Real-time attitude and gyro-bias estimation for small UAVs using low-cost sensors

The low-cost MEMs gyro is commonly used for attitude estimation. However, it suffers from slow time-varying gyro-bias which may cause loss of estimation accuracy. In this paper, a real-time attitude and gyro-bias estimation method is presented to estimate attitude and gyro-bias online. Besides, a kind of redundancy mechanism of multi low-cost sensors is given to enhance system reliability and estimation performance. At the end, the proposed method is verified through both the simulation and hardware experiment. The results show that the proposed method could maintain estimation accuracy even if the gyro-bias is unknown.