Hover controlling and target tracking of quadrotor aircraft
Jiajia Li, Zhi Li, Yueqing Wang · 2017
In this paper, based on quaternion and Euler angles, an attitude control algorithm is proposed for pitching and rolling of quadrotor aircraft. In addition, the target tracking algorithm of quadrotor aircraft is designed by using the collected video information and color feature recognition. The system is based on the homemade quadrotor aircraft, using gyroscope, accelerometer as the original measurement and external video processing module. The PID algorithm is used to realize the hover of aircraft, and the traditional PID algorithm is improved according to the phenomenon of hovering oscillation. Finally, the experimental results of several actual scenes show that the attitude control algorithm designed in this paper can control the attitude of aircraft effectively. The designed visual tracking algorithm can track the moving target effectively.