Karman filter and attitude estimation. Lin Zhong ELEC424, Fall 2010. Yaw, pitch, and roll angles. Inclination. How z is represented in the sensor coordinate XYZ : S z. Orientation (attitude).
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ELEC424, Fall 2010
Ga = GSR·Sa
Optimal Kalman gain
A gyroscope measures a 3D angular velocity plus an offset and white measurement noise in the sensor co-ordinate frame
A 3D accelerometer measures acceleration minus gravity and a white noise component, all in the sensor co-ordinate frame
Remove body acceleration