Sensor signal filtering in quadrotor control

Abstract

This paper presents a simple low cost quadrotor remotely controlled through a standard 4-channel terminal and ARM-based flight controller board employing two MEMS sensors (3-axis gyroscope and 3-axis accelerometer). With the aim to improve the quality of the aerial vehicle control the paper presents the experimental comparison between two sensor data filtering algorithms: complementary filtering and Kalman filtering. © 2014 IEEE.