mekf

imud is a general-purpose IMU daemon for Linux — think of it as gpsd for IMUs. It owns the inertial sensor, does the hard real-time work once (interrupt-driven sampling, calibration, sensor fusion, precise hardware timestamps), and publishes a clean attitude/heading/motion estimate on standard interfaces.

Multiplicative Extended Kalman Filter Satellite Attitude Determination

Real-time quaternion-based Multiplicative Extended Kalman Filter (MEKF) for IMU orientation estimation with gyroscope bias compensation and 3D visualization.

CubeSat Flight Software and GNC implementations in C++

SpaceX Starship belly-flop → flip → landing 6-DOF simulation with SCvx successive convexification guidance. 100% Monte Carlo success rate (20/20)! Features: 14-state dynamics, 4-flap differential control allocation, Bouc-Wen hysteresis, 15-state MEKF, 3× Raptor engines. 42/42 tests passed. Python + C++ | SpaceX星舰腹部翻转回收六自由度仿真，SCvx凸优化制导，蒙特卡洛100%成功率

Hybrid AI-Powered Satellite Attitude Determination and Control System (ADCS) integrating MEKF, quaternion dynamics, LQR/PD control, and neural network-based attitude control for spacecraft GNC applications.

Multiplicative Extended Kalman Filter [MEKF] applied to Quaternion Attitude and Gyroscope Bias estimation.

Portable C guidance, navigation, and control algorithms for rockets, spacecraft, simulation, and embedded flight computers. Including Mahony and Kalman (MEKF) filters for state estimation.

SpaceX Falcon 9 first-stage vertical propulsive landing simulation using G-FOLD convex optimization (SOCP). 100% Monte Carlo success rate across 100 runs! Features: 6-DOF dynamics, multi-engine 1-3-1 trajectory profile, MEKF state estimation, CLARABEL solver, fault injection hardening. Python + C++ | 猎鹰九号一级垂直回收G-FOLD凸优化仿真，蒙特卡洛100%成功率