Real-time attitude estimation techniques applied to a four rotor helicopter

We use a decomposition approach to develop a real time filter that estimates the attitude of a small four rotor helicopter. The filter uses measurements from a three axis gyro system and an off-board computer vision system. We have implemented the filter on the real system to demonstrate its effectiveness.

[1]  Arthur Gelb,et al.  Applied Optimal Estimation , 1974 .

[2]  R. D'Andrea,et al.  Using airborne vehicle-based antenna arrays to improve communications with UAV clusters , 2003, 42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475).

[3]  J. W. Humberston.  Classical mechanics , 1980, Nature.

[4]  H. C. Corben,et al.  Classical Mechanics (2nd ed.) , 1961 .

[5]  N E Manos,et al.  Stochastic Models , 1960, Encyclopedia of Social Network Analysis and Mining. 2nd Ed..