Altitude Hold Controls on Multi-Rotor sUAV with Barometer Effects

This paper presents an accurate altitude estimation on a small multirotor UAV. That is crucial for the stability and performance of UAV, particularly in altitude hold control. Barometric pressure sensors are widely used to estimate altitude based on atmospheric pressure, but their readings are highly susceptible to environmental fluctuations, temperature variations, and dynamic airflow effects. To mitigate these altitude errors, this study focuses on enhanced flight control installation techniques, including the physical protection of barometric sensors inside enclosed, well-ventilated compartments to shield them from wind disturbances and rapid pressure changes. The proposed mitigation strategy is validated through ground testing and flight testing, where altitude hold performance is assessed under various environmental conditions. The results confirm that enclosing the barometric sensor within a protective, ventilated chamber significantly reduces altitude estimation errors, leading to more stable altitude hold control with reduced vertical oscillations. These findings highlight the importance of integrated sensor protection in UAV flight control system design and provide a practical framework for improving altitude estimation reliability in both consumer and industrial UAV applications.