Abstract
This paper presents the posture and position control technique for a quadrotor UAV(Unmanned Aerial Vehicle) during hover by using gyros, inclinometer and profile sensor. In previous paper a developed quadrotor UAV performs short-time hovering by 3-axis gyroscope. For the long-time hover the integral error is accumulated and UAV is notable to maintain the posture angle. Then, this paper introduces the posture sensing method which is combined with inclinometer and integration of gyroscope. Moreover, in order to control the hovering position. This paper is developed a high-speed light-marker sensing unit using a profile sensor S9132. Experimental results show the advantage of this unit and measurement system.
