Fusion (AHRS)
- Software
- Perception
- Library
A sensor fusion library that combines gyroscope, accelerometer and magnetometer data from an IMU into an orientation estimate, written in C with a Python package.
Source on GitHub: github.com/xioTechnologies/Fusion (opens in a new tab). Facts read at commit a8d7224 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE.md (opens in a new tab) (MIT) at commit a8d7224 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Computes orientation relative to the earth by combining gyroscope data with accelerometer and magnetometer corrections in a complementary filter.
- Supports systems with only a gyroscope and accelerometer, or those using an external heading source such as GPS.
- Includes acceleration and magnetic rejection to reduce errors from linear motion and magnetic distortion.
- Provides a bias algorithm that estimates gyroscope offset at run time during stationary periods.
- Offers sensor models for applying calibration parameters to gyroscope, accelerometer and magnetometer readings.
- Optimised for embedded systems, with options for inlining and a fast inverse square root.
Written by Robotheca from the project's README (opens in a new tab) at commit a8d7224.
Getting started
- Difficulty
- Intermediate
- Hardware it needs, as the project states it
- It states no other specific hardware requirements.
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 18 Sept 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.