Multi-sensor attitude algorithm design for a low-cost strap-down system based on the direction cosine matrix

As the first step to realize attitude control of the carrier, attitude measurement results play a crucial role in many navigation and control systems. The current trend towards miniaturization and real-time control has been fuelling research in the field of attitude measurement (Dong, 2016). The development of microelectronics gave birth to MEMS sensors, which possess the advantages of small size, low power consumption, and low cost (Robert, 2013). This made the realization of strapdown attitude angle determination system based on MEMS sensors feasible.