Diversified redundancy in the measurement of Euler angles using accelerometers and magnetometers

Euler angle determination plays an important role in control of aerial vehicles. Euler angles can be determined based on the measurements of the projections of earth magnetic field and gravity on the three body axes of the vehicle. The proposed approach utilizes seven methods to compute the Euler angles and each of these methods employs a different subset of the six measurements. The capability of computing the Euler angles in multiple ways provides a diversified redundancy required for fault tolerance. This diversified redundancy can be also used to separate the desired measurement from extraneous interferences and to identify sensor failures.