Attitude Estimation Algorithm of Unmanned Aerial Vehicle Based on Untraced Kalman Filter

Aiming at the attitude estimation problem of four-rotor unmanned aircraft, an attitude estimation algorithm based on untraceless Kalman filter was proposed. The dynamics equation was derived. Euler Angle method was used to describe the attitude solving model of the aircraft, and the untraceless Kalman filter algorithm was used to solve the attitude Angle of the aircraft. And the experimental simulation is verified on Matlab software. The simulation results show that the attitude Angle estimated by the UKF algorithm is better in tracking the attitude Angle under the ideal condition, and the error from the ideal value is small, which can meet the requirements of flight stability of the four-rotor UAV. The research results have certain theoretical value and engineering significance.