| 无人机高精度容错高度测量系统设计 |
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| 引用本文： | 浦黄忠,胡勇,王道波. 无人机高精度容错高度测量系统设计[J]. 传感器与微系统, 2007, 26(8): 84-86 |
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| 作者姓名： | 浦黄忠 胡勇 王道波 |
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| 作者单位： | 南京航空航天大学,自动化学院,江苏,南京,210016 |
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| 摘 要： | 基于大气数据计算机、全球定位系统(GPS)和线加速度计,给出了一种高精度和高可靠性的高度确定算法。根据运动学和传感器测量模型建立了高度测量系统的状态方程和测量方程,利用Kalman滤波方法得到了高度估计,并根据测量信息的冗余设计了系统的故障检测和隔离算法。仿真结果表明:该系统的高度测量具有较高的精度,同时有着较好的可靠性。
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| 关 键 词： | 高度测量 大气数据计算机 全球定位系统 Kalman滤波 故障检测 |
| 文章编号： | 1000-9787（2007）08-0084-03 |
| 修稿时间： | 2007-06-22 |
Design of high precision and fault-tolerant altitude determination system of UAV |
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| PU Huang-zhong,HU Yong,WANG Dao-bo. Design of high precision and fault-tolerant altitude determination system of UAV[J]. Transducer and Microsystem Technology, 2007, 26(8): 84-86 |
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| Authors: | PU Huang-zhong HU Yong WANG Dao-bo |
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| Affiliation: | College of Automation Engineering,Nanjing University of Aeronautics and Astronautics ,Nanjing 210016, China |
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| Abstract: | A approach of altitude measurement with high precision and reliability for unmanned aerial vehicle(UAV) is presented based on the air data computer,GPS and accelerometer.State equation and measuring equation of the system are established according to the model of kinematics and measuring principle of each sensor.Kalman filter is used to estimate altitude.A fault detection and isolation method is designed according as redundancy of measurement information.Simulation results show that altitude measurement of the system can give much more accurate estimation than other ones and has good reliability. |
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| Keywords: | altitude measurement air data computer global positioning system(GPS) Kalman filter fault detection |
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