Flight-test evaluation of sensor fusion algorithms for attitude estimation

Jason N. Gross, Yu Gu, Matthew B. Rhudy, Srikanth Gururajan, Marcello R. Napolitano

Research output: Contribution to journalArticlepeer-review

77 Scopus citations


In this paper, several Global Positioning System/inertial navigation system (GPS/INS) algorithms are presented using both extended Kalman filter (EKF) and unscented Kalman filter (UKF), and evaluated with respect to performance and complexity. The contributions of this study are that attitude estimates are compared with independent measurements provided by a mechanical vertical gyroscope using 23 diverse sets of flight data, and that a fundamental difference between EKF and UKF with respect to linearization is evaluated.

Original languageEnglish (US)
Article number6237583
Pages (from-to)2128-2139
Number of pages12
JournalIEEE Transactions on Aerospace and Electronic Systems
Issue number3
StatePublished - 2012

All Science Journal Classification (ASJC) codes

  • Aerospace Engineering
  • Electrical and Electronic Engineering


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