ATTITUDE STABILIZATION AND ALTITUDE CONTROL OF QUADROTOR TYPE DRONE IN INDOOR ENVIRONMENT

摘要

The present invention relates to an attitude stabilization and altitude control of a drone. According to an embodiment of the present invention, an attitude stabilization and altitude control method of the drone comprises: a step for receiving an acceleration, an angular speed, a magnetic value, and an altitude value obtained through an altimeter according to irregular disturbance of the roll, the pitch, and the yaw of the drone having quadrotor to obtain image data by using a sensor; a step for calculating an angle of the drone, and an attitude estimating value and the altitude value of the drone based on an input value for estimating the attitude and the altitude of the drone; and a step for operating a motor mounted in the drone by using the attitude estimating value and the altitude value of the drone to maintain attitude of the drone obtaining the image data and a constant altitude of the drone.;COPYRIGHT KIPO 2016