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Vol. 174, Issue 7, July 2014, pp. 298-306




A Study of Complementary Filter Algorithm for Four-rotor Helicopters Attitude Control System

1 Xiuhe LU, 1* Jianbo LI, 2 Wanjun LIU

1 School of Electrical and Electronic Engineering, Changchun University of Technology, Changchun, 130012, China
2 School of Computer Science and Engineering, Changchun University of Technology, Changchun, 130012, China

* E-mail: ccut_ee_2012@163.com


Received: 23 April 2014 /Accepted: 30 June 2014 /Published: 31 July 2014

Digital Sensors and Sensor Sysstems


Abstract: 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.


Keywords: Four-rotor helicopter, Complementary filter, Attitude estimate, PID.


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