Simplified Attitude Determination Algorithm Using Accelerometer and Magnetometer with Extremely Low Execution Time

Algorithm 1

The calculation procedure of the Fast Accelerometer-Magnetometer Combination (FAMC).

While no stop command received

(1) Input: Get vector observations from accelerometer and magnetometer: . Normalize them with

(2) Preparation: Calculate the dynamic magnetometer reference vector by

(3) Fusion: Compute parameters via

Obtain the quaternion elements with

(4) Normalization: