紊流风场下的无人机飞行状态卡尔曼滤波估计

UAV state Kalman filter estimation in turbulent flow

为了模拟紊流风场下的无人机飞行状态响应,减小紊流风场对无人机飞行速度的影响,使用数值法建立了紊流风场有色噪声模型,生成了符合大气紊流相关特性的紊流风场并对其进行数值仿真。在此基础上,通过状态扩增处理将系统噪声白化,设计出一种基于有色噪声的无人机飞行速度卡尔曼滤波器,该滤波器解决了基本卡尔曼滤波仅适用于白噪声的情况。仿真结果表明,使用此滤波器可有效减小紊流风场对无人机飞行速度的影响,进而满足飞行速度控制输入的精度要求。

For decreasing the influence of the turbulent flow on the flight speed and simulating the state response of the UAV in the presence of turbulent flow,this paper puts forward the colored noise model of the turbulent flow based on the numerical method which accords with the reality.Then a colored noise Kalman filter for the flight speed of UAV is presented,which can extend the application fields of the Kalman filter,by whitening the system noise.The simulation results demonstrate that this filter can decrease the influence of the turbulent flow and improve the estimation accuracy of the flight speed.