A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass
Hee‐Jun Kang, Nguyen Ho Quoc Phuong, Young-Sik Ro, Young-Soo Suh
Abstract
In this paper, Direction Cosine Matrix (DCM) method for attitude and orientation estimation is discussed. DCM method was chosen due to some advantages over the popular methods such as namely Euler Angle, Quaternion in light of reliability, accuracy and computational efforts. Proposed model for each method is developed for methodology comparison. It is shown that normal Kalman Filter in DCM method is better than extended Kalman Filter in Euler and Quaternion based method because it helps avoid the first order approximation error. Methodology errors are verified using Aerospace Blockset of Matlab Simulink.
Topics & Concepts
CompassOrientation (vector space)Inertial measurement unitInertial frame of referenceUnit (ring theory)EstimationAlgorithmComputer scienceComputer visionArtificial intelligenceMathematicsEngineeringPhysicsGeometryGeographyCartographyClassical mechanicsSystems engineeringMathematics educationInertial Sensor and NavigationIndoor and Outdoor Localization TechnologiesGeophysics and Gravity Measurements