Quaternionic accelerometer/magnetometer attitude determination using symbolic computations

Attitude determination is a significant aspect of the navigation technology. The determination of the attitudes based on accelerometer and magnetometer fusion is basically an applied mathematical problem. In this article, we obtained the proposed quaternionic symbolic solution for accelerometer and magnetometer fusion which is quite different from existing methods. The proposed symbolic solution has the advantages of high accuracy and consumes much less time. Besides, the normalization problem of input data was discussed. Biquaternions ware introduced to describe the existence of the complex quaternion. Several experiments were carried out to verify the proposed symbolic solution