Inertial Navigation Attitude Solution for Quadrotor Flying Robots

Quadrotor flying robots, valued for their VTOL capability, agility, and compact design, underpin diverse missions like aerial photography, delivery, and search-and-rescue.Stable flight hinges on precise attitude estimation-tracking roll, pitch, and yaw-where inertial navigation systems (INS), relying on inertial measurement units (IMUs) with gyroscopes and accelerometers, play a central role.Yet, raw IMU data faces critical limitations: gyroscopes drift over time due to bias/noise, while accelerometers conflate linear motion with gravity, degrading accuracy during dynamic maneuvers or prolonged operation.Thus, robust inertial attitude solutions are pivotal for quadrotor autonomy.