无人机高度信息融合技术研究

Research on information fusion method of altitude sensors of UAV

无人机在丘陵地带做低空飞行任务时,需要准确的对地高度信息才能保障无人机的安全飞行。本文研究了基于互补滤波网络的高度信息融合技术,针对气压高和无线电高的误差特性,分析了互补滤波的理论依据,设计了互补滤波网络的时间常数,给出了离散域内互补滤波器的算法。最后针对某无人机进行了非线性仿真和试飞验证,结果表明设计的滤波器满足无人机在丘陵地带的低空飞行要求。

Altitude information of high precision is important to the safety of UAV flight when UAV flies at low altitude of foothills. In order to research the information fusion method of altitude sensors based on complementary filter network, the paper focuses on the error characteristic of altitude measured by barometric and radio altimeter and analyzes the theoretical foundation of complementary filter .Then the time constant of complementary filter network is designed and an algorithm of complementary filter in discrete domain is proposed. Nonlinear simulation and flight test on UAV proved that designed filter satisfied the request of low altitude flight in foothills.