Stabilization of Flight Controller for Unmanned Aerial Vehicle

摘要

This paper presents the technique to implement stability and control of multirotor unmanned aerial vehicle (UAV). The output of the inertial sensors like accelerometer and gyroscope is noisy. These sensors are used to get the orientation and attitude of the UAV. Most of the flight controllers available these days are built to fly in a very specific environment. One cannot fly with these flight controllers in heavy wind or where precise control is required. As a result, the UAV’s that use these flight controllers feel unresponsive and sloppy. The goal here is to get excellent flight dynamics and robust flight control which can fly in any conditions. The UAV’s should be able to do aggressive maneuvering, fault tolerance etc. In the proposed design, Kalman Filter algorithm is implemented to get precise values from Inertial Measurement Unit. Extended Kalman Filter (EKF) is used for sensor fusion and to get precise values from Inertial Measurement Unit PID algorithms are used to stabilize the UAV and for maneuver Rotational speed of the four motors can be increased or decreased independently to correct the orientation or position. The flight controller is built with STM32F4 ARM controller.