 - Linear Kalman Filter Recap
    2. 2 - Extended Kalman Filter Theory
    3. 3 - Attitude Estimation using the Extended Kalman Filter
    4. 4 - The extended Kalman Filter, practice work
    5. 5 - Library Integration 1
    6. 6 - Library Integration 2
    7. 7 - Extended Kalman Filter demo

Target audience

Built For Engineers Like You

➜ You want to learn communication interfaces, including SPI, I2C, and UART along with direct memory access (DMA)

➜ You want to learn algorithms and principles related to attitude estimation, including Euler angles, Quaternions, Complementary filter, and the Kalman Filter.

➜ You want to communicate with IMU sensors and sample data in real-time

➜ You want to advance your knowledge in programming STM32 microcontrollers

 

Basic

€40

€80

 ✔Lifetime access

✔ 37 lessons

✔ 8 hours of video content

✔ PDF Materials

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Additional Benefits

Discount for students and a money-back guarantee

Students can get a 30% discount on this course. Contact [email protected] with valid student proof to claim your offer!

I'm sure you'll enjoy this course! However, if it doesn't meet your expectations, no problem—you can receive a full refund within 14 days, with no questions asked.

Requirments

WHAT you'll need

 

✔ STM32 microcontroller board

✔ IMU sensor, preferably ICM20948

✔ Basic knowledge of programming STM32 MCUs

✔ Basic understanding of math. You should be familiar with terms such as vectors, matrix multiplication, and basic trigonometric functions (cos, sin, etc.).

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