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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

[0.4.0] - 2025-10-13

Added

  • Option to pass dt for each update step (pr #57 from ManuelPalermo)
  • WMM 2025 (pr #130 from niklasknoell)
  • Build Backend Replacement (pr #116 from eragooon)
  • Type hints to be compatible with PEP-484.
  • Citation file.
  • Submodule sensors in module utils.
  • Submodule geodesy in module utils.
  • Unscented Kalman Filter attitude estimator. Including documentation and unit tests.
  • Fast Kalman Filter attitude estimator. Including documentation and unit tests.
  • Jupyter Notebook to showcase main features.
  • Enable CI Testing.
  • Logo and icon.
  • Added pyproject.toml file to replace the deprecated setup.py.
  • Added __version__ to main package __init__.py file.
  • Attribute rng in class Sensors and set its default to global a GENERATOR.
  • Description of basic requirements for core utils in docstring.
  • Guard clauses in attitude estimators to validate input data.
  • Examples in docstring of all attitude estimators.
  • Method _validate_input() in attitude estimators for sensor data.
  • Core function _assert_acc_mag_inputs() to improve assertion of sensor data.
  • Script test_core_functions to test core utility functions.
  • Use attribute rng for random angular positions in class Sensors.
  • Unit tests for AngularRate using method 'series' and 'closed'.
  • Test for estimation of rotation matrices with AngularRate.
  • Test of Euler angles for estimator AngularRate.
  • Information about its computation into its docstring.
  • Core function _assert_numerical_positive_variable() to simplify assertions.
  • test_wmm.py to tests folder.
  • Unit test TestEcompass.
  • Guards in ecompass.
  • Examples in docstring of random_attitudes().
  • Link to Madgwick's personal Google Scholar page.
  • Implementation, documentation pages, and unit tests of:
    • dca2enu.
    • enu2dca.
    • enu2aer.
    • aer2enu.
  • Unit Tests for:
    • enu2ecef.
    • qad.
    • qcip.
    • qeip.
    • qdist.
    • ecef2enu.
    • geo2rect.
    • sind.
    • cosd.
    • geo2rect().
    • random_attitudes().
    • Inverse of non-versor quaternions, and add helper constant SQ22 in quaternion tests.
    • Rpy parameter in class Quaternion, and move test of random attitudes to TestQuaternion.
    • Random quaternion in construction.
    • SLERP methods and functions.
    • LERP interpolation in slerp.
    • slerp_I of AQUA submodule.
    • Euler angles equal to 0 or factors of 2*pi in DCM.
    • Axis as int in euler angle rotations.
    • Test assertion for when euler rotation axis is None.
    • Rotation sequences in DCM.
    • Multi array of DCMs.
    • Methods of dcm to quaternion, and use seeded random generator.
  • Documentation pages of:
    • ecef2geodetic.
    • geodetic2ecef.
    • geodetic2enu.
    • enu2ecef.
  • In QuaternionArray:
    • Method slerp_nan() to fill NaNs with interpolated values.
    • Method angular_velocities() to compute angular velocities from a sequence of quaternions.
    • Method from_DCM() and parameter DCM.
    • Method from_rpy().
    • Method to_array().
    • Validity check to constructor.
    • Testing purity and reality of QuaternionArray objects.
    • Explanatory comments in __new__ method of QuaternionArray.
    • Use _assert_numerical_iterable().
    • Option in_place to method rotate_by.
    • Parameter rpy to class QuaternionArray to build quaternions from roll-pitch-yaw angles.
    • Parameter order.
    • Properties in documentation.
    • Information and warning to docstring.
    • Test for method to_DCM().
  • Information about second geodetic coordinates for geodetic2enu transformation.
  • Refactor test of geodetic2enu to fit format of the other tests.
  • Documentation page of enu2ecef.
  • Missing parameters in docstring of ececf2enu and enu2ecef.
  • Function enu2uvw to transform with UVW mapping, and redefine enu2ecef using enu2uvw.
  • Epoch '1984' to IGF.
  • Information about height in docstring of geo2rect.
  • Reference of CODATA 2018.
  • Docstring of class referenceEllipsoid.
  • Geodesy to submodule utils.
  • Function ecef2enuv and use it to re-define ecef2enu.
  • References about geodetic and cartesian transformations.
  • Guard clauses and degrees to radian conversion of coordinates in geo2rect.
  • Constant values for repeated computations over SQ22.
  • Hyperlink to codacy site in codacy badge.
  • Assertions to function slerp().
  • Method __array_finalize__ to properly sub-class from NumPy array.
  • Private method _assert_triaxial_sample_vector() to AQUA and improve handling of empty acc vector.
  • Information about AQUA's adaptive gain in docstrings, and add image illustrating it.
  • Identity matrix return as default estimation in Tilt.
  • Parameter representation in estimator Tilt.
  • Possibility of accepting lists in FLAE.estimate().
  • Handling of sensor measurements equal to zero.
  • Option to use int for axes in function rot_seq().
  • Information in docstring of class Sensors, and add its documentation.
  • Reference of Wikipedia's Euler Angles.
  • Return type to _guard_clauses() method.
