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As many attitude determination methodologies make use of the quaternion rotation representation, the attitude quaternion to Euler angle singularity property has been investigated. Experiments conducted show that when Y-rotation approach the singularity position (\u00b190\u00b0), the X-rotation drifts away from the reference input. This paper proposes the use of an imaginary set of sensor measurements to replace the original sensor measurements as the Y-rotation approaches the singularity. The proposed methodology for overcoming the conversion singularity has been experimentally verified.<\/p>","DOI":"10.4018\/ijimr.2013040101","type":"journal-article","created":{"date-parts":[[2013,10,21]],"date-time":"2013-10-21T14:07:40Z","timestamp":1382364460000},"page":"1-15","source":"Crossref","is-referenced-by-count":2,"title":["Comparison of Attitude Determination Methodologies for Implementation with 9DOF, Low Cost Inertial Measurement Unit for Autonomous Aerial Vehicles"],"prefix":"10.4018","volume":"3","author":[{"given":"Man Ho","family":"Choi","sequence":"first","affiliation":[{"name":"Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC, Australia"}]},{"given":"Robert","family":"Porter","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC, Australia"}]},{"given":"Bijan","family":"Shirinzadeh","sequence":"additional","affiliation":[{"name":"Robotics and Mechatronics Research Laboratory, Department of Mechanical and Aerospace Engineering, Monash University, Melbourne, VIC, Australia"}]}],"member":"2432","reference":[{"key":"ijimr.2013040101-0","doi-asserted-by":"publisher","DOI":"10.1109\/TFUZZ.2006.889936"},{"key":"ijimr.2013040101-1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2011.2161485"},{"key":"ijimr.2013040101-2","doi-asserted-by":"publisher","DOI":"10.1109\/JSEN.2011.2170161"},{"key":"ijimr.2013040101-3","doi-asserted-by":"publisher","DOI":"10.1109\/MAES.2005.1514768"},{"key":"ijimr.2013040101-4","unstructured":"Cook, M. 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