Estimating accelerated body's attitude using an inertial sensor

In this paper we suggest an improvement upon the previous method of estimating a body's attitude. This paper presents a method that overcomes previous studies' shortcomings. Applying the method of separating the acceleration of gravity component from the accelerometer's output improves the performance of the attitude estimation and extends the scope. In order to apply the method of the attitude estimation in an actively moving body, a new acceleration value containing the acceleration of gravity is calculated.