I am using a compatible Arduino microcontroller (RedBear Duo) to get 9dof data from the latest adafruit 9dof. I would like to be able to get quaternions and 3d orientation offline. The setting of my project is as follow: I collected 9dof data for 1 month, there is also 1hertz GPS from the entire sensor deployment. I have calibrated all the axis of the 9dof.
At the moment I have a file with all the data inside, following there is a sample of it:
TIME,ACC_X,ACC_Y,ACC_Z,GYRO_X,GYRO_Y,GYRO_Z,MAG_X,MAG_Y,MAG_Z 2313992204,-1.694118,-2.053042,-8.886943,0.006272,-0.004091,0.000682,-48.200001,-68.400002,13.000000 2313992204,-1.674976,-2.029114,-8.886943,0.006545,-0.003682,0.000682,-48.500000,-67.599998,11.300000 2313992204,-1.674976,-2.033899,-8.882157,0.006136,-0.004091,0.000273,-47.799999,-67.500000,12.300000 2313992204,-1.703690,-2.033899,-8.882157,0.006818,-0.003682,0.000409,-47.700001,-68.099998,11.800000 2313992204,-1.694118,-2.053042,-8.877372,0.006409,-0.004500,0.000682,-47.900002,-67.400002,11.200000
I would like to use python to get the positional vectors and an animation of the body in which the sensor was. I have looked a lot on the web but I can only found online approaches in which the animation and the quaternions are builded live. I need to do this offline.
Do anyone know or have a reference to some algorithm I can use to do that?