Application of first order modified complementary filtering in four-rotor aircraft
Guo Chunlai;Cao Xianying;Qu Yang;Harbin Petroleum Institute Experimental Center;
According to the four rotor aircraft in strapdown inertial navigation in the attitude estimation, drift problem for low cost MEMS components is easy to cause, the first-order complementary filter attitude solution algorithm is improved, using the accelerometer gyroscope attitude deviation compensation, large drift error and the uniform speed moving caused by the introduction of PID controller and the input signal of the accelerometer is improved, thereby improving the non uniform motion attitude accuracy of settlement. Based on the STM32 processor, the gyroscope was built with MPU6050 to build the experimental platform of the four rotor aircraft. The experiment controlled the output of PWM waveform. The algorithm has small computation, high estimation accuracy and good real-time performance.
【CateGory Index】： V249