Abstract:

Considering the condition of filter divergence problem in a relatively short time caused by small misalignment angle, based on the quadrotor intergrated navigation system, the central difference of kalman filtering algorithm is applied to the low cost integrated navigation system. First this paper realizes the hardware circuit of quadrotor integrated navigation system, the MPU-6050 chip is used for the attitude sensor, choosing NEO-6M module from u-Blox company to get a GPS(College of Science) signal. Then the central difference of kalman filtering algorithm is used to realize the multi-sensor data fusion, and to get the navigation information.Finally the system can be applied to actual quadrotor platform for experiment. The results of the experiment show that the design of quadrotor integrated navigation system based on CDKF(Central Difference Kalman Filter) algorithm can effectively restrain the sensor noise, overcome the gyroscope drift phenomenon, avoid the shortcomings of traditional EKF(Extended Calman Filter) algorithm, and provide accurate navigation information for aircraft.

Key words: quadrotor, integrated navigation system, central difference kalman filter(CDKF)