Quaternion-based Unscented Kalman Filter for Robust Wrench Estimation of Human-UAV Physical Interaction

Hussein Naser, Hashim A. Hashim, Mojtaba Ahmadi

This paper introduces an advanced Quaternion-based Unscented Kalman Filter (QUKF) for real-time, robust estimation of system states and external wrenches in assistive aerial payloa…