Four axis hardware attitude calculation based on MPU6050
                                CHEN Guo ding, ZHOU Peng hao, HU Zhen hao, TANG Yue sheng, QIN Zhi fei
                     (College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023, China)

Abstract: Aimimg at the real time accurate acquisition of attitude information of four axis aircraft, experimental study on the attitude calculation was carried out on the four axis aircraft. On the basis of analyzing the quaternion method and Euler angle method of attitude representation, Mahony complementary filtering algorithm was taken as an example to compare the process of the software attitude calculation and hardware attitude calculation based on MPU6050 digital motion processor(DMP), and the calculation time of the two methods and the tracking performance of the attitude change were experimentally tested. The research indicate that small four axis aircraft of the attitude information can be obtained in real time and accurately by the hardware attitude calculation, so that the small four axis aircraft attitude control requirements can be met.

Key words: quaternion; attitude calculation; complementary filtering; MPU6050; DMP