Technical References

The references on this page are provided to help students gain a deeper understanding of the algorithms, technologies and tools used within the VMX-pi and other Inertial Measurement Unit (IMU) and Attitude/Heading Reference System (AHRS) products. Additionally, links to other notable open-source works which could perhaps be adapted to work on the VMX-pi are included.


Summary of IMU Sensor Fusion Algorithms

Complementary Filter Algorithm

Direction Cosine Matrix theory

Kalman Filtering Overview

Magnetometer Calibration and Tilt Compensation



MEMS Accelerometers

MEMS Gyroscopes