A method for measuring the height of quadrotor UAV under strong wind conditions

Abstract

The invention provides a height measurement method of a four-rotor-wing unmanned aerial vehicle under a strong wind condition. The method comprises the following steps: constructing a union cascade filter through first height information provided by an accelerometer, second height information provided by a barometric altimeter, third height information provided by a GPS (Global Positioning System) receiver and fourth height information provided by a Beidou receiver; and finishing height filtering output so as to realize height measurement. According to the height measurement method provided by the invention, the height can be directly measured in an invalid state under the conditions that satellite navigation height measurement causes relatively high noises and hysteresis is serious; and feedback adjustment can be used for enhancing the system robustness and the flight safety is not influenced.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle navigation, and in particular relates to a method for measuring the height of a four-rotor unmanned aerial vehicle under strong wind conditions. Background technique [0002] At present, UAV altitude measurement methods mainly include air pressure altitude, satellite navigation, ultrasonic, laser, radar, etc. Due to the limited load capacity of the quadrotor, the applicability of laser and radar is not high, and ultrasonic altimetry cannot meet most occasions due to the short measurement distance. Require. [0003] Under strong wind conditions, it is more difficult to measure the height of quadrotor UAVs. The strong airflow will greatly disturb the measurement of air pressure altitude, and the working environment of the airframe is harsh, the vibration is severe, the accuracy of the inertial sensor is degraded, and there may even be a failure state. Satellite navigation measurement...

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Problems solved by technology

[0002] At present, UAV altitude measurement methods mainly include air pressure altitude, satellite navigation, ultrasonic, laser, radar, etc. Due to the limited load capacity of the quadrotor, the applicability of laser and radar is not high, and ultrasonic altimetry cannot meet most occasions due to the short measurement distance. Require

[0003] Under strong wind conditions, it is more difficult to measure the height of quadrotor UAVs. The strong airflow will greatly disturb the measurement of air pressure altitude, and the working environment of the airframe is harsh, the vibration is severe, the accuracy of the inertial sensor is degraded, and there may even be a failure state. Satellite navigation measurement altitude exists Noisy and lagging

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