JUCS - Journal of Universal Computer Science 15(4): 859-876, doi: 10.3217/jucs-015-04-0859
A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass
expand article infoNguyen Ho Quoc Phuong‡, Hee-Jun Kang‡, Young-Soo Suh‡, Young-Sik Ro‡
‡ University of Ulsan, Ulsan, Republic of Korea

Corresponding author: Nguyen Ho Quoc Phuong ( qtquocphuong@mail.ulsan.ac.kr )

© Nguyen Ho Quoc Phuong, Hee-Jun Kang, Young-Soo Suh, Young-Sik Ro.
This article is freely available under the J.UCS Open Content License.
Citation: Phuong NHQ, Kang H-J, Suh Y-S, Ro Y-S (2009) A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass. JUCS - Journal of Universal Computer Science 15(4): 859-876. https://doi.org/10.3217/jucs-015-04-0859
Open Access
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.
Keywords
orientation estimation, DCM, Quaternion, Euler Representation