Treffer: An Open-Source Test Environment for Effective Development of MARG-Based Algorithms.

This paper presents an open-source environment for development, tuning, and performance evaluation of magnetic, angular rate, and gravity-based (MARG-based) filters, such as pose estimators and classification algorithms. The environment is available in both ROS/Gazebo and MATLAB/Simulink, and it contains a six-degrees of freedom (6 DOF) test bench, which simultaneously moves and rotates an MARG unit in the three-dimensional (3D) space. As the quality of MARG-based estimation becomes crucial in dynamic situations, the proposed test platform intends to simulate different accelerating and vibrating circumstances, along with realistic magnetic perturbation events. Moreover, the simultaneous acquisition of both the real pose states (ground truth) and raw sensor data is supported during these simulated system behaviors. As a result, the test environment executes the desired mixture of static and dynamic system conditions, and the provided database fosters the effective analysis of sensor fusion algorithms. The paper systematically describes the structure of the proposed test platform, from mechanical properties, over mathematical modeling and joint controller synthesis, to implementation results. Additionally, a case study is presented of the tuning of popular attitude estimation algorithms to highlight the advantages of the developed open-source environment.