Model-Based Development and Implementation of Real-Time Object Spatial Attitude Estimation

This paper presents the development and implementation of a low cost attitude estimation module where an extended Kalman filter is used for real time processing of signals obtained from an inertial Micro-Electro-Mechanical System (MEMS) sensor module to estimate the attitude of an object in space. MATLAB/Simulink Embedded tools are used to design, compile, and download directly into the target. An update rate of 100Hz can be achieved using a Microchip 16 bit dsPIC microcontroller.