Attitude estimation and stabilization of a quadrotor aircraft

摘要

In the past few years, researchers have shown great interest in quadrotor aircraftas a platform for UAV research due to simplicity of construction as wellas maintenance, ability to hover in small indoor locations or hazardous environments,vertical take-off and landing capability, etc. Attitude stabilizationof a quadrotor requires accurate information about current orientation of thevehicle. With the emergence of Micro-Electro-Mechanical System (MEMS)sensors, a relatively cost-effective way for attitude estimation consists of usinggyroscope, accelerometer and magnetometer devices strapped down onvehicle?s center of mass. A number of previous works deal with fusing angularvelocity with measurements of accelerometer and magnetometer to constructan estimation of aircraft orientation.