In this paper, using a new modeling, an Extended Kalman Filter (EKF) is presented for estimation of attitude (i.e. roll and pitch angles) and gyroscope sensor bias using a tri-axes acceleration and a tri-axes gyroscope. The algorithm is developed for accurate estimation of attitude in dynamic conditions and existence of external body acceleration. The external body acceleration estimation as the main source of attitude estimation error in dynamic conditions is very important in attitude estimation accuracy, but in the literatures, the error of the external body acceleration on attitude estimation has not been studied in different dynamic conditions. The paper deals to estimation of the gyroscope sensor bias in two rotational axes (roll and pitch), accurate attitude estimation in different dynamic conditions and estimation of external body acceleration. The proposed algorithm application for attitude, external body acceleration and gyroscope sensor bias is evaluated by quasi-static and dynamic experimental tests in high acceleration bound.

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