一种无人机组合高度设计方法

A Combined Altitude Design Method for Unmanned Aerial Vehicle

为得到较大空域条件下准确的无人机飞行高度信息,研究了一种气压高度表、无线电高度表及加速度计三种测高信号的组合高度设计方法。本文首先对各传感器的特性进行了分析,并根据测高模型误差特性,进行滤波预处理;再通过抗饱和积分反馈组合高度控制方法,得到组合高度。仿真结果表明,与常用低通滤波方法相比,组合高度信号更平稳、信噪比更高,可满足较大空域飞行要求。

An integrated altitude design method combining three height finding signals （barometric altimeter,radioaltimeter and accelerometer） is developed to acquire correct altitude information of Unmanned Aerial Vehicle whenflying in relatively large airspace Firstly, this paper analyzes on the charactoristics of each sensor, and then carriesout pre-process of filtration based on the characteristics of height finding model,finally combined altitude is acquired by means of anti-saturation and integral feed combined altitude contral method.The simulation test, show thatthe combined altitude with higher signal-to-noice ratio is more smooth than common used low pass filtration, and itcan meet the flying requirements in large airspace.