无人机高精度容错高度测量系统设计  

Design of high precision and fault-tolerant altitude determination system of UAV

作　　者：浦黄忠[1] 胡勇[1] 王道波[1] 

机构地区：[1]南京航空航天大学自动化学院,江苏南京210016

出　　处：《传感器与微系统》2007年第8期84-86,共3页Transducer and Microsystem Technologies

摘　　要：基于大气数据计算机、全球定位系统(GPS)和线加速度计,给出了一种高精度和高可靠性的高度确定算法。根据运动学和传感器测量模型建立了高度测量系统的状态方程和测量方程,利用Kalman滤波方法得到了高度估计,并根据测量信息的冗余设计了系统的故障检测和隔离算法。仿真结果表明:该系统的高度测量具有较高的精度,同时有着较好的可靠性。A approach of altitude measurement with high precision and reliability for unmanned aerial vehicle （UAV） is presented based on the air data computer, GPS and accelerometer. State equation and measuring equation of the system are established according to the model of kinematics and measuring principle of each sensor. Kalman filter is used to estimate altitude. A fault detection and isolation method is designed according as redundancy of measurement information. Simulation results show that altitude measurement of the system can give much more accurate estimation than other ones and has good reliability.

关 键 词：高度测量 大气数据计算机 全球定位系统 KALMAN滤波 故障检测 

分 类 号：TP273.1[自动化与计算机技术—检测技术与自动化装置] TN820.5[自动化与计算机技术—控制科学与工程]