由于四轴飞行器系统具有不稳定、非线性、强耦合等特性，所以姿态控制在飞行器完成飞行任务的过程中尤为 重要。本文着重对飞行器姿态控制算法进行研究。首先对飞行器建立合理的坐标系，根据角度传感器所测得的角度，得到以 四元数表示的姿态转换矩阵。根据空气动力学原理，牛顿第二定律,对飞行器建立动力学模型，得到四个独立通道的控制输入 量，该控制输入量可以通过控制四轴飞行器各个方向的加速度来对飞行器进行姿态控制。

Because the quadrotor has the features of instability, nonlinear and strong coupling, so attitude control is particularly important in the process of aircraft flight mission. In this paper, the spacecraft attitude control algorithm is studied. First of all, a reasonable coordinate system for quadrotor is established. According to the angle measured by angle sensor, the attitude transformation matrix expressed by quaternion is obtained. According to the principle of aerodynamics and Newton's second law, the flight dynamics model is set up, and the control inputs from four independent channels are obtained, which can control the attitude of quadrotor by controlling the acceleration in all directions.