Open AccessDesign of the Outdoor Cruising Control System of the Quadrotor Drone
Author(s) -
Xiaomei Zhang,
Chengbin Chen,
Kaixiong Su,
Lin Liang,
Yinghui Tian
Publication year - 2021
Publication title -
iop conference series. earth and environmental science
Language(s) - English
Resource type - Journals
eISSN - 1755-1307
pISSN - 1755-1315
DOI - 10.1088/1755-1315/632/2/022062
Subject(s) - drone , kalman filter , pid controller , quadcopter , control system , computer science , global positioning system , controller (irrigation) , engineering , control engineering , control theory (sociology) , simulation , control (management) , aerospace engineering , artificial intelligence , temperature control , telecommunications , agronomy , genetics , electrical engineering , biology
During the outdoor cruising flight of the UAV, it will often cause problems such as inaccurate positioning information and course to drift due to interference of sensor signal errors, ground effects, airflow, and communication delay. In this paper, an outdoor cruising control system of the quadrotor drone is designed, where the Kalman filter and the Mahony filter are adopted to fuse the sensor data to obtain the attitude to be controlled, and the PID control method is introduced to reduce the external noise to the control system. As a result, the GPS/INS combined navigation method was used to design the quadrotor drone controller. The system improves the anti-jamming capability of the aircraft, has the advantages of real-time, fast response, and high precision, and can realize the positioning cruise function of the quadrotor aircraft in a complex outdoor environment.