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August 26th, 2016, 06:02 PM   #1
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What is the best approach to calculate the yaw from a 9-axis absolute orientation sensor? My math skills from 40 years ago are a little rusty, so I need some help.

It helps to think of this problem as determining the yaw of an aircraft from a 9DOF chip riding inside.
  • Also assume that the aircraft maintains its altitude from beginning to end so it's a 2D problem.
  • Also assume that we know the initial condition of the aircraft including Orientation Vectors & yaw = 0
  • I need to produce yaw readings for only the first 5 minutes with an accuracy of better than 5% (maybe 10%).
  • We don't have any air or ground speed info.
  • Assume calculation speed is less than 10 msec. (so it's not a concern for now)
I have a 9DOF chip that provides the following values:
• Absolute Orientation (Euler Vector, 100Hz)
Three axis orientation data based on a 360° sphere
• Absolute Orientation (Quaterion, 100Hz)
Four point quaternion output for more accurate data manipulation
• Angular Velocity Vector (100Hz)
Three axis of 'rotation speed' in rad/s
• Acceleration Vector (100Hz)
Three axis of acceleration (gravity + linear motion) in m/s^2
• Magnetic Field Strength Vector (20Hz)
Three axis of magnetic field sensing in micro Tesla (uT)
• Linear Acceleration Vector (100Hz)
Three axis of linear acceleration data (acceleration minus gravity) in m/s^2
• Gravity Vector (100Hz)
Three axis of gravitational acceleration (minus any movement) in m/s^2

Any ideas on how to best approach this problem will be greatly appreciated.

Last edited by skipjack; August 27th, 2016 at 01:16 AM.
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