Attitude Estimation using Low-Cost Sensors: a comparative analysis

In this paper several algorithms to estimate the attitude of a UAS using low-cost sensors are reviewed and a new one including the angular velocity is proposed. The fusion of measurement coming from gyroscopes and accelerometers is based on the Kalman filter. A quadrotor experimental platform is used to compare the measurement systems. The estimation results are evaluated under different conditions and compared against the results obtained with an industrial measurement device.