Experimental Research of Integrated Navigation Systems in Problems of Quadrotor Path Tracking

Abstract

The article deals deals with experimental research of the integrated navigation, guidance, and control system of quadrotor. The mathematical grounds of the study of the system are represented. Algorithm of functioning the integrated system is represented. Equations of the optimal estimation are given. Features of tested equipment are described. The quadrotor trajectory in the horizontal plane is simulated. Coordinates of the topocentric reference frame are researched. The results of the experimental test are shown. The components of velocity are represented. The graphical dependences on the yaw, pitch, and roll are shown. The obtained results can be useful for creating perspective navigation systems for quadrotors. They allow to improve the quality of quadrotor navigation.