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What are the downsides of using a Linear Kalman Filter in a non linear system?
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I have built a flight controller for a quadcopter and for attitude estimation I have used a linear kalman filter.
I have noticed some strange behaviour, especially when large sudden attitude changes are made and I'm thinking maybe I need to use an EKF to avoid this behaviour.
What are the downsides of using a linear kalman filter on a quadcopter as opposed to an EKF?
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