  • Try catch logic for method description function.
  • New case of logarithm for when quaternion is real (scalar).
  • Missing bibtex references in WGS submodule.
  • Virtual environment to gitignore.
  • Support for BibTeX citations using sphinxcontrib-bibtex.
  • Sphinx extensions to doc dependencies in pyproject.toml
  • Docstring information to itzhack().
  • Unit tests for each DCM to quaternion algorithm.
  • Information to docstring of all methods converting from DCM to Quaternion.
  • Space after code-block:: console directive to avoid parsing errors.
  • test_conjugate() and test_conj() to TestQuaternionArray.
  • test_is_identity() to TestQuaternionArray.
  • test_is_versor() to TestQuaternionArray.
  • Unit Tests for all estimators.
  • Function _assert_list_of_strings() in core functions script.
  • Guard clauses to option 'euler' in DCM constructor, and use _assert_numerical_iterable instead of _assert_iterables in script.
  • Function ecef2lla() to compute geodetic latitude, longitude, and altitude from ECEF coordinates.
  • Options 'yaw' and 'span' to class Sensors.
  • Final paragraph in docstring of Sarabandi's.
  • Return for trivial case in log(R), and its reference.
  • Sphinx extension dependencies in requirements.txt of docs.
  • Parameter 'degrees' to DCM to indicate the use of angles in degrees.
  • Parameter degrees to functions rotation() and rot_seq() to be compliant with other packages and software that also implements them.
  • Indentation in parameters of EKF.__init__() to comply with PEP-8.
  • Class Sensors to generate synthetic sensor data.
  • Experimental function __centrifugal_force().
  • Property geodetic_vector to class WMM.
  • Documentation of methods for DCM to quaternion:
    • Itzhack.
    • Sarabandi.
    • Shepperd.
  • Page of Specialized Functions for Attitudes.
  • Explanation of random_attitudes(), and add examples in docstring of class Quaternion.
  • Pages for class DCM, and its methods. Remove unused docs, and fix docstring in method from_quaternion().
  • Function get_nan_intervals() to core sub-module.
  • Examples to qdist, qeip, qcip, and qad.
  • Function rmse_matrices() to submodule metrics.
  • Function random_angpos() to generate angular positions, and add tests for Complementary Filter.
  • Example in docstring of FQA.
  • Information in docstring of, and handle matrices in function rmse.
  • Missing backslash in formula of docstring.
  • Info to docstrings of the functions of submodule core.
  • Information in docstring of method angular_velocities().
  • Table of Contents in docstring of Madgwick's
  • Data handling in Complementary Filter
  • Optional estimation without magnetometer.
  • Options of representation in docstring.
  • Assertions for invalid earth-measurements.
  • test_wrong_input_vector_types in unit tests.
  • Assertion of numerical array to FLAE and FAMC unit tests.
  • Private submodule core to handle data.
  • Labels in guard clauses.
  • Error handling and tests to Davenport's estimator.
  • Typing and improve error handling in FLAE estimator.
  • Option representation to SAAM, and its corresponding unit test.
  • Two-dimensional vectorized computation in hughes function, and change its nomeclature to fit original documentation.
  • Mathematical background to docstring of Hughes method.
  • "Attitude Representations" to main page.
  • Terms in page "Nomenclature".
  • Mathematical background to docstring of function chaverini.
  • Pypi topics in setup.
  • setuptools and wheel to CI action.
  • Information to core submodule.
  • Reference to newest technical report of WMM.
  • Attributes of DCM to Sphinx documentation.
  • Parameter order in class Quaternion.
  • Unit Tests for classes:
    • Quaternion.
    • QuaternionArray.
    • DCM.
  • Functions for synthetic angular velocities.
  • in DCM:
    • Private assertion of SO3 in DCM.
    • Error raise when parameter of to_quaternion() is incorrect.
    • Multi-dimensionality to Chiaverini's method converting DCM to Quaternion.
  • Option 'frame' and guard clauses for input parameters.
  • Estimation of error over 3d arrays in chordal distance.
  • Option to pass dt for each update step: -adds option to pass a different dt for each update step on filters which do gyroscope integration -relevant for real data, where sampling time might be inconstant defaults to constant value defined on __init__ if no value is specified in the update step.
  • Option of random orientation to class Quaternion.
  • Immediate computation of orientation when only 1 sample of each sensor is given.
  • Clipping of values in function qad() to avoid NANs with arccos.
  • Guard clauses to class TRIAD.
  • Guard clauses when creating rotation sequences.
  • Docstring and examples to metrics functions.
  • Guard clauses to quaternion metrics.
  • Unit tests for all attitude estimators.
  • Unit tests for WGS and international_gravity.
  • Unit test for WGS84.
  • Tests for functions of metrics.
  • Validation of rotations with guard clauses in metrics functions.
  • Definitions to nomenclature docs.
  • Handling of empty quaternion in class Quaternion.
  • Examples of slerp and lerp in docstring.
  • Expand error handlings to TRIAD.

Changed

  • Update documentation to adhere to aerospace notation (pr #88 from nasbotond)
  • Moved from the setuptools to hatchling build backend.
  • Docutils version will now be installed by Sphinx.
  • docs/conf.py to get its version from the package import.
  • Use new class Sensors to generate data for unit tests of attitude estimators.
  • Migrate .readthedocs.yml to v2. See https://blog.readthedocs.com/migrate-configuration-v2/
  • Change nansum() to sum(), so that np.nan values can be returned in qad.
  • Rename attribute ang_pos as angular_positions in class Sensors and TestTilt.
  • Use a local variable for the random number generator in function random_angpos().
  • FUNDING.yml.
  • Information in YAML file of readthedocs.
  • Documentation theme to Pydata.
  • Update README with github badge and submodule information.
  • Update information about requirements of installation.
  • Madgwick:
    • Use class Quaternion for setting of q0.
    • Use getattr() instead of dunder method __getattribute__ to call methods in assertion of inputs.
    • Skip correction with accelerometer and magnetometer if gradient norm is equal to zero.
    • Simplify handling of incorrect measurements in update methods.
    • Refactor quaternion correction in methods updateIMU() and updateMARG().
    • Update nomeclature and improve documentation.
    • Handle of zero-gradient at updateIMU() method.
  • EKF:
    • Use local variables z and q, instead of creating attributes.
    • Use np.array instead of np.copy to try to optimize memory usage.
    • Use function _assert_numerical_positive_variable to validate input values.
    • Redefine Jacobian dh/dq, and change order of default noises array.
    • Definition of Q_t in method update().
    • Switch reference frame of acceleration.
    • Change format of subscripts of matrices to be consistent in docstring.
    • Improve description of q in docstring of methods.
    • Use ecompass instead of am2q for first quaternion.
  • AQUA: Enforce returning numpy array in method updateMARG of AQUA.
    • Re-define test for adaptive gain to be range-focused.
    • Simplify examples in docstring of adaptive_gain().
    • Improve handling of zeroed vector norms.
    • Use global variables in unit test.
    • Update wording in index of documentation and info in table.
    • Improve assertion of input parameters.
  • SAAM:
    • Use symbol of asymptotically equal for relation of vectors through rotation matrix.
    • Expand description of minimization problem in docstring.
    • Use _assert_acc_mag_inputs() to check validity of sensor inputs.
  • AngularRate:
    • Rename final quaternion as q_new for readability.
    • Use boxes to highlight important equations.
    • Update method integrate_angular_positions() to use given input parameter 'representation' instead of class attribute.
    • Refactor methods to make it more effective and readable.
    • Use factorial from standard library instead of numpy's implementation.
  • Fourati:
    • Use class Quaternion for setting of q0.
    • Estimate initial attitude with am2q, and redefine operations to be closer to article's.
    • Import functions and constants directly in Fourati estimator.
  • Mahony:
    • Increase indentation of __init__ parameters.
    • Add types of return values of private methods.
  • Move default noise std deviations to be attributes of class Sensors instead of global variables.
  • Expand explanation of quaternion exponential in its docstring.
  • Expand process model to show linear operation between rotation operator and previous quaternion.
  • Change page "World Models" to "Geodesy".
  • Move info from geodesy.rst to docstring of geodesy.py
  • Move docs of WMM, WGS84, and related functions to subfolder geodesy.
  • Improve handling of wrong input in method from_DCM().
  • Moved unit tests from submodule wmm to folder /tests.
  • Re-implementation of Complementary filter using roll-pitch-yaw angles.
  • Re-implementation of rec2geo based on ESA's publication.
  • Improve error handling in attitude estimators with new guard clauses.
  • Use assertion of numerical iterable in attitude estimators.
  • Use class Quaternion and/or QuaternionArray in attitude estimators.
  • Update string formatting to f-strings.
  • Move contents of page frames to page of geodesy.
  • Change cmath to math.
  • Set same global threshold (0.08) for SAAM and FAMC estimators.
  • Use new attribute geodetic_vector of WMM to set REFERENCE_MAGNETIC_VECTOR, and correct height value in NORMAL_GRAVITY.
  • Rewrite short description of class WMM.
  • Use function _assert_numerical_positive_variable() to validate input values in Fourati, Mahony, and ROLEQ.
  • Use core function _assert_acc_mag_inputs() to check validity of given sensor data in Davenport, QUEST, FAMC, and FLAE.
  • Use absolute value for T2 in FLAE to avoid square root of negative.
  • Use local copies of arrays instead of attributes in method _compute_all() of FAMC, FLAE, and QUEST.
  • Change names for unit tests of geodetic2ecef.
  • Swap input of lat and lon parameters in geo2rect to conform standard practice.
  • Rename geo2rect as geodetic2ecef to be name-compatible with other software.
  • Rename rec2geo as ecef2geodetic to be name-compatible with other software.
  • Make ecef2lla synonym of ecef2geodetic.
  • Compute latitude without altitude in ecef2geodetic(), and use arctan2.
  • Explicitly define epoch inside __init__ of WMM.
  • Update documentation, and version used of q2R in computation of Measurement Model h.
  • Update version in conf file of docs.
  • Make Shepperd's the default method in method from_DCM() of class QuaternionArray.
  • Make Shepperd's the default method in method to_quaternion() of class DCM.
  • Move tests of WGS84 to Unit Test script.
  • Bibtex reference inbook to incollection.
  • numpy.copy functions to numpy.array in assertions of core utilities.
  • In OLEQ estimator:
    • Improve description of weights in docstring.
    • Improve weights assertion with unit tests.
    • Simplify handling of zero norm of accelerometers or magnetometers.
  • Use OLEQ (instead of ecompass) to estimate initial attitude in ROLEQ.
  • List input parameters in a section, instead of a section per parameter.
  • Move ESA reference up to conform to alphabetic order.
  • Change referenceEllipsoid to ReferenceEllipsoid using PascalCase to conform to PEP-8.
  • Re-define WGS sub-classing it from ReferenceEllipsoid.
  • Update geodetic information of Munich to be at Mariensäule (km 0.)
  • Change call ptp() to numpy.ptp().
  • Change test q0 value of [1, 0, 0] to [0, 0, 0] for invalid pure quaternion in TestAngular.
  • Update python-app.yml to use latest Python version.
  • Vectorize method angular_velocities.
  • Simplify handling of magnetic field equal to zero in method estimate() of Tilt.
  • Angles as attributes of Tilt.
  • Raise error with wrong acceleration in class Tilt.
  • Add .ipynb_checkpoints to .gitignore.
  • SLERP:
    • Expand docstring with explanation and examples.
    • Rename variables to avoid confusion with other notations.
    • Return empty array if nan_intervals not found.
    • SLERP_NaN() returns same array if no NaNs are found.
  • Bibliography:
    • Submodules' and filters' docstrings use bibtex.
    • Update to bibtex citation in submodule metrics.
    • Lock version of sphinxcontrib-bibtex to be 2.6.3 or newer to avoid problem with pybtex.
  • Update values of IGF epoch 1980.
  • Use Numpy's new random number generator for the creation of sensor signals.
  • Clip traces to [-1, 3] in function hughes().
  • Handle NaNs in function itzhack().
  • Expand docstring of qeip to explain return values.
  • Re-phrase qdist docstring to make it clear.
  • Move titles of filters' docstrings to rst files.
  • Update information about frames in the submodule's docstring.
  • Move metrics RST files to new folder metrics, and update their links in metrics.rst.
  • Simplify NED and ENU transformations with a single function.
  • Move class Sensors to highest level of package.
  • Method wrap_angle() allows now to take values outside the range [-2pi, 2pi].
  • Change KeyError to ValueError in method wrap_angle().
  • Rename _assert_iterable as _assert_valid_array_type.
  • Move _assert_same_shapes function to core submodule.
  • Better handling of zero-valued accelerometer values.
  • Computed angles are returned as radians.
  • Improve handling of angle inputs that are factors of 2*pi radians in DCM.
  • Reject axes as integers in rotation sequence functions of orientation and DCM.
  • Change version of Python to 'latest' in readthedocs build action.
  • Refactor Itzhack method to obtain quaternion from DCM according to original article.
  • Use normalized standard deviations for gaussian noises.
  • Use global variables in tests to be re-usable accross different unit tests.
  • assertEqual to assertAlmostEqual in TestAngularDistance.
  • Simplify operations in method angular_velocities and adapt typing hints.
  • Aesthetical improvements in docstrings of class Quaternion.
  • Improve docstring in method product from class Quaternion
  • Expand description of core utils submodule.
  • Use method from_rpy() for parameter 'angles' in class Quaternion.
  • Simplify input validation with class Quaternion and function _assert_numerical_positive_variable().
  • Replace _assert_iterables() with _assert_numerical_iterable() for improved verification in class Quaternion.
  • Improve handling of zero arrays as input of Quaternion.
  • Make method from_quaternion() static to ease its call in class DCM.
  • Simplify setting of attribute scalar_vector in class Quaternion.
  • Improve example in docstring of QuaternionArray.is_real().
  • Improve docstring of QuaternionArray.rotate_by().
  • Revert assertion of new QuaternionArray to use _assert_iterables().
  • Update THRESHOLD value, add ND values to generated magnetometer values.
  • Angle setting in function rotation() to simplify computations.
  • Tests of parameter rpy in DCM to use angles as radians.
  • Update docstring in ecef2geo().
  • Import global constants independently in wgs84, instead of star import.
  • Update computation of prime meridian curve radius and add its reference.
  • Switch places of roll and yaw in rpy2q(), to be consistent with order in documentation and most references.
  • Explicitly set html_css_files in Sphinx's conf.py to an empty list.
  • Simplify setting reference frames in TRIAD.
  • Use function random_angpos() to generate reference orientations.
  • Use uniform random generator in function random_attitudes().
  • Improve detection of numerical values in core utils.
  • Re-organize index page of documentation.
  • Redefine log of Rotation matrix.
  • Use logarithm of Rotation matrix to test angular distance between rotation matrices.
  • Index of attitude representation pages packed into a single page.
  • Foldable sections from bullet points in README.md.
  • Change message of assertion of int or float in _assert_numerical_positive_variable().
  • Refactor messages of assertAlmostEqual in tests of WMM to use f-strings.
  • Change decimal precision of tests involving ecef and enu to 4.
  • Redefine transformation functions in WGS84 to use a and b only.
  • Switch comparison in docutils dependency at pyproject file to use the newest version.

