No abstract

The flight performance of four-rotor unmanned helicopter depends largely on the flight control system, the flight control system was mainly consisted of attitude algorithm and controller. During design time, firstly, in order to real-time update for the quaternion , we fused the data of gyroscope、 accelerometer and magnetometer. And we obtained the attitude angle through quaternion to Euler angle conversion. Then, we calculated the output of throttle by fuzzy algorithm, which was used to control the attitude. And control algorithm was used and optimized by the method of the joint simulation. Finally, four-rotor unmanned helicopter was connected to PC with bluetooth and we obtained the air data of UAV form PC. The data display that the fuzzy controller can keep the stability of flying.