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An Altitude Information Fusion Method for UAV Flight Navigation System Against Atmospheric Parameter Drift

A technology of altitude information and fusion method, applied in directions such as navigation through velocity/acceleration measurement, can solve problems such as atmospheric drift and delay that cannot be used by civilian barometric altimeters, and achieve the effects of low power consumption, small size, and good dynamic characteristics

Active Publication Date: 2018-10-19
杨百川
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  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Traditional altitude channel estimation generally uses multi-sensors and a single fusion method for information fusion, which cannot solve the problems of atmospheric drift and delay of the barometric altimeter.

Method used

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  • An Altitude Information Fusion Method for UAV Flight Navigation System Against Atmospheric Parameter Drift
  • An Altitude Information Fusion Method for UAV Flight Navigation System Against Atmospheric Parameter Drift
  • An Altitude Information Fusion Method for UAV Flight Navigation System Against Atmospheric Parameter Drift

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Embodiment Construction

[0020] Such as figure 1 Shown, concrete method of the present invention is as follows:

[0021] (1) After preprocessing, the air pressure sensor of the base station is sent to the on-board processor at a certain frequency, and the air pressure difference component measured with the on-board air pressure sensor is measured h diff = h d -h b . h d is the measured value of air pressure on the plane, h b is the air pressure measurement value of the base station, h diff Measured for air pressure differential.

[0022] (2) Select the northeast sky coordinate system as the navigation coordinate system of the UAV, and the AHRS system composed of the IMU and the magnetic sensor on the aircraft obtains the attitude angle (φθψ), where φ, θ, and ψ are the roll, pitch and heading attitude angles respectively , to calculate the direction cosine matrix Convert the acceleration under the aircraft system to the navigation system by the direction cosine matrix, and obtain the observed ...

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Abstract

The invention relates to an anti-atmospheric parameter drift altitude information fusion method suitable for an unmanned aerial vehicle flight navigation system. The method utilizes base station air pressure equipment and an onboard air pressure sensor for real-time calculation of a difference altitude observed quantity so as to suppress the drift caused by the atmospheric physical environment; and an accelerometer assistant pressure altitude CF (complementary filter) and a pressure altitude assistant accelerometer KF (kalman filter) are utilized to realize information fusion of the attitude channel, improve the pressure altitude delay problem, and realize excellent attitude channel infusion adaptive the dynamic characteristics of an unmanned aerial vehicle. The method provided by the invention is applicable to attitude channel estimation of low-cost pressure altitude sensor and MEMS IMU unmanned aerial vehicle flight navigation system.

Description

technical field [0001] The invention relates to an altitude information fusion method of an unmanned aerial vehicle navigation system against atmospheric parameter drift, which is suitable for the altitude channel estimation of an unmanned aerial vehicle navigation system with a low-cost air pressure altitude sensor and MEMS IMU. Background technique [0002] Micro UAVs use MEMS-level IMUs and low-cost barometric altimeters as measurement sensors. The IMU includes sensors such as acceleration and gyroscope, and the magnetic compass can form the AHRS system of the UAV system, providing reliable attitude information for the UAV. The accurate altitude and speed estimation results of the navigation system provide a strong guarantee for the altitude control of the UAV. The height channel measurement sensor integrated in the micro UAV system is affected by volume, quality and cost, and there are problems such as drift, delay and large random noise. Aiming at the problems existin...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/16
CPCG01C21/16
Inventor 杨百川盛蔚谷丹
Owner 杨百川