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