Attitude Estimation for Quadrotor Based on IMU with Kalman-Filter

Kalman Filter for Spinning Spacecraft Attitude Estimation

This paper presents a Kalman filter using a seven-component attitude state vector comprising the angular momentum components in a n inertial reference frame, the angular momentum components in the body frame, and a rotation angle. The relatively slow variation of these parameters makes this parameterization advantageous for spinning spacecraft attitude estimation. The filter accounts for the co...

Indirect Kalman Filter for 3D Attitude Estimation

Optimal Kalman Filter for state estimation of a quadrotor UAV

In this work, the main objective is to study the Optimal Kalman Filtering (OKF) method for estimating the state vector of a small quadrotor UAV through incorporating the internal disturbances including the white Gaussian process and measurement noises. Firstly, the kinematic and dynamic model of the quadrotor is transformed into a discrete-time system via the linear extrapolation method. Second...

A New Multiplicative Unscented Kalman Filter for Attitude Estimation

Fully Multiplicative Unscented Kalman Filter for Attitude Estimation