Design of the Outdoor Cruising Control System of the Quadrotor Drone

Abstract

During the outdoor cruising flight of the UAV, it will often cause problems such as inaccurate positioning information and course to drift due to interference of sensor signal errors, ground effects, airflow, and communication delay. In this paper, an outdoor cruising control system of the quadrotor drone is designed, where the Kalman filter and the Mahony filter are adopted to fuse the sensor data to obtain the attitude to be controlled, and the PID control method is introduced to reduce the external noise to the control system. As a result, the GPS/INS combined navigation method was used to design the quadrotor drone controller. The system improves the anti-jamming capability of the aircraft, has the advantages of real-time, fast response, and high precision, and can realize the positioning cruise function of the quadrotor aircraft in a complex outdoor environment.