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In this paper, we describe a method for computing orientation and other navigational and positional tracking information when angular rate inputs vary over a wide range of values. Closed form solutions for the differential equations that characterize rotational motion involve transcendental functions whose values are obtained by approximation methods. Standard Taylor series or Runge-Kutta approximations are not accurate, for large angle inputs. We describe a multiCORDIC architecture that can compute an improved approximation method for the closed form. Attitude update techniques are compared for a system using data from three orthogonally mounted MEMS gyroscopes.
Signals, Systems and Computers, 2004. Conference Record of the Thirty-Seventh Asilomar Conference on (Volume:2 )
Date of Conference: 9-12 Nov. 2003