Estimation Filter

3DM-CV7's powerful Estimation Filter achieves two high-level goals: ease of use and flexibility. With very little configuration, it can accommodate a wide range of applications. The 3DM-CV7's Estimation Filter is an adaptive filter that, in the words of one of the engineers that developed it, "rejects the unexpected" to provide a smooth navigation solution. It is particularly well-suited for handling high-vibration applications and unanticipated dynamics, such as sensor over-range.

See Adaptive Filtering for a better understanding of how the 3DM-CV7's Estimation Filter can be applied to your application.

The core task of the Estimation Filter is to integrate IMU data (acceleration and angular rate) with aiding measurements from other sources such as a magnetometer (AHRS only) or external heading to provide an attitude estimate. For details on inputting aiding measurements into the Estimation Filter, see Filter Aiding Measurements.

The 3DM-CV7's Estimation Filter can be easily optimized by defining the kinematics for a given application. Filter Kinematic Constraints provides more detail.

The Estimation Filter must be provided initial conditions before it will start running. The initial conditions can be generated internally through auto-initialization or provided externally by the user. A single command handles both cases. See Filter Initialization for more details.

Once the filter is set up and running, users should monitor the filter status through the filter status message Status (0x82,0x10). The Filter Status section details how to interpret the status message and explains the filter modes.

For a step-by-step guide to setting up 3DM-CV7 for your application, see Getting Started.