Does anyone have experience using an external AHRS supported by ArduCopter (VectorNav, MicroStrain or Inertial Labs) to improve the accuracy of position/velocity estimation?
The case of using GNSS outage (dead reckoning) is especially interesting.
Normally, internal sensors and EKF can provide stable level information within 1-2 minutes. (gyroscopes drift and accelerometers)
How much can we increase the autonomous flight time without a GNSS signal?
How much precision can we get in case of RTL?
Thanks in advance.