本文基于四旋翼飞行器的工作原理和性能特点,给出了飞行器控制系统设计方案,进行了姿态和高度数据采集的软件设计,并基于卡尔曼滤波算法完成了传感器数据融合,设计了PID控制器并完成了软件实现。实验结果表明,该控制系统能够稳定可靠运行,具有较强的鲁棒性。 Based on the working principle and performance characteristics of the quadrotor, the design scheme of the control system of the aircraft is given. The software of the attitude and height data acquisition is designed and the sensor data fusion is completed based on the Kalman filter algorithm. The PID controller is designed Completed the software implementation. Experimental results show that the control system can operate stably and reliably and has strong robustness.