A Survey of Inertial Sensor Fusion: Applications in sUAS Navigation and Data Collection

Inertial sensor arrays, which in this context means sensor arrays composed of accelerometers, gyroscopes, or a combination of both, have been studied for many years and in many contexts. The literature is vast, highly redundant, and disparate and so it can be difficult to reconcile the many ways this problem has been approached. An outline of each of the different branches of the field of inertial sensor fusion is provided in order to aid newcomers and designers, particularly those who seek to apply past work to small Unmanned Aerial Systems (sUAS). Important works are noted and useful information and techniques are briefly presented.