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rodralez / NaveGo

NaveGo: an open-source MATLAB/GNU Octave toolbox for processing integrated navigation systems and performing inertial sensors analysis.
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Add DCM from b-frame to v-frame #116

Open scott198510 opened 2 years ago

scott198510 commented 2 years ago

Usually, an IMU frame is known as the b-frame. It is assumed that the b-frame is aligned with the v-frame, as shown Fig A. However, this may not be the case and there may be some angular misalignment between the v-frame and the b-frame as illustrated in Fig B

image

Assuming that the two frames have a roll angle , pitch angle , and azimuth angle , the DCM for these angles can be written as

image

If so, the b-frame data obtained from IMU needs to be adjusted, otherwise the calculated pitch , roll and yaw of the vehicle will be problematic, because the installation angle of IMU which is installed tiltly cannot be calculated into the actual pitch angle, roll angle and yaw angle.

If this DCM is added, the program will be more universal. After all, IMU installation is not necessarily consistent with the vehicle in many cases. The corresponding horizontal installation can be regarded as a special case, such as DCM = eye(3,3)

scott198510 commented 2 years ago

@rodralez

rodralez commented 2 years ago

Hello, yes, adding this new DCM matrix could be a very good improvement.

You can create a new branch from develop, maybe called imu-to-body-dcm, then develop this new imu-to-body DCM, and finally push the new branch to NaveGo repository.

Please, just let me know if you want to become a NaveGo collaborator and I will allow to be part of our project.

Kind regards.

scott198510 commented 2 years ago

@rodralez If you have enough time now, you can finish it yourself. It may take some time to supplement this code for me,I am very busy recently!