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Development of a Small-Scale, Light Weight, and Versatile Attitude Sensor

M. Tawara


An attitude sensor mounted on an unmanned system requires to have high accuracy in attitude estimation under a dynamic acceleration environment for autonomous attitude control. To estimate the attitude, an attitude sensor needs to detect the direction of gravity from measured accelerations, which include dynamic accelerations. In this paper, two attitude estimation algorithms with quaternions based on the extended Kalman filter are described and compared. The comparison indicates that one of the algorithms is well suited to a dynamic acceleration environment for unmanned systems.

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