|Description:||The aim of this project is to design and implement algorithms to estimate the attitude of UAV based on acceleration, angular rate, and magnetic field measurements. The measurement unit (already developed) has a modified sensing frame consisting of multi-axial sensor arrays. Data processing will be based on filtering techniques, which allow data fusion and thus minimize the effects of sensors’ noise. Analyze the accuracy of the proposed method and determine limiting conditions. Verify the method using both simulation and experimental data. Compare the performance with other AHRS units. Create a simple user interface to log and view measured and estimated data.