Inertia altitude channel damping Kalman filtering method based on atmosphere assistance
A technology of Kalman filtering and barometric altitude, which is applied in altitude/horizontal measurement, navigation through speed/acceleration measurement, and measurement devices, etc. It can solve the problem of staying, unable to completely solve the atmospheric random error, vertical acceleration double integral instability, etc. question
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[0054] 1. Establish an air pressure altitude error model of the air data system during the movement of the unmanned helicopter
[0055] The barometric altitude error model is complex and difficult to model. Usually, the typical error types in the barometric altitude error are selected, mainly the scale factor error of the barometric altimeter, the offset error of the barometric altimeter, and the pressure offset error. According to the relationship between the above atmospheric errors, the air pressure altitude error model of the atmospheric data system is established as follows:
[0056] δh ads =δh b + h T δh s +δh p +υ ads +ω ads (1)
[0057] δh in formula (1) ads is the barometric altitude error, h T is the true value of pressure altitude, δh b is the scale factor error of the barometric altimeter, δh s is the offset error of the barometric altimeter, δh p is the pressure bias error; υ ads is the pressure altitude observation noise, ω ads is atmospheric heigh...
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