Quaternion Kalman Filter Design Based on MEMS Sensors

Su Zhongbin, Yang Lei, Kong Qingming
2014 unpublished
Controlling UAV requires high-precision dynamic information input. However, mini UAV needs more demands because of the its small volume. Using MEMS sensor can make the UAV become high-precision, low power consumption and inexpensive machine. Accelerometer and magnetometer can measure the acceleration of gravity and geomagnetic field that the vectors are uncorrelated, which can be considered as a vector in order to correct the gyroscope. Kalman filter based on quaternion has been adopted in this
more » ... een adopted in this study in order to achieve the attitude measurement and error control of transporter.
doi:10.14257/astl.2014.76.20 fatcat:jn6ytuyxnbhurhhu4usvrysqqm