Quadrotor attitude estimation using adaptive fading multiplicative EKF
This paper presents the implementation of an adaptive fading multiplicative extended Kalman filter (AFMEKF), applied to the problem of attitude estimation in the context of quadrotors. The extended Kalman filter is adapted for use with quaternions and made adaptive to account for inaccurate measurement information. Simulations have been conducted in order to validate the filter performance.
Manuscript version; PDF format. Link to publisher's (IEEE) version: http://ieeexplore.ieee.org/document/7963120/