Embedded Attitude Estimation System for Quad-Rotor UAVs

An embedded attitude estimation system is developed for the autonomous flight of Quad-Rotor UAVs. The system hardware is composed of a DSP processor and low-cost MEMS sensors including a 3-axis gyroscope and a 3-axis accelerometer. A Complementary Filter fused the advantages of the gyroscope and accelerometer is designed and embedded on the DSP processor to estimate the real-time attitude. Ground testing experiments show that the system could meet the accuracy and robustness requirements for the Quad-Rotor UAVs attitude estimation.