Numerical methods of nonlinear filtering for the state estimation of a tilt rotor quadrotor

The problem of the state estimation of a complex system with essentially nonlinear dynamics is considered. A comparative analysis of the performance of the extended Kalman filter, Sigma point Kalman filter and cubature Kalman filter in the control system of a tilt rotor quadrotor is carried out.Unmanned aerial vehicles (UAV) of this type increase maneuverability in comparison with standard quadcopters. However, the introduction of additional degrees of freedom significantly complicates model dynamics which requires the careful design of both the control system and its subsystem responsible for processing the measurement information.The paper briefly describes a mathematical model of dynamics and specified features of the practical implementation of state estimation algorithms applied to tilt rotor quadrotor.The results of numerical experiments are presented and their comparative analysis is performed.