Eduardo N. Hering
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  • William Premerlani

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Please tell us a bit about your UAV interest
Joao Pessoa, PB, Brazil

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At 6:31pm on October 7, 2017,
William Premerlani

Hi Eduardo, I will take a look when I have some time.

In the meantime:

1. You are correct, there is a typo in equation 20.

2. In my paper, I used a west-north-down coordinate system, I did not know at the time that the conventional usage for aviation is north-east-down (NED). This often leads to confusion. Also, there is often confusion about the polarity of the accelerometer signals. For more information on coordinates that I use, see:

3. Here is some more useful information on the subject:

4. In the update equation, the rotation rate is in radians per second, the rotation angle is in radians.

Best regards,


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