Unscented Kalman Filter for the state estimation

by admin
Unscented Kalman Filter for the state estimation

Full state observer are used in demanding applications, where the row measurements are insufficient for the control algorithm. More often than not, these is caused by disturbances or sensory systems failure (leak of data, buffer reset etc.). In order to prevent the quadrotor’s control system form falling apart (and making it robust), we introduced full state observer, which allows for data reconstruction based on math model and precisly selected input vectors