Design and Implementation of IMU Sensor Fusion and PID Control in Quadrotor

In this paper, the authors discuss about design and implementation of IMU (Inertial Measurement Unit) sensor data fusion and attitude estimation. This paper discusses about the simple approach of implementation of traditional PID (Proportional-Integral-Derivative) control using microcontroller. Three axis accelerometer and gyroscope have been used in the system as the IMU. The data from the IMU sensor is corrected and filtered using complementary filter. Attitude stabilization is achieved through implementing PID control to each axis which involves single axis stabilization at a time.

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