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Orientation Kinematics with Direction Cosine Matrices
In a sentence, a direction cosine matrix is a 3×3 matrix containing the cosines between each of the 9 possible pairs of axes of two separate Cartesian coordinate systems. In the context of inertial...
View ArticleUsing accelerometer data to correct for gyro drift
Gyroscopes do not measure acceleration, so they obviously cannot be used to calculate the direction of gravity. In other words, we can use gyro outputs to calculate an estimation of the direction...
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How to correct the correction vector for an IMU
In a previous post, I explained how to correct for gyro drift by using the accelerometer’s reading of the gravitational acceleration vector. But how do we know the measured gravitational vector is...
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