Eduardo N. Hering
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  • Brazil
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  • William Premerlani
 

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Please tell us a bit about your UAV interest
https://hackaday.io/project/11724-yauvec-yet-another-unmanned-vehic...
Hometown:
Joao Pessoa, PB, Brazil

Comment Wall (1 comment)

At 6:31pm on October 7, 2017,
T3
William Premerlani
said…

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: https://github.com/MatrixPilot/MatrixPilot/wiki/UDBCoordinateSystems

3. Here is some more useful information on the subject: http://www.starlino.com/dcm_tutorial.html

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

Best regards,

Bill

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