A Study of Complementary Filter Algorithm for Four-rotor Helicopters Attitude Control System
The focus of this study is on the attitude estimation of the four-rotor helicopter known as quadrotor. The choice of the algorithm is a complementary filter based on quaternions. For the four-rotor helicopter system has nonlinear, strong coupling, multi-variable features, it is difficult to obtain t...
| Main Authors: | , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IFSA Publishing, S.L.
2014-07-01
|
| Series: | Sensors & Transducers |
| Subjects: | |
| Online Access: | http://www.sensorsportal.com/HTML/DIGEST/july_2014/Vol_174/P_2217.pdf |
| Summary: | The focus of this study is on the attitude estimation of the four-rotor helicopter known as quadrotor. The choice of the algorithm is a complementary filter based on quaternions. For the four-rotor helicopter system has nonlinear, strong coupling, multi-variable features, it is difficult to obtain the accurate attitude values, and in order to solve this problem a quaternion-based complementary filter algorithm is applied. The Inertial Measurement Unit (IMU) is used to estimate four-rotor helicopters attitudes. The traditional PID controller is used to control the four-rotor helicopter attitude. This system is implemented on a newly designed compact STM32 board. The board contains the STM32F103RBT6 chip, the attitude sensor MPU-6050 and hmc5883l, the wireless communication module nRF24L01. The hovering experiment results presented in this paper provide good evidences that the quaternion-based complementary filter algorithm can obtain accurate attitude values, it reduces the amount of computation system, and provides an algorithm for four-rotor helicopters attitude solver.
|
|---|---|
| ISSN: | 2306-8515 1726-5479 |