I am just a little bit worried about my research because I feel stuck in one point and I can't find the exit door.

My question is about this:

I will design a drone and the professor wants that drone keeps its angles in one position. That is, roll, pitch and yaw angles don't change. How can I keep them in a stable position? Or, how can I detect bias of them? I am thinking about using IMU or MEMS-INS for this.

Am I on the right path?

  • \$\begingroup\$ Stabilization of roll, pitch, and yaw angles as described in the body of your question is a feature of $12 toys. But that is not position stabilization - the latter is quite challenging, and often the fancy demos you see are done with external cameras and computing. \$\endgroup\$ Feb 24, 2018 at 8:59
  • \$\begingroup\$ Have a look at github.com/betaflight It should answer all your questions - and a lot more. \$\endgroup\$
    – Edgar
    Feb 24, 2018 at 9:36

1 Answer 1


With a..

  • 3 DOF (Degrees of freedom) mems (Accelerator) you can calculate the angles (if your drone is stationary).
  • 3 DOF mems (Gyroscope) you can calculate the angles (this will drift)
  • 3 DOF mems (Magnetometer) you can calculate the angles (which might be distorted by large heavy/soft iron objects)

If you take the information from all 9 sources = 9 DOF simultaneously you get something called sensor fusion (wiki), Here's a tutorial about this at adafruit.

In an ideal world where the fusion works perfectly, you end up with something called AHRS (wiki) (not arse) which stands for "Attitude & Heading Reference System".

AHRS modules used to be very pricey, but just recently, about a month ago, I came across the GY-955 module (aliexpress) which even comes with integrated kalman filter, the kalman filter gives a good estimate for what the real AHRS value actually is.

I haven't tried the GY-955 module so I can't say how good it is, or if it's just Chinese bogus marketing. But if I were you I would just take the easy route and acquire a GY-955 module and call it a day.

If you want to keep the drone geographically stable then you will most likely also have to add a GPS module to it, or some other sensor that relates to the physical real world.


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