Estimating accelerated body´s attitude using an inertial sensor

In this paper we suggest an improvement upon the previous method of estimating a body´s attitude. This paper presents a method that overcomes previous studies´ shortcomings. Applying the method of separating the acceleration of gravity component from the accelerometer´s output improves the performance of the attitude estimation and extends the scope. In order to apply the method of the attitude estimation in an actively moving body, a new acceleration value containing the acceleration of gravity is calculated.