Dead reckoning and Kalman filter design for trajectory tracking of a quadrotor UAV

The dynamic equations of a quadrotor unmanned aerial vehicle (UAV), namely Qball-X4, are analyzed and built, trajectory tracking control design based on an inner/outer loop control structure is proposed in this paper. The method of analytic geometry is used in dead-reckoning, discrete Kalman filter has been applied to trajectory tracking for improving the accuracy of estimated location. Integrated online waypoints pre-planning and trajectory tracking control have been carried out. Simulation results demonstrate the effectiveness of the proposed approach.