Navigation of robotic platform with using inertial measurement unit and Direct Cosine Matrix

Precise navigation of mobile robots in unknown areas is common problematic in many research. For the robot navigation in exterior is commonly used the Global Navigation Satellite System (GNSS). For better results in exteriors is also possible to use the Satellite Based Augmentation Systems (SBAS). In Europe is usually used the European Geostationary Navigation Overlay Service (EGNOS), in US Wide Area Augmentation System (WAAS). Unfortunately this precise type of navigation is not suitable for navigation inside buildings and industrial areas, mainly because the weak signal and low position accuracy. For these solutions is necessary to use an alternative systems - independent on satellite navigation. The project SGSFEI_2014002, supported by Internal Grant Agency of University of Pardubice, deals with the mobile robot navigation inside abandoned buildings, industrial constructions and space exploration. For independent calculation of acceleration vectors is necessary to implement Direct Cosine Matrix transformation (DCM) in navigation unit. This article present DCM transform theory and achieved results from performed experiment on measured and simulated data.