Research of Attitude Estimation of UAV Based on Information Fusion of Complementary Filter

With the restriction that the MEMS sensor can not output the attitude angels for UAV directly, the attitude estimation method based on information fusion of complementary filter is designed. Combined with the analysis of the relation between attitude angular rate and attitude angel in different dynamical mode of UAV, concluding high and low frequency, the attitude angel is calculated by complementary filter with the information of attitude angular rate and acceleration information. Simulation demonstrates that this complementary filter can estimates the attitude angels of UAV in different dynamical mode effectively, and conquers the defection of using single filters, which has practical values for attitude estimation of UAV.