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

Authors

  • Zhang Tao School of Electrical Engineering & Automation, Henan Polytechnic University
  • PEI Jin-xin Henan Polytechnic University
  • SONG Yu-guang Henan Polytechnic University
  • LUO Peng Henan Polytechnic University

DOI:

https://doi.org/10.3991/ijoe.v11i8.4883

Keywords:

Accuracy, Kalman filter, Optimal output, Real-time control, Steady.

Abstract


This paper puts forward Kalman filter algorithm to improve the accuracy and the stability of four rotor aircraft control. The algorithm principle is that making use of covariance to estimate the system optimal output.The flight and control theory of four rotor aircraft is first analysed, furthermore, it is found that the attitude angle has the biggest influence to its control. Then, the Kalman filter model is established for processing attitude angle information from gyro and accelerometer sensors. Finally, the algorithm is compared with complementary filter. The flight conditions is simulated in different flight environment, it is shown that Kalman filter algorithm can improve the precision and real time more greatly in attitude angle acquisition.

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Published

2015-10-26

How to Cite

Tao, Z., Jin-xin, P., Yu-guang, S., & Peng, L. (2015). The Attitude Signal Processing of Four Rotor Aircraft based on a Kalman Filter. International Journal of Online and Biomedical Engineering (iJOE), 11(8), pp. 8–12. https://doi.org/10.3991/ijoe.v11i8.4883