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/s^2
	Sampling interval	~1/150 s
	Initial variance of the DCM state	1^2 (rad/s)^2
()^2	Initial variance of bias states	0.1^2 (rad/s)^2
	DCM-state-prediction variance	0.1^2 (rad/s)^2
()^2	Bias-state-prediction variance	0.0001^2 (rad/s)^2
	Variance of accelerometer measurement	0.5^2 (m/s^2)^2
	Variance of estimated acceleration	10^2 (m/s^2)^2
	A tuning parameter of Madgwick’s filter	0.1
	A tuning parameter of Mahony’s filter	0.5