基于信息融合的某型无人机高度测量系统研究

某地区地形地貌复杂,无人机为了更好的规避障碍,实时监测无人机的高度非常重要。提出了一种基于信息融合的高精度容错高度测量系统,该系统利用GPS、气压高度计和IMU三种传感器的冗余与信息融合的方法进行高度的测量,对这三种传感器的原理和模型进行分析,研究基于联邦滤波器的高度信息融合方法,在此基础上,深入探讨这三种传感器的信息预测和融合过程,并进行了高度测量系统的仿真,仿真结果表明：高度测量系统设计合理,具有一定的工程应用价值。

Research on Altitude Measurement System Based on Information Fusionfor a certain UAV

The topography of plateau regions is complex. In order to avoid obstacles better, monitoring the altitude of UAV real-time is very important. This paper puts forward a high accuracy and fault-tolerance altitude measuring system based on information fusion. Three kinds of sensors: GPS, barometric altimeter and IMU are used to measure the altitude of plateau UAV based on the method of redundancy and information fusion. The principle and model of the three sensors are analysed and the method of altitude information fusion is studied based on the federal filter. On this basis, the information prediction and fusion process of the three kinds of sensor is further discussed and the altitude measuring system is simulated. The results of simulation show that the design of the altitude measuring system is reasonable and satisfied with the requirements of flight quality, with further engineering applications.