Abstract
This paper describes an unconventional overall design of eight-rotor aerial robot. An INS/GPS based Kalman Filter solution is introduced in attitude estimate to meet the high precision and reliability requirement. In order to coordinate the contradiction between high load and high frequency, we present a new control method for multi-rotor aerial robot, witch take decoupling control on lift rotors and attitude control rotors. Results of simulation and flight test show that our design on aerial robot is effective.
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