Hi Jeff,

You asked about a comment I made in the DCM algorithm, concerning the determination of foward acceleration in connection with the compensation of the accelerometers for acceleration.

Since then, we have learned a lot about this topic, I really should update the document.

We found that you can ignore the forward acceleration, you can still get pretty good performance.

The reason I was not keen on the GPS information was that there is generally a time lag between change of speed and when GPS reports it.

When I was debugging another problem, I thought that maybe the forward acceleration was the culprit, so I did put in the computation of forward acceleration as the time rate of change of GPS velocity, but it did not seem to make any difference one way or another.

Best regards,
Bill Premerlani

Hello Jeff,

 

Your comments pertaining to the X 47 B were very thought provoking. Thanks so much for sharing them .

 

Best Regards,

 

Debo