Deprecated

  • Imports of warning breaking some builds.

Removed

  • requirements.txt from docs
  • tools folder for version management. Check pyproject.toml
  • pythonbuild.yml
  • io and plot submodules from code base.
  • Unused **kwargs in euclidean().
  • Unused constant EARTH_FLATTENING.
  • Unused function q2R() in Mahony.
  • Unused constant of Earth's eccentricity.
  • Unused function logR().
  • Unused import of numpy type hints.
  • Testing three-element array when setting q0.
  • Section about different gravitational methods from WGS84 docstring.
  • Note about quaternion conversion. It is not valid anymore.
  • Guards for Quaternion objects in method __mul__.
  • Repeated functions rotation() and rot_seq(). They are in submodule dcm.
  • Sphinx extensions from list of docs in pyproject.toml
  • Sphinx extensions from requirements.
  • Wrong type of test in metrics.
  • Keyword version in install of Python dependencies.
  • Loops for 'hughes' and 'chiaverini' (they vectorize 3d arrays already.)
  • Method angle_integration(), and estimate attitude with explicit loop (it improves readability.)
  • Test of assertion when gain = 0 is given to Complementary Test. It is overhead, but possible.
  • Constrained angles in QuaternionArray.
  • Omega attribute breaking return values.
  • Unused test files.
  • test_new unit test.
  • Unnecessary control flow in class Quaternion.
  • Normalization of product of quaternions. They are now assumed as non-versors.

