UAV attitude estimation using Unscented Kalman Filter and TRIAD
Abstract
A main problem in autonomous vehicles in general, and in UAV in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an AHRS based on the UKF using the TRIAD algorithm as the observation model. The performance of the method is assessed through simulations and compared to an AHRS based on the EKF. The paper presents field experiment results using a real fixed-wing UAV. The results show good real-time performance with low computational cost in a microcontroller.
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