rockpool.devices.xylo.syns63300.imuif.rotation.jsvd

This module takes the 3 x 3 covariance matrix from the IMU subspace estimation module and computes the 3 x 3 rotation matrix and 3 x 3 diagonal matrix.

  1. Compute R.T @ C @ R in one-shot rather than doing it in two steps with 2 matrix multiplication.

  2. Apply infinite-bit approximation, which is valid when number of angles in lookup table is large enough.

  3. This yields a higher precision in implementation of JSVD.

Classes

JSVD()

Runs Jaccobi SVD algorithm in FPGA precision

RotationLookUpTable()

A lookup table for JSVD algorithm.