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A main problem in autonomous vehicles in general, and in \acp{UAV} inparticular, is the determination of the attitude angles. A novel method toestimate these angles using off-the-shelf components is presented. This paperintroduces an \ac{AHRS} based on the \ac{UKF} using the \ac{TRIAD} algorithm asthe observation model. The performance of the method is assessed throughsimulations and compared to an \ac{AHRS} based on the \ac{EKF}. The paperpresents field experiment results using a real fixed-wing \ac{UAV}. The resultsshow good real-time performance with low computational cost in amicrocontroller.

UAV attitude estimation using Unscented Kalman Filter and TRIAD