Discussions

Hello,

I have studied the draft of Bill's DCM paper, but I think I don't need a whole DCM matrix to follow the yaw in the earth frame which I need. Can someone please help me transform the body frame yaw to earth frame yaw witho maintaining a DCM? I think it must work from Euler angles but I don't know how to do it.

I have:  a 3 axis accel, a 3 axis magnetometer and a 3 axis gyro.

I have compensated the magnetometer with the roll and pitch angles which I have from the accel.

I would like to use a complementary filtrer approach instead of the DCM and the PI feedback correction loop. The complementary filter will automatically free me of gyro drift and saturation problems.

I would use three complementary filters, one for each axis, fusing accelerometer with gyro angles for roll and pitch and fusing gyro yaw angle with the magnetometer heading. For that I need to have the gyro yaw angle in the same reference frame as the magnetometer, i.e. in the earth frame.

Therefore I want to transform the body frame yaw to the earth frame yaw angle. How can I calculate that from the Z gyro yaw angle?

Any help will be greatly appreciated!

Andeas