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I've found the solution. Instead of using intrinsic matrix to angle conversions such as: $yaw = atan2(R_{n_{1}\leftarrow n_{2}}(2,1),R_{n_{1}\leftarrow n_{2}}(1,1))$ $pitch = asin(−R_{n_{1}\leftarrow n_{2}}(3,1))$ $roll = atan2(R_{n_{1}\leftarrow n_{2}}(3,2),R_{n_{1}\leftarrow n_{2}}(3,3))$ I should use extrinsic matrix to angle conversions such as: $yaw = ...


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The IMU senses deviations from gravity within the inertial frame. Essentially, IMU measures the specific force $f_b$ given in the base frame as: $$ f_b = R^{bn}(a_{ii}^n-g^n), $$ where $g^n$ is the gravity in the navigation frame (NED), $a_{ii}^n$ is the inertial acceleration expressed in NED frame and, finally, $R^{bn}$ is the rotation matrix from NED to ...


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