[1] LIU CH. Technical research of initial state to level flight control for parachute-type small aircraft ［D］. Beijing: Beijing Institute of Technology, 2014. (in Chinese)
[2] ZHANG Y G, ZHANG Y H, LI N. MEMS/ GPS/ geomagnetic integrated navigation system based on complementary filter［J］. Systems Engineering and Electronics, 2014, 36(11): 2272-2279. (in Chinese)
[6] de MARINA H G,PEREDA F J,GIRON-SIERRA J M, et al.. UAV attitude estimation using unscented Kalman filter and TRIAD ［J］. IEEE Transactions on Industrial Electronics, 2012, 59(11): 4465-4474.
[7] TIAN Y, WEI H, TAN J. An adaptive-gain complementary filter for real-time human motion tracking with MARG sensors in free-living environments ［J］. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2013, 21(2): 254-264.
[8] MADGWICK S O H, HARRISON A J L, VAIDYANATHAN A. Estimation of IMU and MARG orientation using a gradient descent algorithm ［C］. 2011 IEEE International Conference on Rehabilitation Robotics(ICORR).
[9] PENG X D, ZHANG T M, LI J Y, et al.. Attitude estimation algorithm of agricultural small-UAV based on sensors fusion and calibration ［J］. Acta Automatica Sinica, 2015,41(4): 854-860. (in Chinese)
[10] WU J, ZHOU Z B, CHEN J J, et al.. Fast complementary filter for attitude estimation using low-cost MARG sensors ［J］. IEEE Sensors Journal,2016, 16(18): 6697-7007.
[11] MARKLEY F L. Fast quaternion attitude estimation from two vector measurements ［J］. Journal of Guidance Control and Dynamics, 2002, 25(2): 411-414.
[12] LIU X CH, ZHANG SH, LI L ZH, et al.. Quaternion-based algorithm for orientation estimation from MARG sensors ［J］. J Tsinghua Univ (Sci & Tech), 2012,52(5): 627-631. (in Chinese)
[13] ZHAO G R, HUANG J L, SU Y Q, et al.. Attitude estimation and three-axis magnetometer on-line calibration based on moving horizon estimation ［J］. Acta Phys. Sin., 2015,64(21): 203-211. (in Chinese)
