Chapter 3

Inertial Sensors Data Fusion for Orientation Estimation*

Abstract

Stabilizing a hovering aerial vehicle is the most important task when working with such vehicles. Precise measurement of its orientation and rate is an easy task when using a commercial IMU (Inertial Measurement Unit). Nevertheless, these commercial sensors are generally expensive. Using low-cost inertial sensors, as accelerometers and gyrometers, becomes popular for aerial prototypes. The main problem with these sensors is that they do not include good estimation algorithms and classical techniques are used with great simplicity yielding worse estimation results. In this chapter, different observers are proposed and validated to estimate the attitude of a quadcopter. ...

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