CIOMP OpenIR  > 中科院长春光机所知识产出
Altitude information fusion method and experiment for UAV
Xu, D.; X. Pei; Y. Bai; C. Peng; Z. Wu and Z. Xu
2017
Source PublicationHigh Technology Letters
Volume23Issue:2
AbstractAltitude regulation is a fundamental problem in UAV (unmanned aerial vehicles) control to ensure hovering and autonomous navigation performance. However, data from altitude sensors may be unstable by interference. A digital-filter-based improved adaptive Kalman method is proposed to improve accuracy and reliability of the altitude measurement information.A unique sensor data fusion structure is designed to make different sensors switch automatically in different environment. Simulation and experimental results show that an improved Sage-Husa adaptive extended Kalman filter (SHAEKF) is adopted in altitude data fusion which means that altitude error is limited to 1.5m in high altitude and 1.2m near the ground. This method is proved feasible and effective through hovering flight test and three-dimensional track flight experiment. Copyright by HIGH TECHNOLOGY LETTERS PRESS.
Indexed Bysci ; ei
Language英语
Document Type期刊论文
Identifierhttp://ir.ciomp.ac.cn/handle/181722/59344
Collection中科院长春光机所知识产出
Recommended Citation
GB/T 7714
Xu, D.,X. Pei,Y. Bai,et al. Altitude information fusion method and experiment for UAV[J]. High Technology Letters,2017,23(2).
APA Xu, D.,X. Pei,Y. Bai,C. Peng,&Z. Wu and Z. Xu.(2017).Altitude information fusion method and experiment for UAV.High Technology Letters,23(2).
MLA Xu, D.,et al."Altitude information fusion method and experiment for UAV".High Technology Letters 23.2(2017).
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