it's been while since I started reading about INS, orientation and so for quadrotors .
I faced the following terms : AHRS - Attitude - Yaw,Pitch and Roll - MARG sensors
I know for example how to calculate Yaw,Pitch and Roll , but does it related to Attitude ?
What's Attitude any way and how it get calculated ?
AHRS "Attitude and heading reference system" does it formed from Yaw,Pitch and Roll ?
MARG(Magnetic, Angular Rate, and Gravity) ? how it's related to other terms ?
What about INS ( Inertial Navigation Systems ) ?
My questions here are about these concepts, and there meaning , how they cooperate with each other , how they got calculated and which sensors suits for what ?