I'mworking on a global positioning system using sensor fusion library on a FRDM-K64F integrated with a GNSS system.
Right now, I'm trying to obtain the board's orientation/attitude on the ECEF frame in XYZ coordinates to initialize the system.
Fusion library provides a matrix called thisSV_9DOF_GBY_KALMAN.fRPl. Apparently this is the rotation/conversion matrix from body frame to NED frame. After getting that matrix, I perform another conversion from NED frame to ECEF frame based on a known ECEF position.
Unfortunately, I'm not getting good results. This orientation is not aligned with the GNSS trajectory.
Is this a valid way to do it? Is there a better way?
Is the thisSV_9DOF_GBY_KALMAN.fRPl matrix what I think it is?