A COMPLETE COMPARISON TO DESIGN COMPLEMENTARY FILTER AND KALMAN FILTER FOR AERIAL VEHICLE

This research concerns about the design of Complementary filter and Kalman filter to indicate a difference comparison for low-cost sensor in aerial vehicle. The working environment of this vehicle is mostly the outdoor conditions that is often obscure and unpredictable. Hence, it is significantly required a superior filter to control the quadcopter in unknown environment for estimating the perfect state vector which demonstrates the motion of rigid body. Quadrotor collects only measurements from a low-cost inertial measurement unit such as IMU-MPU6050 to hover at the specified attitude. In the simulations, these filters are studied to implement in the model of quadrotor. Later, in the experimental quadcopter, it is embedded in hardware platform to verify in the real world. The results are carried out to validate the effective design of Complementary filter and Kalman filter in quadcopter.