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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...
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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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