Attitude Calculation of Quadrotor UAV Based on Extended Kalman Filter and Complementary Filter

Abstract Quadrotor UAV obtain the attitude calculation result from inertial measurement unit (IMU), but IMU has the the problems of high noise and low precision, to solve the problems, this paper first introduces the extended Kalman filter (EKF) and complementary filter, and uses them to filter the output of the accelerometer and magnetic sensor. The effects of the two methods are compared by static testing and dynamic testing. The results show that both filtering methods can improve the precision of the attitude angle solutions, but the EKF algorithm performs better.