Multicopter Attitude Estimation Using Dynamic Model

Abstract

The paper is focused on attitude estimation of multicopters. Specifically the use of dynamic model of multicopter in the attitude estimation algorithm is investigated. The examined algorithm is compared to the standard algorithm GPS-INS, which do not need any information of the vehicle dynamics. Both algorithms are tested in simulations. The use of dynamic model provides bounded errors of attitude estimates even without GPS measurements. The drawback is the need for a good dynamic model of the multicopter and its parameters.