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RADICAL RIMU Attitude Determination/Calibration Filter - Filter States PDF Print E-mail
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Filter States

The filter states and their dimensions are shown in the following table.

Filter States
States Dimension
Attitude perturbation 3
Gyro bias n
Symmetric scale factor n
Asymmetric scale factor n
Gyro axis misalignment 2n
Attitude sensor misalignment 3m – 3
Total Number of States
5n + 3m


Because only relative misalignments can be estimated for the attitude sensors, the number of independent attitude sensor misalignments is 3m – 3, not 3m. The misalignments are modeled as small-angle rotation vectors at each of the m attitude sensors.