Multi-Sensor Fusion Quadrotor Attitude and Altitude Estimation

Abstract

Attitude and altitude estimation are one of the core issues in quadrotor aircraft research, and attitude and height are mainly measured by sensors such as gyroscopes, acceleration, and barometers [1]. In view of the zero drift, noise interference and information delay of these sensors, two filters are designed, which are balance filtering of the gyroscope and acceleration data meter for horizontal attitude calculation, and accelerometer and barometer data for Karl. Man filtering performs a high degree of estimation. Finally, the algorithm is implemented on the physical experiment platform. The attitude data obtained by the balance filtering algorithm and the height data obtained by the Kalman filter algorithm are compared with the attitude and height obtained by the single sensor data, and the reliability of the algorithm is verified.