Abstract
Four-rotor UAV is a very practical and widely used UAV. In this paper, the development status and future trend of Fourrotor UAV at home and abroad are introduced, and then the transformation matrix from ground coordinates to airframe coordinates is deduced by using Euler equation. In the process of dynamic modeling, the plane position reference coordinate system and rotation angle reference coordinate system are selected to analyze the external forces and moments on the body, and the linear motion equation and the angular motion equation are written in parallel. On the basis of UAV dynamics model, the classical PID control method is used to control the attitude of the inner loop and the position of outer loop . According to simulation results, the flight controller can keep the UAV flying stably.
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