Unmanned aerial vehicle height measuring method based on multilayer information fusion

Abstract

The invention discloses an unmanned aerial vehicle height measuring method based on multilayer information fusion. The method comprises the following steps: installing a plurality of height sensors at different spatial positions of an unmanned aerial vehicle, and acquiring unmanned aerial vehicle height observation data of each height sensor at different times and spaces; performing two-step delay time fusion for an observed value of each height sensor at different moments and estimated values at two moments before the moment, and obtaining a time fusion estimated value of the height sensor at different moments; performing spatial fusion for the time fusion estimated values of each height sensor at the same moment and obtaining a time-spatial fusion estimated value; and finally, performing self-adaptive complementary filter fusion based on parameter identification for the time-spatial fusion estimated value obtained in step 3 and measured data of an accelerometer to obtain a final fusion estimated value. The unmanned aerial vehicle height measuring method is small in calculation quantity, simple in programming and apparent in application value in the field of unmanned aerial vehicle height measurement.

Description

technical field [0001] The invention belongs to the fields of UAV control, signal processing, navigation technology, and artificial intelligence, and specifically relates to a UAV altimetry method based on multi-layer information fusion, including automatic time-space fusion based on two-step delay adaptive time-space fusion and parameter identification. Secondary Fusion Adapted to Complementary Filter Fusion. Background technique [0002] In today's society, UAVs are widely used in military, civilian, scientific research and other fields, especially rotorcraft, which have the characteristics of simple structure and convenient control, and can perform complex tasks in a small space. [0003] At the same time, the rotorcraft is a typical underactuated system, which has the characteristics of multivariable, strong coupling, nonlinear, etc., and involves many disciplines and a wide range of fields. During the flight, the state is complex, and the UAV airborne sensors are subje...

AI Technical Summary

Problems solved by technology

However, the air pressure is affected by atmospheric fluctuations and there will be a lot of noise, so the altitude read by the barometer is inaccurate. GPS is passive positioning. When the GPS system is turned off, the positioning system will malfunction. The accelerometer Double integration is accurate in a short period of time, but over a long period of time, there will be integral drift

Therefore, you cannot rely entirely on a single sensor for height measurement

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