Criteria for enforcing orthogonality in the DCM

I was looking at Premerlani and Bizard's paper and got thinking about what is needed to enforce the orthogonality of the DCM. From what I can tell you would need to track yaw as well in order for this to work right since this is a 3x3 matrix.Does this mean, then, that if I were operating without yaw tracking - say without a GPS for example, that performance would suffer since you would not be able to correct for yaw drift will would inevitably accumulate? Is this a correct assumption?Thanks,Daniel

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  • 3D Robotics
    That is correct. You also would not be able to correct for centripetal acceleration without a velocity vector
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