this program takes the data from an IMU as the input and calculates the body's trajectory ,velocity and attitude .
it plots the velocities and euler angles vs time and the body's trajectory.
1) What rotations do phi, theta, and psi represent? Standard z-x-z rotation?
2) In which direction is gravity supposed to be? Is it in the -Z (negative Z) direction?
Can I know which equations did you use? can you give me any references to look at? I'm trying to build an INS that outputs position based on accelerometer and gyroscope data.
Hello,
information about physical units for velocity would be usefull. There is a typing error in Line #29 "data(1,3)" might be "data(i,3).
Are you sure with formula for dY? Item [2,2] in rotation matrix is "sin(phi)*sin(theta)*sin(psi)+cos(phi)*cos(psi)".
Hi,
I understand that Phi, theta, Psi are representing angles of x, y, z axis and x, y, z are position from virtual global frame. However, I don't understand that what u, v, w are representing. They are velocity? Could you explain for detail? Thanks