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Design And Evaluation Of Novel Attitude Estimation System Using Mems Sensors For Indoor Uas, Joshua Bruce Milam
Design And Evaluation Of Novel Attitude Estimation System Using Mems Sensors For Indoor Uas, Joshua Bruce Milam
Graduate Theses, Dissertations, and Problem Reports
Most small unmanned aerial systems in use today, employ extended Kalman filter sensor fusion algorithms in order to provide accurate estimations of attitude or orientation. These complex algorithms use measurements from GPS receivers and magnetometer sensors that can be rendered useless in GPS denied environments or areas of significant magnetic interference, such as inside buildings or other structures. The complexity of these algorithms makes them inaccessible for some researchers and hobbyists who wish to code their own attitude estimation algorithms. This complexity is also computationally expensive and requires processors that are powerful enough to operate the algorithms along with any …