A DCM Based Attitude Estimation Algorithm for Low-Cost MEMS IMUs

Figure 3

The three compared IMU algorithms, a built-in estimate of Microstrain Inertia-Link, and the reference trajectory which is performed using the KUKA LWR 4+ robot arm. An error to the reference measurement is shown for each algorithm for yaw, pitch, and roll angles. The visible time range covers only the performed tests. The calibration sequences before and after the tests are omitted from the figure.