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For fixed-wing micro air vehicles, the attitude determination is usually produced by the horizon/Global Navigation Satellite System (GNSS) in which the GNSS provides yaw estimates, while roll and pitch are computed using horizon sensors. However, the attitude determination has been independently obtained from the two sensors, which will result in insufficient usage of data. Also, when implementing attitude determination algorithms on embedded platforms, the computational resources are highly restricted. This paper aims to propose a computationally efficient linear Kalman filter to solve the problem.

The observation model is in the form of a least-square optimization composed by GNSS and horizontal measurements. Analytical quaternion solution along with its covariance is derived to significantly speed up on-chip computation.

The reconstructed attitude from Horizon/GNSS is integrated with quaternion kinematic equation from gyroscopic data that builds up a fast linear Kalman filter. The proposed filter does not involve coupling effects presented in existing works and will be more robust encountering bad GNSS measurements.

Electronic systems are designed on a real-world fixed-wing plane. Experiments are conducted on this platform that show comparisons on the accuracy and computation execution time of the proposed method and existing representatives. The results indicate that the proposed algorithm is accurate and much faster computation speed in studied scenarios.

This paper investigates the effect of abnormal increase in credit supply on economic growth in Nigeria after controlling for the quality of the legal system, size of central bank asset, banking sector cost efficiency and bank insolvency risk.

The authors employ the generalised method of moments (GMM) regression methodology to estimate the effect of abnormal increase in credit supply on two measures of economic growth in Nigeria.

The abnormal increase in credit supply has a significant effect on economic growth. Abnormal increase in credit supply increases real gross domestic product (GDP) growth. The abnormal increase in credit supply decreases real GDP per capita during the global financial crisis. The abnormal increase in domestic credit to the private sector has a significant positive effect on GDP per capita when there is strong legal system quality in Nigeria. In contrast, the abnormal increase in domestic credit to the private sector has a significant negative effect on real GDP growth when there is strong legal system quality in Nigeria.

The abnormal increase in credit supply is ineffective in increasing GDP per capita during crisis years. Policymakers should be cautious in pressuring financial institutions to release an abnormally large amount of credit into the economy particularly during financial crises. Rather, policymakers should encourage financial institutions to supply credit in a sustained manner – not in an abnormal manner –and in a way that supports growth.

The present study contributes to the literature by analysing the effect of abnormal increase in credit supply on economic growth in a developing country context.