An Improved Adaptive Kalman Filter for Altitude Estimation of Quadrotors

This paper studies the altitude estimation problem of quadrotors in the indoor complex environment in which more than one altitude sensors are installed on the quadrotor in order to obtain precise and stable information. First of all, the measurement model is established. Then, an improved adaptive Kalman filter to deal with the problems that the measurement value of a sensor remains unchanged or the constant measurement errors occur. An altitude estimation algorithm is given based on the proposed improved adaptive Kalman filter. Simulation and experimental results show the feasibility and effectiveness of the algorithm.