The Attitude Signal Processing of Four Rotor Aircraft based on a Kalman Filter

Abstract

Abstract-This paper puts forward use of a Kalman filter algorithm to improve the accuracy and the stability of a four rotor aircraft control. The algorithm principle used covariance to estimate the system's optimal output. The flight and control theory of a four rotor aircraft was first analyzed; furthermore, it was found that the attitude angle had the biggest influence on its control. Then the Kalman filter model was established for processing attitude angle information from gyro and accelerometer sensors. Finally, the algorithm was compared with a complementary filter. The flight conditions were simulated in different flight environments; it is shown that the Kalman filter algorithm can improve the precision and real time in attitude angle acquisition.