I am currently working on 3D position and attitude etimation of my indoor drone. I use a 6 Dof IMU, a 3D magnetometer, and 4 sonars (Devantech).
The position estimation is not yet accurate (still bugs), but I am working to improve it. I also have lot of problems with the magnetometer. All the computation are done on the drone. I just use Matlab for visualization.
The drone is still manually piloted.
My intention is to make my drone navigate autonomously in a simple indoor environment.
A short demo video is above:
A quick description of my drone:
Leon - french hobbyist