# UAV attitude estimation using Unscented Kalman Filter and TRIAD

arXiv: https://arxiv.org/abs/1609.07436 · HTML: https://mlsanity.com/paper/1609.07436/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 23 Sep 2016.

## Built on by (most cited first, 2 of 2)

- [Adaptive Attitude Estimation Using a Hybrid Model-Learning Approach](https://mlsanity.com/paper/2207.06903/) (2022)
- [A highly maneuverable flying squirrel drone with agility-improving foldable wings](https://mlsanity.com/paper/2504.09609/) (2025)

## Abstract (arXiv)

A main problem in autonomous vehicles in general, and in acpUAV in particular, is the determination of the attitude angles. A novel method to estimate these angles using off-the-shelf components is presented. This paper introduces an acAHRS based on the acUKF using the acTRIAD algorithm as the observation model. The performance of the method is assessed through simulations and compared to an acAHRS based on the acEKF. The paper presents field experiment results using a real fixed-wing acUAV. The results show good real-time performance with low computational cost in a microcontroller.