Evaluation of Deterministic Attitude Estimation Algorithms in Real-Time Using Low-Cost Hardware

This paper describes the implementation of three deterministic algorithms for the attitude estimation of a rigid body in a pragmatic fashion. For that, a tri-axis accelerometer and a tri-axis magnetometer, and a low-cost micro-controller are used. The algorithms implementation is carried out using MATLAB/Simulink. The proposed methodology allows a fast evaluation of any deterministic algorithm. Then, it aids the subsequent development of embedded implementations. Experimental results validate the proposed methodology.