"Magnetometer is used for yaw compensation."
I think there is little mentioned about this approach in your DcmDraft paper
would you please give more information about how to compensate the yaw correction by Magnetometer?
"Very sorry to trouble you so many times. I have understood and let me answer some of the question myself.
>question 2: >we take the cross product Z row of estimated DCM with the gravity reference vector
>and if the result is not ZERO, you call it…"
"Dear I have new questions
regarding the RollPitchCorrection ,we use the accelerometer to obtain a gravity reference vector
when we use it ,is there an assumption made that the plane keep going forward in a horizontal level?
"Dear I reviewed the Eqn14~17 which someone feels confused maybe. would it be better if we add some tips or comments about this setction 1. the θ(x/y/z) in the matrix of Eqn 17 stands for the magnitude of the Vector : dt * W(x/y/z) X r(t) not the…"
for example. the x-axis has the whole Centrigual acceleration(Vector C). the Gravity works in z-axis (Vector G)
under this condition. the Accelerometer will output the result Vetor A = C + G
so if we want to get the G, we need A-C,but…"
Regarding the Eqn 26 in the paper(DcmDraft2)
the acceleromter is aligned with the plane(body).so its output is the combination result of gravity and centrigual acceleration.
and we only need the gravity acceleration as our reference…"
I'm reading your perfect paper(DcmDraft2)
please let me ask a problem if I may.
in the paper, we got "a convenient matrix form" in Eqn 17
we know the new "DCM“ is not a definite DCM for its magnitude is not 1 ,and each vector member is…"