Joint state and parameter estimation of quadrotor based on extended Kalman filter and complementary filter

In this paper the problem of joint state and parameter estimation of quadrotor is addressed. It was assumed that quadrotor is equipped with Inertial Measurement Unit (IMU) and GPS module. Based on this instrumentation it was possible to estimate complete state vector describing the movement of rigid body, along with parameters related to its propulsion system and aerodynamic properties. Author original solution based on use of extended Kalman filter and complementary filter is presented. Performance of proposed algorithm is evaluated by means of numerical simulation.