A DCM based orientation estimation algorithm with an inertial measurement unit and a magnetic compass

Journal of Universal Computer Science

Volumn 15, Issue 4, 2009, Pages 859-876

  Phuong, Nguyen Ho Quoc ^a   Kang, Hee Jun ^a   Suh, Young Soo ^a   Ro, Young Sik ^a  

^a University of Ulsan   (South Korea)

Author keywords

DCM; Euler representation; Orientation estimation; Quaternion

Indexed keywords

EID: 67650139444     PISSN: 0958695X     EISSN: 09486968     Source Type: Journal    
DOI: None     Document Type: Article

References (10)

1. Choukroun, D.: "Novel methods for attitude determination using vector observation", Phdthesis, Israel Inst. Technol., Haifa, Israel (2003).
2. Crassidis, J. L. and Markley, F. L.: "Unscented Filtering for Spacecraft Attitude Estimation", Journal of Guidance, Control, and Dynamics, vol. 26, July-August 2003.
3. Gebre-Egziabher, D., Hayward, R.C., Powell, J.D.: "Design of multisensor attitude determination systems", IEEE Transactions on aerospace and electronic systems 40, NO. 2(2004)
4. Ladetto, Q., Merminod, B.: "Digital magnetic compass and gyroscope integration for pedestrian navigation". In 9th Saint Petersburg International Conference on Integrated Navigation Systems, May 2002. pp. 111-120
5. Nebot, E., Durrant-Whyte, H.: "Initial calibration and alignment of low cost inertial navigation units for land vehicle applications", Journal of Robotics Systems 16, NO. 2, pp.81-92(1999)
6. Nguyen, H.Q.P., Kang, H.J., Suh, Y.S., Ro, Y.S., Lee, K.C.: "A GPS/ INS Integration System for Land Vehicle Application", In SICE-ICASE, International Joint Conference (2006).
7. Rehbinder, H., Hu, X.: "Drift-free attitude estimation for accelerated rigid bodies", Science Direct - Automatica 40, Issue 4, Pages 653-659 (2004)
8. Roetenberg, D., Luinge, H.J., Baten, C.T.M., Veltink, P.H.: "Compensation of Magnetic Disturbances Improves Inertial and Magnetic Sensing of Human Body Segment Orientation", IEEE Transactions on neural systems and rehabilitation engineering 13, NO. 3(2005)
9. Sabatini, A.M., "Quaternion-Based Extended Kalman Filter for Determining Orientation by Inertial and Magnetic Sensing", IEEE Transaction on biomedical engineering 53, No. 7(2006)
10. Suh, J.S., Park, S.Y., Kang, H.J., Ro, Y.S.:Attitude Estimation Adaptively Compensating External Acceleration, JSME International Journal, Series C 49, No 1 (2006).