Quaternion IMU Drift Compensation: Accelerometer

  I will now explain how I perform gyro drift compensation in the pitch and roll directions using the output of an accelerometer.  In a future post I will discuss using a magnetometer to counter gyro drift in the yaw direction.  Before going into the theory and math, here's a quick overview of what an accelerometer is.

Fast Quaternion Integration for Attitude Estimation

  One of the central challenges in creating a flying machine control system is attitude estimation.  The better the estimate, more correctly the control system can make flight adjustments.  The better theses adjustments are, the better the aircraft can go where it's supposed to go or stay where it is wanted.
  I will be writing a series of blog posts that go into detail describing how I have chosen to design my IMU complementary filter for attitude estimation.  Each post will introduce a new sensor and explain how I use it to enhance the output of my system.  To begin with I will start with the gyroscope.