Data Fusion Algorithm for the Altitude and Vertical Speed Estimation of the VTOL Platform

被引：24

作者：

Blachuta, Marian ^{[1
]}

Czyba, Roman ^{[1
]}

Janusz, Wojciech ^{[1
]}

Szafranski, Grzegorz ^{[1
]}

机构：

[1] Silesian Tech Univ, PL-44100 Gliwice, Poland

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 2014年 / 74卷 / 1-2期

关键词：

Altitude measurement; Data fusion; Complementary filter; Kalman filter;

D O I：

10.1007/s10846-013-9917-4

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

An approach to the autonomous of the realization VTOL platform take-off and landing significantly simplifies the operator labor to control such device. At the same time, implementation of these control scenarios allows to perform these tasks under failure conditions (for example communication breakdowns). One condition of proper operation of the vertical movement control system is the ability to provide reliable information about the altitude of the controlled platform. In this paper one of the solutions for obtaining estimate of the altitude based on sensor data fusion is presented. Proposed scheme uses information obtained from pressure sensor, inertial measurement unit, ultrasonic sensor and GPS, all of these instruments are nowadays very often mounted on VTOL platforms.

引用

页码：413 / 420

页数：8

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