This lab has two objectives:
(1) Understand the Kalman filter,
(2) Get a Kalman filter working for the quadrotor in simulation
Carefully read sections 5 and 6 of the document quadrotor.pdf.
Download the simulation file attitude_estimation.zip.
Study and understand the implementation of the ekf in the file estimate_states.m.
Run the simulation and study the effects of changing P(0), Q, and R.