Quadrotor Drift Error Correction Based on Adaptive PID

摘要

Aiming at the existence of gyro drift error in low-cost MEMS sensors, a quaternion attitude matrix updating compensation algorithm is designed and implemented. The algorithm uses the body attitude measured by the gyroscope to rotate the known earth gravity vector to the body coordinate system, and then with the accelerometer observed gravity vector make vector cross product. The results as a measure of the gyro drift error metrics, and by the use of adaptive PID algorithm to track. In this paper, the quadrotor is used as the platform to realize the algorithm, and the attitude of the body is measured using a low-cost MEMS sensor with integrated gyroscope and accelerometer. The drift calibration output is superimposed on the gyroscope observation data to compensate. Through attitude control experiments, the algorithm can accurately track drift error and achieve high-precision quadrotor attitude, which can achieve good attitude control effects.