四旋翼飞行器悬停算法设计与实现

以自制四旋翼飞行器为研究对象，对四旋翼飞行器悬停算法进行详细研究。控制中心通过传感器MPU6050获取飞行数据，通过获取的数据计算得到飞行姿态，然后结合气压传感器和摄像头相结合进行悬停算法的设计。程序算法主要包括四元数、PID、卡尔曼滤波和视觉定位等算法，计算得出相应的数据，最后通过控制电子调节系统驱动无刷电机完成其悬停与控制。

Design and Implementation of Hovering Algorithm for Quad-rotor Aircraft

The four rotor hovering algorithm was carried out taking the self-made quad-rotor aircraft as the research object. The control center obtains the flight data through the sensor MPU6050, and the flight attitude is got through the data obtained, and then the design of the hovering algorithm is carried out with the combination of the pressure sensor and the camera. The program algorithm mainly includes four-elements, PID, Kalman filter and visual positioning algorithm, and the corresponding data is calculated. Finally the control system drives the brushless motor to complete its hover and controlling through electronic control system.