Sensors for Attitude Estimation – DIY Drones

Hello UAV enthusiasts,

I recently created a slide deck on the topic of sensors for attitude estimation (i.e. gyroscopes, accelerometers and magnetometers). In these slides, I review

  1. Installation considerations,
  2. Stochastic models,
  3. Bias characterization,
  4. Sensor calibration, and
  5. Conceptual models.

The methods and concepts contained in these slides have been “battle tested”. That is, these are the methods and concepts I used while developing a lightweight autopilot system for UAVs. I hope you find some of this material useful. These slides were part of a graduate course titled “Control of Marine and Aerial Vehicles”.

All the best,

Matthew

silic_uav_sensors_v2.pdf



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