My Math Forum Calculate Yaw from 9DOF chip

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 August 26th, 2016, 06:02 PM #1 Newbie   Joined: Aug 2016 From: California Posts: 1 Thanks: 0 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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