Research on Attitude Control System Design and Flight Experiments of Small-scale Unmanned Aerial Vehicle

Aiming at the attitude control requirements of small-scale unmanned aerial vehicle (UAV), a micro flight system hardware design scheme based on STM32F103 microcontroller and MEMS sensors is proposed in this paper. Under the condition of limited onboard computing resources, the extended Kalman filter (EKF) algorithm based on quaternion is adopted to integrate the data measured by sensors such as gyroscope, accelerometer, magnetic compass and barometer to calculate the flight attitude of small-scale UAV. And the cascade PID control algorithm is used to realize the attitude control of the small-scale fixed-wing UAV. Flight experiments are carried out on a small-scale fixed-wing UAV platform. The experimental results show that the flight control system designed in this paper has the characteristics of high integration and good stability, which can effectively correct the flight attitude of small-scale UAV and realize the attitude control of small-scale UAV.