"The static/dynamics terms in this case refer to the sensor bandwidth (i.e. DC-100 kHz), not to any ability of the sensor to measure static pressure and stagnation pressure simultaneously. You would still need two of these to make a pitot tube."
"Fusing in additional information from more sensors never makes your state estimate worse if you do it correctly. There is never a reason not to add in the data from a reasonable sensor. The whole point of recursive filters (e.g. a Kalman filter) is…"
"Yup. That's the idea. We know the DCM "lives in" SO(3), so the discrete integrator should preserve this. The Euler method doesn't preserve this symmetry, hence the need to renormalize.
The exponential of a matrix is just…"
"So he was applying finite rotation matrices sequentially, using \theta_x=wx*dt, \theta+y=wy*dt, \theta_z=wz*dt? It wasn't clear what he was doing and I currently don't have Simulink so I couldn't load up his models.
"I've just come across this thread and I'm still not clear on what the original poster means by "direct integration." What do you mean by direct integration?
DCM just directly integrates the differential equation: