PROJECT TITLE :

Flight-Test Evaluation of Sensor Fusion Algorithms for Attitude Estimation

ABSTRACT:

In this paper, several International Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that perspective estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a basic distinction between EKF and UKF with respect to linearization is evaluated.


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