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Objective

Remove frames that are unlikely to give meaningful results. Currently, we remove frames that are unstable and the result of fast changes in aircraft attitude.

Assumptions

  • Aircraft IMU data (euler angles for yaw, roll and pitch) are provided

Features

Feature

Requirement

1

Worker Function

Takes in a frame and IMU data, applies filtering functions, only put frame into output pipeline if filter returns True.

2

 Filtering: Angles

Maintain euler angles for last frame as state. Check if difference between euler angles for current frame and euler angles for last frame are above a certain threshold. Arbitrarily select threshold for now.

References

https://www.mdpi.com/1424-8220/20/1/272

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