How does EKF3 update its attitude? Are gyroscopes and accelerators involved?

How to correct the attitude of EKF3? accel and gyro?

How does ekf3 in apm achieve attitude fusion, and what measurement data is used to correct the attitude so that it does not diverge?

All measurement data goes into EKF:

  • accelerometers
  • gyroscopes
  • magnetometers
  • barometer
  • GPS

And multiple EKF lanes are used in parallel to achieve sensor redundancy.

Please read the “ardupilot developer documentation on EKF” for more information.

If there are only accelerometers, gyroscopes and barometers, how can we correct the error

You add the missing GPS and magnetometer

I mean, how acceleration and gyroscope affect attitude

Read more on https://elinux.org/images/1/11/Application_of_Data_Fusion_to_Aerial_Robotics.pdf

and

https://ardupilot.org/dev/docs/ekf.html

and

https://ardupilot.org/copter/docs/common-apm-navigation-extended-kalman-filter-overview.html

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