@inproceedings{c5d002f2db5246e3ab0957687716eba9,
title = "Estimating the attitude of an unmanned aerial vehicle through multiple low-cost ultrasonic range sensors",
abstract = "This work presents an evaluation of using four ultrasonic range sensors to estimate the roll and pitch angles of a quadcopter. The testing was performed at different static orientations, heights, and ground surfaces in order to explore the viability of this technique for indoor and outdoor flight applications. It was determined from this work that it is possible to determine the roll and pitch angles to within ~2 degrees of accuracy under ideal smooth surface conditions, but suffers from significant errors for rough or uneven surfaces. It was also discovered that using this technique alone only works effectively for small attitude angles, and therefore could benefit from integration with other sensing systems.",
author = "Salguero, {Roger A.} and Matthew Rhudy",
note = "Publisher Copyright: {\textcopyright} 2017, American Institute of Aeronautics and Astronautics Inc, AIAA. All rights reserved.; AIAA Information Systems-Infotech At Aerospace Conference, 2017 ; Conference date: 09-01-2017 Through 13-01-2017",
year = "2017",
doi = "10.2514/6.2017-0648",
language = "English (US)",
isbn = "9781624104497",
series = "AIAA Information Systems-AIAA Infotech at Aerospace, 2017",
publisher = "American Institute of Aeronautics and Astronautics Inc, AIAA",
booktitle = "AIAA Information Systems-AIAA Infotech at Aerospace, 2017",
}