I don't think I can help you with the moving map efis idea, although it sounds very interesting. I expect you'd have to add some form of GPS to the system to determine your location. I don't know anything about Visual Basic I'm afraid."
I think your equation 11 is an insufficient constraint on A to define it.
For vectors a, b of equal length that subtend theta there is a rotation from a to b for every angle {theta, 2pi-theta}. You're assuming the shortest rotation (theta)…"
I'm using the DCM code as provided with the CK devices "mongoose" as the starting basis for an opens-source wifi AHRS for real aircraft. (That means some of the difficulties of UAVs don't occur: no continuous high-speed rotations for a Cessna…"