Attitude estimation analysis obtained from MEMs and inertial class gyros using Quaternions and Euler angles approach

Cesar Moura Batagini¹; Thiago Neves Cunha¹; Euler Gonçalves Barbosa¹

¹ Instituto de Aeronautica e Espaço - IAE

doi:10.20906/CPS/CON-2016-1589

Resumo

The direction which a vehicle is pointing at can be represented in the Cartesian coordinates system and is also known as vehicle attitude. The attitude parameters depend on angular velocities and the inertial sensor that measures the vehicle's angular velocity is the gyro. Attitude parameters, estimated in Euler angles and quaternions provide these Cartesian coordinates and are going to be discussed in this paper. The accuracy of both estimations is campared. The attitude parameters are provided by two inertial sensors (MEMS-based and velocity sensor gyros) calculated in a real time computer installed in a motion simulating table.

Palavras-chave: Attitude; Quaternions; Euler Angles; MEMS-based gyro