Aiming at the problem of low cost micro-electro-mechanical system（MEMS） devices in current market

a new algorithm for pose estimation based on the first order complementary filtering algorithm is proposed. This algorithm uses MEMS accelerometer to compensate attitude error caused by gyroscope deviation in MEMS sensor

and a proportional-integral（PI） controller is introduced into control system because of big error of drift caused by non-uniform motion. The revised results substitute for input of the complementary filtering accelerometer

so as to improve precision of pose estimation under non-uniform motion. In addition

based on embedded processor STM32

the experiments are carried out on six-rotor aircraft platform of MPU6050. The results of actual system show that the algorithm has a small amount of calculation

high estimation precision

good real-time performance

and easy to implement in low cost aircraft control system.