{"ref":"wiki","ref_type":"branch","master_branch":"master","description":"The DCM-IMU algorithm is designed for fusing low-cost triaxial MEMS gyroscope and accelerometer measurements. An extended Kalman filter is used to estimate attitude in direction cosine matrix (DCM) formation and gyroscope biases online. A variable measurement covariance method is implemented for acceleration measurements to ensure robustness against temporarily non-gravitational accelerations which usually induce errors to attitude estimate in ordinary IMU-algorithms.  The code and data will be added after related scientific work is published and open source publication is approved.","pusher_type":"user"}