Research on EKF Attitude Fault Tolerant Anti-Disturbance Positioning and Attitude Tracking Control of Quadcopter UAV

Quadcopter UAV is a new type of small UAV with vertical take-off and landing capability, which has many advantages such as hovering, maneuverability and simple structure, and has broad application prospects. In this study, the flight principle is analyzed first, and a six-degree-of-freedom UAV mathematical model established based on the mechanical structure. According to the requirements of quadcopter UAV for flight attitude information, an attitude system based on MEMS gyroscope, accelerometer and resistance sensor is designed. An attitude estimation and PID controller based on extended Kalman filter is designed for the attitude control of the UAV. The quaternion is used as the variable, and the output of the gyroscope is used to constitute the state equation. The extended Kalman filter is used to solve the observation equation through the accelerometer and the resistance sensor. The experimental results show that this algorithm can get the UAV attitude output well under static conditions, and the flight attitude fault tolerance and disturbance rejection and position tracking are realized., the dynamic performance needs to be further tested.