For fixed-wing micro air vehicles, the attitude determination is usually produced by the horizon/Global Navigation Satellite System (GNSS) in which the GNSS provides yaw estimates, while roll and pitch are computed using horizon sensors. However, the attitude determination has been independently obtained from the two sensors, which will result in insufficient usage of data. Also, when implementing attitude determination algorithms on embedded platforms, the computational resources are highly restricted. This paper aims to propose a computationally efficient linear Kalman filter to solve the problem.,The observation model is in the form of a least-square optimization composed by GNSS and horizontal measurements. Analytical quaternion solution along with its covariance is derived to significantly speed up on-chip computation.,The reconstructed attitude from Horizon/GNSS is integrated with quaternion kinematic equation from gyroscopic data that builds up a fast linear Kalman filter. The proposed filter does not involve coupling effects presented in existing works and will be more robust encountering bad GNSS measurements.,Electronic systems are designed on a real-world fixed-wing plane. Experiments are conducted on this platform that show comparisons on the accuracy and computation execution time of the proposed method and existing representatives. The results indicate that the proposed algorithm is accurate and much faster computation speed in studied scenarios.

中文翻译：

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用于从地平线测量和 GNSS 观测进行稳健姿态估计的线性计算高效卡尔曼滤波器

对于固定翼微型飞行器，姿态确定通常由地平线/全球导航卫星系统 (GNSS) 产生，其中 GNSS 提供偏航估计，而滚转和俯仰则使用地平线传感器计算。然而，姿态确定是从两个传感器独立获得的，这将导致数据的使用不足。此外，在嵌入式平台上实现姿态确定算法时，计算资源受到高度限制。本文旨在提出一种计算效率高的线性卡尔曼滤波器来解决该问题。观测模型采用由 GNSS 和水平测量组成的最小二乘优化形式。推导出解析四元数解及其协方差以显着加快片上计算。从地平线/GNSS 重建的姿态与来自陀螺仪数据的四元数运动方程相结合，构建了一个快速线性卡尔曼滤波器。所提出的滤波器不涉及现有工作中存在的耦合效应，并且在遇到不良 GNSS 测量时会更加稳健。电子系统是在真实世界的固定翼飞机上设计的。在该平台上进行了实验，比较了所提出方法和现有代表的准确性和计算执行时间。结果表明，所提出的算法在研究场景中准确且计算速度快得多。所提出的滤波器不涉及现有工作中存在的耦合效应，并且在遇到不良 GNSS 测量时会更加稳健。电子系统是在真实世界的固定翼飞机上设计的。在该平台上进行了实验，比较了所提出方法和现有代表的准确性和计算执行时间。结果表明，所提出的算法在研究场景中准确且计算速度快得多。所提出的滤波器不涉及现有工作中存在的耦合效应，并且在遇到不良 GNSS 测量时会更加稳健。电子系统是在真实世界的固定翼飞机上设计的。在该平台上进行了实验，比较了所提出方法和现有代表的准确性和计算执行时间。结果表明，所提出的算法在研究场景中准确且计算速度快得多。