Research on the Quadrotor of AHRS Based on Gradient Descent Algorithm

Abstract

It is the focus of research on the navigation algorithm with high-accurated and easy-achieved for UAV. In this paper a gradient descent algorithm for AHRS of Quadrotor by using MEMS gyro, accelerometer, and magnetometer is presented. The algorithm uses a quaternion represent rotation, allowing accelerometer and magnetometer data to be used in an analytically derived and optimised gradient descent algorithm to compute the direction of the gyroscope measurement error as a quaternion derivative. Through the simulation based on Matlab software, the algorithm can significantly reduces the requirement for the processor of speed and precision, effectively fusing the data of the MEMS sensor, and achieves the high-accurated attitude calculation of Quadrotor.