某无人直升机高度测量系统融合方法

Method of Altitude Measure System Fusion for Certain Unmanned Helicopter

为得到更加准确的垂向加速度信息,提高高度信息的估算,通过组合气压高速传感器、全球定位系统(GPS)和捷联式线加速度计,建立一种具有较高精度的无人直升机高度测量系统。对传感器的特性进行分析,根据某无人直升机的运动学和传感器测量模型,采用噪声淹没技术建立了高度测量系统的状态方程和量测方程,最后,采用集中式卡尔曼滤波技术得到了无人直升机高度的估计,并对无人直升机在中高空的进行了全数字仿真实验。仿真结果表明,相比用单个传感器的高度测量方式,该系统的高度测量具有较高的精度。

For getting more exact vertical acceleration information and improving the altitude estimate, an altitude measure,system for unmanned helicopter with high precision is presented based on the barometric altitude sensor, GPS and strapdown accelerometer. After analyzing the sensors＇ factors, state equation and measuring equation of the system are established according to kinematics and sensors measuring principle of certain unmanned helicopter and noise drowned technology. Using central kalman filter is used to estimate the altitude and full digitized simulation experiment is carried out of the unmanned helicopter. Simulation results show that altitude measurement of the system can give more accurate estimation than one sensor.