Attitude Estimation Based on Altimeters and Magnetic Sensor Using Geometric Solution

Attitude estimation is the process of giving information about the orientation of a moving object. It is a must part in several civilian and military applications. This paper investigates a simple geometric approach for attitude determination of an aerial vehicle, moving in three-dimensional space. The propounded solution is based on the measurements of four (04) altimeters and a magnetometer. Additionally, unwanted noise is compensated and suppressed by using dual sensors (for roll and pitch axes). Numerical simulation is carried out with three (03) scenarios to prove the efficiency of the proposed method, and check its capabilities of providing an accurate attitude estimation. During the different assumed cases, sub degrees of attitude errors are reached following the three angles (roll, pitch, and yaw).