Attitude Estimation and Maneuvering for Autonomous Obstacle Avoidance by Miniature Air Vehicles
Utilizing the Euler-Rodrigues symmetric parameters (attitude quaternion) to describe vehicle orientation, we develop a multiplicative, nonlinear (extended) variation of the Kalman filter (MEKF) to fuse data from low-cost sensors. The sensor suite is comprised of gyroscopes, accelerometers, and a GPS...
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BYU ScholarsArchive
2008
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| Online Access: | https://scholarsarchive.byu.edu/etd/1691 https://scholarsarchive.byu.edu/cgi/viewcontent.cgi?article=2690&context=etd |