Attitude estimation based on inertial sensors and magnetic sensors is widely used in many fields such as unmanned aerial vehicles and aerospace. However, the geomagnetic field can be easily affected by external disturbances, so when using the magnetometer to estimate the yaw angle, magnetic disturbances can have a serious impact on the estimation accuracy of roll and pitch angles. In this article, a new attitude estimation algorithm based on Kalman filter is proposed. The proposed filter has decoupled property, that is, the estimation of roll and pitch angles is not affected by magnetic disturbances. Four competing filters are introduced for comparison and the effectiveness of the proposed filter is verified through simulations and experiments.
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