Research Article
A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs
Table 1
Experimental parameters for IMU algorithms.
| Symbol | Quantity | Value |
| | The acceleration of gravity (around Helsinki, Finland) | 9.8189 m/s2 |
| | Sampling interval | ~1/150 s |
| | Initial variance of the DCM state | 12 (rad/s)2 |
| ()2 | Initial variance of bias states | 0.12 (rad/s)2 |
| | DCM-state-prediction variance | 0.12 (rad/s)2 |
| ()2 | Bias-state-prediction variance | 0.00012 (rad/s)2 |
| | Variance of accelerometer measurement | 0.52 (m/s2)2 |
| | Variance of estimated acceleration | 102 (m/s2)2 |
| | A tuning parameter of Madgwick’s filter | 0.1 |
| | A tuning parameter of Mahony’s filter | 0.5 |
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