@article{ART003364206},
author={Bu-Yeon Kim and Seok-Won Lee},
title={Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2026},
volume={31},
number={7},
pages={33-43}
TY - JOUR
AU - Bu-Yeon Kim
AU - Seok-Won Lee
TI - Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM
JO - Journal of The Korea Society of Computer and Information
PY - 2026
VL - 31
IS - 7
PB - The Korean Society Of Computer And Information
SP - 33
EP - 43
SN - 1598-849X
AB - The Extended Kalman Filter (EKF) is widely used for drone attitude estimation, but its accuracy can degrade when sensor noise deviates from the assumed noise model. Long Short-Term Memory (LSTM) networks have been applied to IMU-based attitude estimation, yet out-of-distribution (OOD) generalization remains underexplored. This study examines whether an LSTM trained on low-noise data can achieve lower root mean square error (RMSE) than the EKF under unseen high-noise conditions. In the ArduPilot SITL, sensor noise was configured at four levels (L0–L3); a quaternion-output LSTM was trained on L0–L1 and evaluated on L2–L3. The LSTM achieved 21.4% lower mean RMSE than the EKF at L2 and 14.1% lower at L3. However, per-window MAX results indicate that this advantage did not extend to all error metrics. These findings suggest that the LSTM model is better viewed as a complement to the EKF rather than as its replacement under high-noise conditions.
KW - Drone attitude estimation;Sensor fusion;Extended Kalman filter;LSTM;Out-of-distribution generalization
DO -
UR -
ER -
Bu-Yeon Kim and Seok-Won Lee. (2026). Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM. Journal of The Korea Society of Computer and Information, 31(7), 33-43.
Bu-Yeon Kim and Seok-Won Lee. 2026, "Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM", Journal of The Korea Society of Computer and Information, vol.31, no.7 pp.33-43.
Bu-Yeon Kim, Seok-Won Lee "Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM" Journal of The Korea Society of Computer and Information 31.7 pp.33-43 (2026) : 33.
Bu-Yeon Kim, Seok-Won Lee. Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM. 2026; 31(7), 33-43.
Bu-Yeon Kim and Seok-Won Lee. "Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM" Journal of The Korea Society of Computer and Information 31, no.7 (2026) : 33-43.
Bu-Yeon Kim; Seok-Won Lee. Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM. Journal of The Korea Society of Computer and Information, 31(7), 33-43.
Bu-Yeon Kim; Seok-Won Lee. Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM. Journal of The Korea Society of Computer and Information. 2026; 31(7) 33-43.
Bu-Yeon Kim, Seok-Won Lee. Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM. 2026; 31(7), 33-43.
Bu-Yeon Kim and Seok-Won Lee. "Drone Attitude Estimation under Out-of-Distribution Sensor Noise: A Comparative Study of EKF and LSTM" Journal of The Korea Society of Computer and Information 31, no.7 (2026) : 33-43.
