Hexacopter Pitch Estimator for a Pitch Stabilizer

The paper presents the development and mathematical modelling of an estimator within the control scheme of the pitch motion of a hexacopter. The pitch estimator is constructed as a classic Luenberger-Kalman filter. The authors also discuss the problem of acceleration measurement realized during the flight of the hexacopter. The blade flapping and the related drag are mentioned as the main effects introducing orientation data into the values provided by an accelerometer. A simulation of the designed observer is shown using a simple one-dimensional model.