本研究主體分為四旋翼機的運動方程式推導、姿態控制器的設計、姿態估測法的設計與四旋翼機飛行試驗四大部分。本研究首先針對四旋翼機的運動方程式進行推導，並設計姿態控制器，進一步透過互補濾波結合四元數法計算四旋翼機的姿態。接著藉由本論文的物理參數量測方法，量測四旋翼機的特定參數，並透過Matlab進行四旋翼機姿態的模擬驗證。最後改寫開源APM的飛控程式，成功的完成了飛行驗證。 There are four parts presented in this thesis: derivation of quadrotor’s equation motion, attitude controller design, attitude estimation method and real flight testing. In attitude estimation method, the complementary filter and quaternion method are combined to estimate quadrotor’s attitude. Finally, the open source flight control program in APM flight control board is rewritten to implement the estimation method. The successful flight test demonstrations are complete .
