Unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion

The invention discloses an unmanned aerial vehicle attitude control system and method based on self-adaption complementation fusion. The method is characterized by, to begin with, reading sensor data and carrying out corresponding filtering on the data; then, carrying out self-adaption complementation fusion according to frequency-domain characteristics of different sensors to obtain aerial attitude information of a current aerial vehicle, and furthermore, obtaining an Euler angle needed by control; next, carrying mathematical modeling on the aerial vehicle and designing two controllers, wherein one controller is used for controlling the pitch angle and the roll angle, and the other controller is used for controlling the course angle; and finally, carrying out superposition on the outputs of the two controller to obtain a total output, and realizing stable control of the aerial vehicle by changing the rotation speed of a motor through a driver. The system and method realize attitude wide-range high-precision calculation, quicker data convergence and higher precision.