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The roll, pitch and yaw velocities being output in the IMU coordinate system are the roll, pitch and
yaw velocity values measured by the motion sensor and three-dimensional rotated, multiplicatively
composed, by the mounting offsets entries.
All compositions of three-dimensional rotations are done by first converting the Tait-Bryan angles to
quaternions. Then performing the composition by using quaternion multiplication and finally either
obtaining the angles by the citation above or the rotation matrix.
11
IMU User Guide revision 3.1
SMC Ship Motion Control
www.shipmotion.eu
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