Height control method of unmanned aerial vehicle barometer abnormal data processing based on UKF (unscented Kalman filter)

Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to a height control method of unmanned aerial vehicle barometer abnormal data processing based on a UKF (unscented Kalmanfilter). According to the method, the difference between acceleration information of the Z direction of an accelerometer and the speed of an accelerometer and a barometer after first UKF is obtained,and the influence of airflow disturbance on the barometer is quantized by the aid of a difference value. An aircraft comprises the accelerometer and the barometer, the barometer acquires height information by noise reduction, the first UKF is performed, data of the barometer are updated after the first UKF, and second UKF is performed after updating. By a filter algorithm based on the UKF, the height abnormal data of the barometer are judged, wild values are removed, the problems of difficulty in landing and emergency brake falling in flight of the aircraft under ground effects are solved, height flight control effects of the aircraft are improved, and the flight experience of a user is greatly enhanced.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a height control method for processing abnormal data of an unmanned aerial vehicle barometer based on UKF. Background technique [0002] If the aircraft wants to fly stably, it needs 15 state quantities: 3D angle, 3D velocity corresponding to 3D angle, 3D acceleration, 3D angular velocity, and 3D position. Most of these state quantities are acquired through multi-sensor data filtering. Commonly used sensor measurements are as follows: [0003] [0004] [0005] In practice, methods such as optical flow / GPS / binocular vision have specific requirements for the environment. For example, optical flow will fail when the ground texture is similar or on grass; GPS will fail indoors; binocular vision will fail when the lighting conditions are poor. will fail. The inertial measurement unit IMU and the barometer can be used in most scenarios, but the barometer has abnormal a...

AI Technical Summary

Problems solved by technology

Based on the filter algorithm of UKF, this paper judges the abnormal height data of the barometer and eliminates the outliers, which solves the problem that the aircraft is difficult to land under the ground effect and the problem of sudden brake drop during flight, and improves the altitude flight control effect of the aircraft , greatly enhance the user's flight experience

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