越来越多的军用和民用市场的广阔需求和独特的优势促进了四旋翼飞行器的发展。该设计基于瑞萨单片机为控制核心的四旋翼飞行器,主要利用姿态传感器陀螺仪、加速度计和电子罗盘测量出飞行器在飞行过程中所处各种姿态的数据信息。其中将陀螺仪测量得到的角速率做预测更新,以加速度计和电子罗盘的数据用作观测更新,从而得到更高精度的姿态角度信息。来实现飞行器定向、定高、定点等情况的飞行控制,具有广阔的应用前景。 The growing demand and unique advantages of a growing number of military and civilian markets have contributed to the development of quadrotors. The design is based on the Renesas SCM as the control quad core rotorcraft. The attitude sensor gyroscope, accelerometer and electronic compass are used to measure the data of various attitude of the aircraft in flight. The angular rate measured by the gyroscope is predicted and updated. The data of the accelerometer and the electronic compass are used for observation and updating, so as to obtain more accurate attitude angle information. To achieve the aircraft orientation, set high, fixed-point flight control, etc., has broad application prospects.