基于Χ^(2)故障检验的气压高度修正算法

The algorithm of air pressure altitude correction based on χ^(2) fault inspection

高度信息是无人机导航系统的关键参数之一,一般采用气压计间接测量大气静压力以获取无人机的高度信息,由于大气静压力始终处于波动状态,该方法存在一定的局限性。为修正这一局限性产生的原理性误差,提出了一种基于χ^(2)故障检验的气压高度修正算法,修正气压高度计随大气波动产生的原理性误差,消除GPS高度数据的突变噪声。经检验,该方法能有效改善长时导航中高度测量的精度,可以兼容短时、长时导航中高度通道的精度要求。

Altitude information is one of the key parameters of the drone navigation system.Generally,the barometer is used to indirectly measure the atmospheric static pressure to obtain the altitude information of the drone.Since the atmospheric static pressure is always in a fluctuating state,this method has certain limitations.In order to correct the principle error caused by this limitation,a barometric altitude correction algorithm based on chi⁃square test is proposed,which corrects the principle error generated by the barometric altimeter with atmospheric fluctuations,and eliminates the abrupt noise of GPS altitude data.It has been verified that this method can effectively improve the accuracy of altitude measurement in long⁃term navigation and is compatible with the accuracy requirements of altitude channels in short⁃termand long⁃term navigation.