Fixed

  • Order of roll, pitch, yaw in Quaternion.from_rpy() (pr #65 from jaluebbe)
  • Bias integration in Mahony filter (pr #66 from timethy)
  • Unwanted compass rotations at 180deg heading (pr #67 from jaluebbe)
  • Equation docstring of QUEST algorithm (pr #108 from tokoro10g)
  • Loop condition in FLAE-newton (pr #102 from petrinm).
  • Default values for gravity vector.
  • Default Munich height.
  • Leading spaces in docstring in QuaternionArray.remove_jumps().
  • Rendering of example code in docstring of random_attitudes().
  • Handle undefined variable i in QuaternionArray.from_DCM().
  • Re-raise RuntimeWarning as RuntimeError in from_DCM method of QuaternionArray
  • Clip trace values of estimation of q_w in function chiaverini() to [-1, 3], to avoid negated sqrt() created by imprecise DCM.
  • Char escapes to properly parse blank spaces in docstring.
  • AngularRate asserts input quaternion, instead of initial quaternion.
  • TestChordal uses chordal instead of euclidean.
  • Values for reference gravitational vector in EKF.
  • Docstrings for magnetic references in EKF.
  • Equations in docstrings of enu2dca and dca2enu.
  • Equation in docstring of qdist, and add information about its error span.
  • Example call of ReferenceEllipsoid at each of its methods.
  • Default values in docstring of WMM, and default value of height parameter.
  • So-called invalid escapes in docstring of class WMM.
  • Type in citation, and fix example in docstring of property first_eccentricity_squared.
  • Default value to use first eccentricity squared in geo2rect.
  • Example in docstring of function rotation().
  • Handling of zeroed-gyroscope measurements in AQUA's updateIMU().
  • Calls in test_wrong_input_vectors() for unit tests of attitude estimators.
  • AQUA's adaptive gain updates.
  • Examples in docstring of DCM to use DEG2RAD.
  • Equation of quaternion derivative in footnote.
  • Invalid backslash to avoid parsing errors in LaTeX of docstrings.
  • Computation of log(R).
  • Clipping values in multi-array computation of Quaternion in Chaverini's method.
  • In QUEST estimator:
    • Use a normalized gravitational vector.
    • Definition of _set_magnetic_field_vector().
    • Equation docstring of QUEST algorithm
    • Other errors in docstring equations.
  • In Mahony estimator:
    • Bias integration.
    • Vector field v_m.
  • Return of inverse when quaternion is not versor.
  • Docstring of function random_angpos() in estimator's tests.
  • Setting of array in method rotate_by() of class QuaternionArray.
  • Typos and wording in index.rst.
  • References and phrasing in docstring of AQUA.
  • Formatting of escape characters in docstring.
  • Use of array in function q_conj of submodule orientation.
  • Docstring of chaverini.
  • Code style and add typing in __gaussian_filter()
  • Initial values of ROLEQ and reference vectors.
  • Estimation of auxiliary quaternion from magnetometer readings.
  • Broken link to Wahba's Problem.
  • Documentation in WGS84.
  • Example in docstring of FAMC.
  • Correct vertical bar in definition of quaternion derivative in docstring of AngularRate.
  • Definition of SCADA.
  • Equation of Taylor series in Quaternion Linearization.
  • Documentation and add example in doc of class.
  • Docstring about degrees in function rot_seq().
  • Reduce expression of redundant boolean check in get_nan_interval().
  • Instructions to install package.
  • Comments about equation references.
  • Docstring about negative skew-symmetric matrices.
  • Docstring of Chiaverini's method.
  • Docstring in Hughes method.
  • Definition of objective function in docstring, and update information about LTP.

