Roll Angle Estimation Algorithm of Geomagnetic/Gyro Combination Based on an Interacting Multiple-Model Kalman Filter

Figure 5

Arrangement of the instrumentation: 1—stepping motor, 2—extended aluminum rod, 3—aluminum transmission mechanism, 4—battery, 5—computing unit, 6—sensors, 7—two-axis geomagnetic sensor, and 8—single-axis gyro sensor.