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A Complementary filter for attitude Estimation of a fixed-Wing UAV

Euston, Mark; Coote, Paul; Mahony, Robert; Kim, Jonghyuk; Hamel, Tarek


This paper considers the question of using a nonlinear complementary filter for attitude estimation of fixed-wing unmanned aerial vehicle (UAV) given only measurements from a low-cost inertial measurement unit. A nonlinear complementary filter is proposed that combines accelerometer output for low frequency attitude estimation with integrated gyrometer output for high frequency estimation. The raw accelerometer output includes a component corresponding to airframe acceleration, occurring...[Show more]

CollectionsANU Research Publications
Date published: 2008
Type: Conference paper
Source: Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2008)
DOI: 10.1109/IROS.2008.4650766


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