Simulation and Visualisation of Rigid Body Attitude in Space using Sensor Data Fusion

This manuscript is centered on the estimation of the attitude of a body evolving in a 3D space. In this context, the chosen representation of attitude is the Euler angle method, and the accessible measurement data come only from an Inertial Measurement Uunit (IMU) that comprising a triad of triaxial proprioceptive sensors (3 Accelerometers and 3 Gyrometers). The objective of this research is to study and implement inertial data fusion methods by combining measurements from an IMU to visualize the orientation of mobile body. Numerical simulations as well as experiments using real data have validated all implemented methods.