Flight Test of the Quadrotor based on Algorithm of Multi-sensor Fusion

This paper introduces a multi-sensor fusion technology and verify Whether the integrated navigation system is valid. I MU and GPS/ barometer is complementary, the former's long-term stability is poor and short-term stability is good, and the latter is just the opposite. Therefore, the fusion algorithm can be used to combine the three data, the output of three-dimensional position information, speed information, attitude information, to provide navigation information for quadrotor. In loiter mode, fluctuations of roll channel and elevation channel are reduced, height tracking situation is better .