Research and application of attitude optimal estimation for quadrotor UAV

optimal estimation of the attitude, an attitude solution system based on low-cost IMU sensors is proposed. The system uses quadratic coordinate conversion to fuse the gyroscope, accelerometer, and magnetic compass data, and the attitude deviation is corrected by the PI controller, and the attitude information of the vehicle is solved by a complementary filtering algorithm. The experimental results show that the proposed algorithm not only effectively improves the accuracy of the attitude solution to meet the flight requirements of small UAV, but also suppresses the influence of random deviation of the attitude sensor and the noise of the three-axis acceleration measurement on the attitude solution, and achieves the requirement of accurate and reliable attitude data output for a long time.