Research Article
A Fault-Tolerant Multiple Sensor Fusion Approach Applied to UAV Attitude Estimation
Table 1
Statistics of attitude estimation algorithms.
| Formulation | | | | |
| GPS/IMU | 2.990 | 1.671 | 1.590 | 1.865 | GPS/IMU + 6 bias states | 1.516 | 1.524 | 1.558 | 1.700 | GPS/Mag. (Off-L. Cal.) | 1.726 | 2.008 | 2.315 | 2.195 | IMU/Mag. (Off-L. Cal.) | 15.81 | 19.59 | 22.99 | 27.69 | GPS/IMU/Mag. (Raw) | 8.061 | 3.219 | 5.276 | 2.279 | GPS/IMU/Mag. (Off-L. Cal.) | 2.026 | 1.452 | 2.415 | 2.127 | GPS/IMU/Mag. (Off-L. + On-L Cal.) | 1.598 | 1.697 | 1.417 | 1.679 |
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