hello. my english is very poor, i want you to be kind.i try to make imu.then i read paper's and some open source.i make a few program which use kalman filter.but it doesn't work correctly.then i look paper and program, the program use dcm in mesurement model.z = h(x, v);matrix A is just derivation h.i thinkx's vector is quaternion and z is euler.quaternion to euler conversion equation is h.and A is h's derivation.but paper make A from DCM.why use DCM?It has any benefit?
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