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arXiv · 1609.07436

UAV attitude estimation using Unscented Kalman Filter and TRIAD

Hector Garcia de Marina·Fernando J. Pereda·Jose Marina Giron-Sierra·Felipe Espinosa
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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.

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Hector Garcia de Marina, Fernando J. Pereda, Jose Marina Giron-Sierra, Felipe Espinosa. 2016-09-23. UAV attitude estimation using Unscented Kalman Filter and TRIAD. https://arxiv.org/abs/1609.07436

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