In the DCM, the accelerometers used for the pitch-roll compensator, and the GPS used for the roll compensator. Does anyone know why the GPS did not use for the pitch-roll compensator?
I totally thank you for your reply. So after Matlab/Simulink simulation, you generated your inputs (COG and SOG from GPS). I wil try to generate these inputs. Do you have any MEX Matlab file or any files to run R.c code.
Sorry for not explain well. When I look at 'Direction Cosine Matrix IMU: Theory'.
COGX=cos(sourse over ground angle)
COGY=sin(sourse over ground angle)
1) The course over ground angle from GPS is used as inputs to compute yaw…"
I thank you very much for your values even if you have being busy.If you are fine, could you give me any tips or documents how to find the optimal gains please? How can I find speed and course over ground from GPS?
I am implementing the complementary filter in Matlab based on 'Direction Cosine Matrix IMU: Theory'. William Premerlani said you decided input values. Could you tell me how to decide speed and course over ground from the GPS / the…"
"Hi William Premerlani,
Sorry for replying late. I was away for a week, and really thank you very much for your time and tips. I would implement this design in Matlab. I have sent a message to Paul Bizard but he might be busy to reply my questions. I…"
After computing orthogoanl X, Y and Z matrix, a Taylor's expansion is used in 'Direction Cosine Matrix IMU: Theory'.Scaling X, Y and Z using a Taylor's expansion,[In the paper]X_norm = 0.5 (3 - dot(X_orth, X_orth)) * X_orthY_norm = 0.5 (3 -…