Impact of multiple accelerometer IMU employment on the orientation estimate quality

The paper is focused on estimation of orientation and angular rate of quadrotor Unmanned Aerial Vehicle (UAV). The data from the triaxial accelerometer, the triaxial gyroscope and the magnetometer are used as measurements. The impact of additional, more precise, but short-range, accelerometer is discussed. For estimation the Unscented Kalman filter (UKF) is used with nonlinear discrete model of quadrotor UAV.