Nonlinear Extended Kalman Filter for Attitude Estimation of the Fixed-Wing UAV

Table 1

Position and orientation errors.

Algorithm	Longitude (m)	Latitude (m)	East (m/s)	North (m/s)	Heading (deg)
UKF	9.7	10.3	4.8	1.5	2.8
CKF	4.3	4.0	2.0	0.8	0.9