Modelling of unmanned quadrocopter flight with consideration of various peculiarities of its sensors

Abstract

The results of study of mathematical models of unmanned quadrocopter flight with taking into
account the sensor peculiarities: altimeter, 3-axis gyroscope, 3-axis accelerometer, 3-axis
magnetometer are demonstrated. The mathematical model of unmanned quadrocopter flight is
represented by the system of differential equations in the form of Cauchy of 16th order. The input
information is the values of the unmanned quadrocopter altitude, corners pitch, roll, yaw, and
their changes in time. The way of proportionally differential flight control of unmanned
quadrocopter has been considered to stabilize the quadrocopter flight and to optimally put the
quadrocopter into the given mode. PD-controller changes the traction increments of electric
motors – screws, the sign of the increments, and the time points, at which all those changes should
be done. The suggested technique of the unmanned quadrocopter flight control has been tested by
example of automatic execution of simple aerobatics figures - a horizontal figure-of-eight - with
both right and left-turns.