中文摘要：

采用STM32微控制芯片作为主控芯片,搭载MPU6050传感器、HMC5883L磁场传感器,以四旋翼飞行器为平台进行载体姿态检测的实验.对比单一传感器和多传感器姿态检测的实验结果,结果表明：基于多传感器融合的姿态检测能弥补单一传感器检测姿态的不足,提高姿态信息的精确性.

英文摘要：

Attitude detection was to measure the attitude information of the carrier in three dimension space and show it in the shape of euler angle visually.This article take STM32 microcontroller as the main control chip,carry the MPU6050 sensor,HMC5883Lmagnetic sensor.We make some experiment about the attitude detection on the platform of quad-rotor helicopter and compare the experimental result between signal sensor and multi-sensor.The result shows that attitude detection based on multi-sensor can cover the weakness of signal sensor,enhance the accuracy of the attitude information.