抄録
Autonomous unmanned helicopter is useful in various disaster prevention activities. 3D terrain mapping system using autonomous unmanned helicopter is one of the most promising applications of the autonomous unmanned helicopter. To improve the accuracy of the terrain mapping, it is necessary to improve the estimation accuracy of the attitude. In this paper, we focused on generalized Rodrigues parameters, which are one of the minimal representations of the attitude. Based on numerical simulation's results, the relation between attitude estimation error and the order of generalized Rodrigues parameters was discussed in this paper. Finally, we concluded that rho_8 is optimal for the precise attitude estimation.
