Mathematical Modeling of a Multilayered Drift-Stabilization Method for Micro-UAVs Using Inertial Navigation Unit Sensor

Table 1

Quadrotor physical parameters.

	Parameters	Value
Inertia around 𝑋-axis	𝐼𝑥	7.5×10^−3 kg·m^2
Inertia around 𝑌-axis	𝐼𝑦	7.5×10^−3 kg·m^2
Inertia around 𝑍-axis	𝐼𝑧	1.5×10^−3 kg·m^2
Distance to the center of the quadrotor	𝐿	0.23 m
Mass of the quadrotor	𝑚	0.65 kg
Gravitational acceleration	𝑔	0.98 m·s^−2