Kalman Filter Based Sensor Fusion for Altitude Estimation of Aerial Vehicle

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Stabilization of Aerial Vehicles requires altitude estimation. In this paper sensor fusion method is developed for aerial vehicles which focuses on estimation of the altitude. Altitude measurement using sensors is too noisy and biased so Kalman filter based sensor fusion is used to estimate altitude. The proposed method is divided into two parts: attitude estimation and altitude estimation. The method is implemented using IMU and barometer sensors. The results show that altitude is estimated accurately and errors are modelled in few seconds after initialization.