Using IMU Sensor and EKF Algorithm in Attitude Control of a Quad-Rotor Helicopter

  • Jongwoo An
  • Jangmyung LeeEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 867)


The level of interest regarding Unmanned Aerial Vehicles (UAVs), such as a Quad-Rotor, has been increased recently. UAVs can effectively carry out various monitoring tasks for disasters, life-saving situations, environmental conditions, traffic congestion and military reconnaissance. This paper presents a new attitude control method for a quad-rotor based on IMU sensor and EKF algorithm. The proposed method can enable a quad-rotor to achieve stable operation in the harsh ocean environment with unexpected disturbance and dynamic changes.


EKF IMU HDR Quad-rotor 



This research was supported by the Ministry of Trade, Industry & Energy (MOTIE), Korea, under the Industry Convergence Liaison Robotics Creative Graduates Education Program supervised by KIAT(N0001126).

This research was a part of the project titled ‘Developments of Drone Docking System equipped Leisure Boat for Drone surfing and operating’, funded by Ministry of Oceans and Fisheries, Korea.


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Pusan National UniversityBusanRepublic of Korea

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