无人直升机高度测量的设计与实现

Design and Implementation of UAV Altitude Measurement

简要介绍了无人直升机的系统构架,在此基础上详尽阐述了无人机高度测量的实现。将该数据和GPS数据进行融合,经11阶扩展卡尔曼滤波算法滤波,实现了无人机位置的精确测量。实验验证和实际飞行数据表明,此设计测量出的高度数据准确,响应速度快,应用在飞机上的效果良好。融合GPS/INS数据后可以实现无人机的精确导航。此外,该设计还可以应用在天气预报、地形测量,垂直方向速度计等方面。

The system architecture of the unmanned helicopter was introduced briefly,elaborated UAV altitude measure- ments on this basis. The altitude data and GPS data through some fusion algorithm was filtered by the 11 steps extended Kalman filter,and achieve the accurate measurement of the location of the UAV. Experimental verification and the actual-flight data shows that the design can measure highly accurate altitude data,response quickly,and have a good effect applied on the UAV. The UAV achieve precise navigation with data fusion of GPS / INS. In addition,the design can be applied in weather forecasting,topographic surveys,indication of vertical velocity（rise/sink speed）,etc.