Universal estimation method and device for quad-rotor unmanned aerial vehicle system

The invention discloses a universal estimation method and device for a quad-rotor unmanned aerial vehicle system. The method comprises the steps of supplementing innovation items for a linear discrete system state equation of a quad-rotor unmanned aerial vehicle to make up for the defect that estimation errors may diverge; giving a constraint condition that the dynamic error of state observation of the four-rotor unmanned aerial vehicle meets stability; giving a solution mode that the state observation dynamic error of the four-rotor unmanned aerial vehicle meets a stable constraint condition; a solution mode of unknown external disturbance and measurement noise of the four-rotor unmanned aerial vehicle is given; determining various parameters of the quad-rotor unmanned aerial vehicle, and solving state estimation, external disturbance and measurement noise estimation of a linear discrete system of the quad-rotor unmanned aerial vehicle by using a linear matrix inequality toolbox in Matlab in the solving mode