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The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis

Abstract: 

Inertial navigation allows tracking and updating the position and orientation of a moving object based on accelerometer and gyroscope data without external positioning aid, such as GPS. Therefore, inertial navigation is an essential technique for, e.g., indoor positioning. As inertial navigation is based on integration of acceleration vector components, computation errors accumulate and make the position and orientation estimate drift. Even though maximum computation precision is desired, also efficiency needs consideration in the age of Internet-of-Things, to enable deployment of inertial navigation based applications to the smallest devices. This work formulates the Direction Cosine Matrix update algorithm, a central component for inertial navigation, in fixed-point and analyzes its precision and computation load compared to a regular floating-point implementation. The results show that the fixed-point version maintains very high precision, while requiring no floating point hardware for operation. The paper presents execution time results on three very different embedded processors.

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Paper Details

Authors:
Alexandre Meirhaeghe, Jussi Collin
Submitted On:
9 May 2019 - 4:48am
Short Link:
Type:
Poster
Event:
Presenter's Name:
Jani Boutellier
Paper Code:
DISPS-P2
Document Year:
2019
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Document Files

poster_mbc.pdf

(16)

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[1] Alexandre Meirhaeghe, Jussi Collin, "The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis", IEEE SigPort, 2019. [Online]. Available: http://sigport.org/4172. Accessed: Jul. 21, 2019.
@article{4172-19,
url = {http://sigport.org/4172},
author = {Alexandre Meirhaeghe; Jussi Collin },
publisher = {IEEE SigPort},
title = {The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis},
year = {2019} }
TY - EJOUR
T1 - The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis
AU - Alexandre Meirhaeghe; Jussi Collin
PY - 2019
PB - IEEE SigPort
UR - http://sigport.org/4172
ER -
Alexandre Meirhaeghe, Jussi Collin. (2019). The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis. IEEE SigPort. http://sigport.org/4172
Alexandre Meirhaeghe, Jussi Collin, 2019. The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis. Available at: http://sigport.org/4172.
Alexandre Meirhaeghe, Jussi Collin. (2019). "The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis." Web.
1. Alexandre Meirhaeghe, Jussi Collin. The Direction Cosine Matrix Algorithm in Fixed-Point: Implementation and Analysis [Internet]. IEEE SigPort; 2019. Available from : http://sigport.org/4172