To solve the drift problem of inertial sensor of six-rotor aircraft during the measurement process

a attitude estimation algorithm based on adaptive explicit complementary filtering（ AECF） is proposed. The principle and stability of the proposed algorithm are analyzed. A six-rotor aircraft experimental test device is set up to carry out static and dynamic experiment of the aircraft. Adaptive explicit complementary filtering algorithm

explicit complementary filtering algorithm and gyroscope sensor measurement are compared in the experiment. The experimental results show that the adaptive explicit complementary filtering algorithm can make the solution attitude error of sensor gradually converge and its dynamic error is the smallest.