Enhanced UAV Navigation Systems through Sensor Fusion with Trident Quaternions

Abstract

This paper presents an integrated navigation algorithm based on trident quaternions, an extension of dual quaternions. The proposed methodology provides an efficient approach for achieving precise and robust navigation by leveraging the advantages of trident quaternions. The performance of the navigation system was validated through experimental tests using a multi-rotor UAV equipped with two navigation computers: one executing the proposed algorithm and the other running a commercial autopilot, which was used as a reference.