센서 융합 칼만필터를 이용한 Quad-Copter 자동 호버링 제어기 설계

Abstract

This paper proposed Quad-Copter controller designed using fusion Kalman filter sensor for its automatic hovering. Quad-Copter is useful to use at dangerous places and disaster area. It consists of body frame, flying part, fusion angle sensors and control system. It is able to move using four blades’ interference. Dynamic modeling of the Quad-Copter is presented using Lagrangian equation. Sensor part consists of altimeter and Fusion Kalman sensor. The altimeter is to measure the altitude of the Quad-Copter. The fusion Kalman sensor is soft sensor fused with Kalman filter algorithm and gyro sensor accelerometer and geomagnetic sensor. The fusion Kalman filter sensor is to create optimum angles of roll, pitch and yaw of the Quad-Copter. Using these sensors, PID control methods are proposed and are applied to control the Quad-Copter’s attitude and altitude for hovering. Finally, the simulation and experimental results are presented to prove the effectiveness and the applicability to the practical fields of the fusion angle sensor and the presented PID controller.