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A DCM based orientation estimation algorithm with an inertial measurement unit and a magnetic compass. (English) Zbl 1216.70005

Summary: In this paper, the direction cosine matrix (DCM) method for attitude and orientation estimation is discussed. The DCM method was chosen due to some advantages over the popular methods such as Euler Angle, Quaternion, in light of reliability, accuracy and computational efforts. A model for each method is developed for methodology comparison. It is shown that the normal Kalman Filter in the DCM method is better than the extended Kalman Filter in Euler and Quaternion based methods because it helps avoid the first order approximation error. Methodology errors are verified using the Aerospace Blockset of Matlab Simulink.

MSC:

70B15 Kinematics of mechanisms and robots
94A12 Signal theory (characterization, reconstruction, filtering, etc.)

Software:

Matlab; Simulink
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