[0.3.1] - 2021-09-29

Added

  • Error raise if geomagnetic field is invalid in class EKF.
  • New method Omega in class AQUA to simplify the product between angular rate and quaternion.
  • New method rotate_by in class QuaternionArray.
  • More Acronyms in page Nomeclature of documentation.
  • Individual pages for each method and attribute of classes Quaternion and DCM into documentation.
  • Merge pull request of basic automation tests.

Changed

  • Fix undefined matrix R in method update of class EKF.
  • Fix shape of converted points in function ned2enu.
  • Fix parameters in function rec2geo of submodule frames.
  • Fix method from_quaternion of class DCM.
  • Fix Munich height (in km) in global constants.
  • Improve detection of empty arrays when building TRIAD object.
  • Improve description of estimator AQUA in its docstring.
  • Improve imports in submodules frames and dcm.
  • Improve style and descriptions in docstrings of functions in submodule orientation.
  • Method init_q is now synonym of the more convenient method estimate in class AQUA.
  • Parameter as_quaternion in method estimate of class TRIAD renamed to representation, and its value is now of type str.
  • Versioning is defined using f-strings.

Removed

  • Redundant normalization of magnetic measurement vector in class FQA.

[0.3.0] - 2021-02-03

Added

  • World Magnetic Model as class WMM.
  • World Geodetic System as class WGS.
  • Geodetic and planetary constants.
  • New class DCM to represent Direction Cosine Matrices.
  • Attitude Estimator EKF.
  • Attitude Estimator TRIAD.
  • Attitude Estimator Davenport.
  • Attitude Estimator QUEST.
  • Attitude Estimator SAAM.
  • Attitude Estimator OLEQ.
  • Attitude Estimator ROLEQ.
  • Implementation of modes newton, eig and symbolic in estimator FLAE.
  • New function ecompass to estimate Orientation from an observation of an accelerometer and a magnetometer.
  • New method row_reduction in estimator FLAE.
  • New methods to_angles, is_pure, is_real, is_versor, and is_identity in class QuaternionArray.
  • New properties logarithm and log in class Quaternion.
  • New parameter versor defaulting to True in class Quaternion to initialize quaternions as versors.
  • New frame transformations ned2enu, enu2ned, ecef2enu, enu2ecef, ll2ecef, and ecef2llf.
  • Requirements file.
  • Manifest file.
  • Documentation with Sphinx.
  • Type hints.

Changed

  • Fix AQUA.
  • Fix missing imports in several submodules.
  • Fix versioning that prevented install from a fresh setup.
  • Tilt can perform vectorized estimations over 2D arrays.
  • QuaternionArray is now subclassed from a numpy.array.
  • Simplify implementation of class Complementary.
  • Create copies of quaternions and normalize them when given in metrics functions.
  • Complete attitude estimator FAMC.
  • Complete docstrings of all functions, methods and classes.
  • Improve examples and information in README.

Removed

  • Submodules plot and io to remove dependencies on scipy and matplotlib.

[0.2.2-dev1] - 2020-02-06

Added

  • Support for other characters as separators in function load of submodule io.
  • Function am2euler to obtain Euler angles from gravity and geomagnetic measurements.
  • Notice of discontinuation of io and plotting submodules.
  • Add badge of code quality.

Changed

  • Using isinstance(x, y) instead of type(x)==y to confirm types of variables.
  • Update setup information.

[0.2.2] - 2020-01-06

Added

  • This changelog.
  • Script triad.py for future submodule implementation of TRIAD method.

Changed

  • Action Build Python Package builds only when new commit is pushed to master branch.
  • Simplify building triads in function triad of submodule orientation.
  • Fix documentation of am2angles and quest of submodule orientation.

[0.2.1] - 2020-12-28

Added

  • Class QuaternionArray to handle several quaternions at once.
  • Add methods log(), exp(), inv(), to_array() and to_list() to class Quaternion.

[0.2.0] - 2019-12-27

Added

  • Class Quaternion to handle quaternion operations.
  • Add methods log(), exp(), inv(), to_array() and to_list() to class Quaternion.
  • More definitions of colors with formats ints and floats.
  • Functions hex_to_int() and hex_to_float() convert any color defined as hex into int and float.
  • Badges in README to indicate basic information.

Changed

  • Improve versioning.

Removed

  • Function R2q() to get quaternion from rotation matrix. Method from_DCM() of class Quaternion is preferred.