Multi-sensor data fusion of DCM based orientation estimation for land vehicles

In this paper, an algorithm estimating orientation is implemented using Direction Cosine Matrix (DCM) method, chosen due to its linear process model and ease of use. Two Kalman filters were used to estimate the rotation matrix elements where the Euler Angles are easily computed. A rule based decision structure is used to choose the best measurement available in the system from GPS and digital compass. Also the dynamic motion of the vehicle is considered to overcome the slow response of the digital compass. The algorithm is tested with real time logged data set and a decision structure is developed to have the best Information provided from the multiple sensors. The algorithm is also tested under artificial GPS outages, performs successfully for both attitude and heading angles.