Quad-Rotor Flying Vehicle Localization Using Cubature Kalman Filter

This paper describes the implementation of localization algorithm of quad-rotor model using Cubature Kalman Filter. Previously, the indoor localization of unmanned aerial vehicle have been developed with the various filters, like EKF, UKF, CDKF and so on. These filter algorithms have innate problems in aspects of accuracy, computational load and non-linear solving problems. As the focus of robot navigation has been shifted to indoor, the demand for the accuracy in localization has been significantly heightened. And the application of Cubature Kalman Filter has been proven to be the best performing filter from previous researches. The algorithm of Cubature Kalman Filter and system models will be presented, and the simulation is carried out in the different simulation environment.