Unscented Kalman filter application for state estimation of a Qball-X4 quadrotor

In the process of controlling the quadrotor, accurate state estimation plays a crucial role. For positioning purposes, the Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF) are employed to determine the position of moving subjects. The Qball-X4 quadrotor is a highly nonlinear object, and when combined with Gauss interference, it can compromise the accuracy of the EKF. To address these challenges, this study focuses on assessing the suitability of the UKF nonlinear filtering method for estimating the state of the Qball-X4 quadrotor. This estimation is based on measurements from the gyroscope and Global Positioning System (GPS). To simulate real-life conditions, measurement noise has been deliberately introduced into the sensors. Rigorous testing under various conditions has emphasized the superior performance of the UKF filter in estimating the state of the quadrotor. This paper presents a valuable method to enhance the accuracy and reliability of the navigation system for the Qball-X4 quadrotor.