Novel MARG-Sensor Orientation Estimation Algorithm Using Fast Kalman Filter

Algorithm 1

Attitude determination from accelerometer and magnetometer.

Initialize:

Initialization flag = false

Initialization accuracy:

while no abort command received do

 ()

 () Input sensor observations:  

 () Normalization:  

 () If  Initialization flag = false

  Do

  (a)

  (b)

  (c)

  While

  Else

  ()

end while