New method for initial orientation estimation in dynamic state using MEMS magnetometers and accelerometers

This paper presents a new method to efficiently determine the initial orientation of a Small Aerial Vehicle (SAV), using a combination of inexpensive sensors (three magnetometers and three accelerometers). The feature of this method is that the whole process is accomplished in a dynamic state and there is no need for calibration information. To complete the task, a motion model is added into calculation, to describe the regularity of the motion and provide variations of both the direction of magnetic field and the body´s acceleration. And advanced Gauss-Newton iteration algorithm is also employed to find out the best results. Finally, the method is tested through simulation on computer. In such a case an SAV is moving in damped pendulum. Furthermore, the precision of results could be enough to initialize some special navigation systems of SAVs.