Power aware attitude computation during rapid rotational motion

A technique for increasing the accuracy of attitude update calculations when data sample rates are low is described. The technique is based on the use of a fixed point CORDIC function. In addition to improved accuracy, power consumption is reduced at lower data rates. The technique is also useful for maintaining computational accuracy during high angular rate inputs. The result of an experiment using MEMS gyroscopes is described in which the presented method incurred an inaccuracy of less than 6 arcseconds as compared to the popular Taylor´s series approximation which yielded an Euler angle error of 15 degrees.