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]
Items in Open Research are protected by copyright, with all rights reserved, unless otherwise indicated.