EXPERIMENTAL EVALUATION OF VIBRATION EFFECTS ON QUADROTOR TILT ANGLE ESTIMATION USING A KALMAN FILTER AND MPU6050 SENSOR

Abstract

In most commercial quadrotor systems, the control boards are pre-integrated as closed systems, limiting user access to internal parameters and customization for specific applications or harsh operating conditions. To address this limitation and advance the capability to design custom control systems, this study introduces an experimental model implemented on a three-axis rotational stand. The platform enables investigation of attitude dynamics and development of control algorithms for angular motion channels of a quadrotor model. Angular orientation is measured using the MPU6050 sensor an integrated accelerometer and gyroscope and processed by a cost-effective STM32F303CCT6 microcontroller. The experimental setup is also employed to tune parameters of the Kalman filter, facilitating evaluation of the algorithm’s performance under real-world operating conditions. The proposed system serves as a foundation for customized controller design and is well-suited for educational and research purposes in unmanned aerial vehicle (UAV) control