Attitude Calculation Of Small Four-Rotor UAV Based On Multi-Sensor Data Fusion

At present,the small Four-rotor UAV is widely used in disaster relief,military reconnaissance,geographic environment monitoring and entertainment aerial photography.The flight attitude of a small Four-rotor UAV in the air is complex and changeable,so stable flight control is very important.The control strategy,signal transmission and attitude calculation are the main factors affecting the stable flight control of a small Four-rotor UAV.Real-time attitude calculation is very important for stable flight control of small Four-rotor UAV.Aiming at the problem of speed and accuracy in attitude calculation of small quadruple-rotor UAV,a quaternion complementary filtering attitude calculation algorithm is proposed in this paper.The algorithm improves the accuracy and speed of attitude calculation of small quadruple-rotor UAV obviously.In this paper,the main research work of attitude calculation for small-scale Four-rotor UAV includes: Firstly,the attitude data acquisition and update algorithms of small-scale Four-rotor UAV are sorted out and studied,and these algorithms are compared and analyzed,and the advantages of quaternion update as attitude data are analyzed.Then the complementary filtering algorithm based on quaternion is used,the multi-sensor attitude measurement system composed of three-axis gyroscope,three-axis accelerometer and three-axis magnetometer is fused.Finally,the algorithm is validated by the experimental platform,and the experimental results are analyzed and explained.The experimental results show that the proposed attitude algorithm can greatly improve the accuracy and speed of attitude calculation.