A multiplicative filter for GLMAV attitude estimation

In this paper the authors investigate the problem of attitude estimation applied to the Gun Launched Micro Aerial Vehicle (GLMAV), using low cost sensors. The main contribution of the paper consists in the design of a sliding window filter for quaternion estimation. The proposed approach is considered in an EKF framework in order to ensure a better robustness to external perturbations. Finally, high performances of the filter are shown through numerical simulations.