How to extract roll, pitch, and yaw values from a Simulink transform sensor

Hello,

I am currently developing a system to extract and provide feedback on the 6 degrees of freedom (Surge, Sway, Heave, Roll, Pitch, Yaw) motion of a follower coordinate system relative to a base coordinate system. While I can extract the feedback for Surge, Sway, and Heave motions from the options in the Transform sensor, there are no specific options for Roll, Pitch, and Yaw motions. Therefore, I have used the Coordinate Transformation Conversion block as shown in the image below. However, even with this block, it seems that I cannot extract Roll, Pitch, and Yaw motions separately for feedback. Is there a way to extract Roll, Pitch, and Yaw motions individually?

Answer 1

[Umar]

Hi 석준 ,

Try using the rotation matrix obtained from the Coordinate Transformation Conversion block. By decomposing the rotation matrix, you can extract the Euler angles representing Roll, Pitch, and Yaw. Here is a simple code snippet to demonstrate this:

% Assuming R is the rotation matrix obtained from the Coordinate
Transformation Conversion block
roll = atan2(R(3,2), R(3,3));
pitch = asin(-R(3,1));
yaw = atan2(R(2,1), R(1,1));
% Convert angles from radians to degrees if needed
roll_deg = rad2deg(roll);
pitch_deg = rad2deg(pitch);
yaw_deg = rad2deg(yaw);
disp(['Roll: ', num2str(roll_deg), ' degrees']);
disp(['Pitch: ', num2str(pitch_deg), ' degrees']);
disp(['Yaw: ', num2str(yaw_deg), ' degrees']);

For more information on coordinate transformation conversion, please refer to,

https://www.mathworks.com/help/nav/ref/coordinatetransformationconversion.html#

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[석준]

Thank you for your support :)

[Umar]

No problem Angelo, glad to help out 😀