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A series-wound EKF algorithm for attitude estimation

In this paper, we introduce a series-wound extended Kalman filter (EKF) algorithm for attitude estimation using Inertial Measurement Unit (IMU). An EKF algorithm is proposed to reduce the noise of acceleration and magnetism data, and then the three-axis attitude determination (TRIAD) algorithm is used to get the Direction Cosine Matrix (DCM). Finally we propose other EKF algorithm using three elements of DCM as measurement vector in order to optimize the Euler angles. This paper presents field experiments for a small quadrotor, and the results show good performance.