Noise adaptive strong tracking extended Kalman filter quadrotor attitude resolving method

The invention relates to a noise-adaptive strong-tracking extended Kalman filter quadrotor attitude resolving method, which belongs to the technical field of unmanned aerial vehicles, and comprises the following steps: constructing a state equation and an observation equation, initializing system noise and measuring an initial value of the noise; calculating a one-time prediction state at the next moment; calculating information, updating a strong tracking filter, and splitting a suboptimal fading factor; calculating to obtain an improved one-step prediction error covariance matrix, re-estimating a noise variance and a noise mean value at the next moment, and introducing an estimated value into an EKF formula; calculating a Kalman gain matrix, secondary estimation of a state and secondary estimation of an error covariance, and judging whether circulation is ended or not; and outputting a result. The strong tracking filter is introduced, the problem that a traditional extended Kalman filter is poor in tracking