Research on hovering control system of four rotor UAV in indoor environment

Abstract

Aiming at the problem of position deviation and low precision of quadrotor UAV in fixed-point hovering in indoor environment, this paper analyzes the flight principle of quadrotor UAV, establishes a quadrotor UAV system model, and simplifies and linearizes the model. At the same time, according to the quadrotor UAV model, the PID control technology is used to design the attitude controller and position controller, and the feedback control system is realized. Finally, the software and hardware platform of the quadrotor UAV is built, and the PID control algorithm is realized. The experimental results show that the attitude angle error is about ± 3 °, and the position error is about ± 2.3cm/s, which achieves a good hovering effect and solves the problem of low indoor fixed-point hovering accuracy of the quadrotor UAV.