Abstract:

In order to adjust the flight attitude of the quad rotor, an attitude data processing joint algorithm based on Kalman and DMP ( Digital Motion Processing) filter was adopted, and PID ( Proportion Integration Differentiation) algorithm was used to control its flight attitude. Based on the hardware platform, the dynamic model of the aircraft was established and the parameters of Kalman filter and PID controller were debugged. The flying experiment shows that after using the control algorithm, the control system can quickly adjust the flight attitude offset to control the quad-rotor effectively.

Key words: quad rotor, Kalman filtering, digital motion processing ( DMP ), proportion integration differentiation(PID) controller, attitude control