一种无人机高度传感器信息融合方法

An Information Fusion Method of Altitude Sensors for UAV

在无人机(UAV)飞行控制系统(FCS)中,针对单一高度传感器测量精度有限,难以满足高精度高度定位需求的问题,提出一种信息融合方法。为了提高定位精度,在机上安装多个传感器测量高度,根据飞行控制系统高度状态方程,充分利用各传感器的测量信息,采用Kalman滤波技术,估计真实高度和大气数据计算机(ADC)的测量偏差,从而进行修正。仿真表明,所得结果的精度高于任何单一传感器的测量精度。因此,该方法有效地提高了系统高度信息获取的准确度。

In the flight control system （FCS） of an unmanned aerial vehicle （UAV）, a multi-sensor information fusion method is put forward, because the precision of single altitude sensor cannot satisfy the high precision requirements. For the multi-sensor altitude measuring system, this method, based on the altitude state equation in FCS, takes full the advantages of every sensor＇s measured values, and adopts the fusion technology of Kalman filter, to estimate the constant deviation of air data computer （ADC）＇s altitude measurement from the real altitude, and modify the ADC＇s measurement, to eliminate the ADC＇s constant deviation. Simulation results indicate that this can get more accurate altitude than every single sensor. Consequently, this method improves the accuracy of altitude information acquisition in the system.