Fusion Attitude Solving Algorithm of Four-Rotor UAV Based on Improved Extended Kalman Filter

The stability problem of the four-rotor aircraft in flight control is popular in the research of Quadrotors, and the attitude angle is an important flight control parameter for the four-rotor aircraft, which plays a very important role in stable flight. The solution of the attitude angle is actually the fusion of multi-sensor acquisition attitude information. This paper proposes an improved EKF filtering algorithm based on attitude solution. The attitude angle obtained by the complementary filtering is used as the observation variable of the EKF filter equation, The angular velocity of the gyroscope is used as a state variable. Then act on the real-time pose update calculation, thereby outputting the attitude angle information. And based on STM32 MCU to build a four-rotor aircraft experimental platform for performance verification. The results show that the designed algorithm is faster and more acurrate than the convergence rate, which can meet the requirements of precision and real-time performance of the quadrotor.