Attitude estimation of a quad-rotor aircraft based on complementary filter

Abstract

Aiming at the basic problem of attitude estimation of a small quad-rotor,a detailed analysis of the attitude estimation process is done and the difficult issues during this process are proposed.A solver used to realize attitude estimation is designed based on complementary filter algorithm,using the low-cost inertial measurement unit.Experimental results show that the solver designed based on complementary filter algorithm can significantly reduce the requirements of precision and speed for the processor,effectively fuse sensor data and realize high precision attitude estimation.