基于信息融合的某型无人机高度测量系统

为某型无人机在复杂地形地貌的高原山区更好规避障碍，提出一种高精度容错高度测量系统。利用全球定位系统、气压高度计和惯性测量单元3种传感器的冗余与信息融合的方法进行高度测量，分析其原理和模型，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3种传感器的信息预测和融合过程，并进行高度测量系统的仿真。仿真结果表明：该系统设计合理，可以更加准确地测量无人机的高度，具有一定的工程应用价值。

Altitude Measurement System for Certain Type UAV Based on Information Fusion

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 analyzed 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.