Obtaining the real time yaw angle using electronic compass in quadrotor systems

This paper discusses the applications of an electronic compass in quadrotor micro aerial vehicles (MAVs). Firstly, the characteristics of the quadrotor and necessity to obtain real time yaw angle for navigation are presented. Secondly, the electronic compass is introduced as a component in quadrotor system. Electronic compass is an important sensor to provide intermediate data towards calculating the yaw value. Thirdly, the system structure of the quadrotor and the method of calculating yaw angles using electronic compasses are illustrated. The hardware design and PID controller of the quadrotor system are also introduced. Finally, the electronic compass calibration, which is an indispensable procedure to increase accuracy, is presented. The experimental results show that our method is effective and robust in calibrating the electronic compass.