抄録
This paper describes our development of small indoor Unmanned Aerial Vehicle (UAV) for the 7^<th> Student Indoor Flying Robot Contest. We designed a conventional airplane type UAV which is capable of dropping object to a designated point by hovering vertically. For this purpose, an attitude-control algorithm and a control system were developed. In order to estimate attitude quaternion from on-board accelerometer and gyroscope output, Extended Kalman Filter is used as the attitude-control algorithm. Then, in order to keep hovering using its control surface, the control system was designed and implemented with a microcontroller. The flight test revealed that the UAV is capable of vertical hovering in order to perform the missions required in the contest.
