Proper

Abstract

In this paper, a stable hovering method is proposed by fusion of multi-sensor equipped with quad-rotor UAV. And the performance is verified by experimental quadrotor. After estimating the quad-rotor attitude, a method using double attitude controller nested angular PI controller and angular velocity PD controller is used. To estimate vehicle velocity in inertial frame, camera attached to the bottom of quadrotor is used. A relative velocity is obtained by using Optical Flow with image from camera. After that, ultrasonic, acceleration, gyro sensor data are fused for estimating the horizon velocity. Based on this, a velocity control method robust about disturbance is proposed. For experiment, Real quadrotor is built. Finally, proposed quadrotor system is than general quadrotor system confirmed to be stable.