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

ArduCopter Copter 4.2
1

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

2

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

3

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.

4

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

5

You add the missing GPS and magnetometer

6

I mean, how acceleration and gyroscope affect attitude

7

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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8

thank you
thank you
thank you