Extended Kalman filter with multi-frequency reference data for quadrotor navigation

In this paper, a quadrotor navigation integrating inertial measurement unit (IMU), global positioning system (GPS), and compass sensors is proposed. The proposed extended Kalman filter (EKF)-based navigation estimates not only the position, velocity, and attitude of a quadrotor but also the moving bias of the IMU sensor when IMU and GPS have different measurement frequencies. The quadrotor navigation is verified and its performances are compared with corresponding GPS sampling frequencies through the quadrotor simulation.