UAV attitude estimation using Unscented Kalman Filter and TRIAD
Robotics
2016-09-26 v1 Systems and Control
Abstract
A main problem in autonomous vehicles in general, and in \acp{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 \ac{AHRS} based on the \ac{UKF} using the \ac{TRIAD} algorithm as the observation model. The performance of the method is assessed through simulations and compared to an \ac{AHRS} based on the \ac{EKF}. The paper presents field experiment results using a real fixed-wing \ac{UAV}. The results show good real-time performance with low computational cost in a microcontroller.
Cite
@article{arxiv.1609.07436,
title = {UAV attitude estimation using Unscented Kalman Filter and TRIAD},
author = {Hector Garcia de Marina and Fernando J. Pereda and Jose Marina Giron-Sierra and Felipe Espinosa},
journal= {arXiv preprint arXiv:1609.07436},
year = {2016}
}
Comments
10 pages