The Estimation Algorithm of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter

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The Estimation Algorithm of Altitude and Vertical Velocity for Multirotor Aerial Vehicle using Kalman Filter

In past few years there has been growing interest in the field of unmanned aerial vehicles. One of the problems is to get precise information about attitude and altitude. There are many ways to acquire attitude, using quaternions or Kalman filter. For attitude estimation, accelerometers, gyroscopes and magnetometers are used mostly, but for altitude estimation, only accelerometer and barometer readings are valid…