Accurate motion capture at high rotational rates using the CORDIC algorithm

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.