A DCM Based Orientation Estimation Algorithm with an Inertial Measurement Unit and a Magnetic Compass

Nguyen Ho Quoc Phuong (University of Ulsan, South Korea)

Hee-Jun Kang (University of Ulsan, South Korea)

Young-Soo Suh (University of Ulsan, South Korea)

Young-Sik Ro (University of Ulsan, South Korea)

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: DCM, Euler Representation, Quaternion, orientation estimation

Categories: I.2.9, I.3.5, I.3.7