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

Zhang Tao, PEI Jin-xin, SONG Yu-guang, LUO Peng


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.


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

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International Journal of Online and Biomedical Engineering (iJOE) – eISSN: 2626-8493
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