一种小型无人机高度测量方法的研究与实现

为了满足某小型无人机飞行控制中对高度信号的采集与处理,提出了用无线电高度来确定基准高度,用气压高度来确定相对高度,用起飞点的实测温度进行补偿的设计思想,综合这3种手段来有效消除外界环境对气压高度测量精度的影响。传感器数据融合方面,利用飞行器运动学推算出的高度状态方程以及传感器观测模型,采用Kalm an滤波技术来估计和修正传感器的测量高度。测试结果表明,此方法得到了较准确的高度测量信息,可以满足无人机飞行控制的需求。

Research and Implementation of a Height Measuring Method for Small-Size UAV

In order to achieve the sampling and processing of height signal during the flight control process for the small UAV,a design idea is put forward,which uses radio altimeter to define referential height,atmospheric pressure altimeter to determine relevant altitude,and actual temperature at the take-off point for compensation.With the combination of such three methods,the environmental disturbance to the measurement of barometrical altitude is effectively eliminated.As for the sensor data fusion,based on the altitude state equation reasoned from aircraft dynamics and sensor observation model,Kalman filtering technique was employed for assessing and adjusting altitude data from sensors.The test results show that the measurement for the altitude by this method is accurate enough to meet the need of UAV flight control.