Hamel, Tarek; Mahony, Robert
This paper considers the question of obtaining high quality attitude estimates from typical low cost inertial measurement units for applications in control of unmanned aerial vehicles. A nonlinear complementary filter exploiting the structure of Special Orthogonal Group S0(3) is proposed. The filter is expressed explicitly in terms of direct and untreated measurements. For a typical low cost inertial measurement where two inertial directions are measured (gravitational and magnetic fields)...[Show more]
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