  In this paper, we present a Singular Value Decomposition Cubature Kalman
Filter(SVDCKF) fusion algorithm based on the improved nonlinear FastEuler
Attitude and Heading Reference and System(AHRS) estimation model for small-UAV
attitude. The contributions of this work are the derivation of the low-cost
IMU/MAG integrated AHRS model combined with the quaternion attitude
determination, and use the FastEuler to correct the gyroscope attitude update,
which can increase the real-time solution. In addition, the SVDCKF algorithm is
fused the various raw sensors data in order to improve the filter accuracy
compared with the CKF. The simulation and experiment results demonstrate the
proposed algorithm has the more excellent attitude solution accuracy compared
with the CKF in the low and high dynamic flight conditions.
