An orientation tracking algorithm valid in a hemisphere space based on the gravity field and the earth magnetic field

A novel orientation tracking algorithm is introduced. The algorithm can provide 3DOF orientation information of an object in a hemisphere space. It is based on two-dimensional information about the gravity field and the earth magnetic field. Comparing with the traditional algorithm, it reduced the needed information from three dimensions to two dimensions in operation. It is faster and simpler. The algorithm is validated with a system. The results indicate the algorithm can track the orientation of the object well.