On new UAV formation flight control system

Combining Kalman filter with PID controller is applied to design UAV (Unmanned Air Vehicles) formation flight control system. It contains Kalman&PID controllers of speed and pitch angle for UAV. According to characteristic of UAV formation flight, the PID parameters were adjusted to realize control stability of UAV in formation flight. The simulation results verify the validity and feasibility of the proposed method. And Kalman&PID controller is better than traditional PID controller.