飞行控制系统多传感器信息融合技术地研究.pdfVIP

飞行控制系统多传感器信息融合技术研究 ABSTRACT For the purpose of autonomous flight and executing related tasks for unmanned aerial vehicle (UAV), all states must be accurately acquired by the flight control system. Thus, the performance of UAV can be ensured. Due to the limitation of technology and conditions, the measuring precision of aeronautic sensors were limited, so single sensor had difficulty to obtain information of high precision, this can influence the performance of flight control system. In order to solve this problem, multiple sensors were installed on UAV to measure the same signal, obtained more measuring information, then the information was synthetically handled to get more precise values. This process that multi-sensor measuring values were synthetically handled was called multi-sensor information fusion technology. According to the theory of the information fusion and the requirement of the flight control system, this paper took the multi-sensor information fusion technology apply to the flight control system of an UAV. In view of the characteristic of altitude and attitude angles, adopted the Kalman filter method to design the altitude multi-sensor information fusion, and adopted BP neural network method to design the attitude angles multi-sensor information fusion. To satisfy the design requirement, the fusion algorithms were implementated, using C code, integrated with original flight control code to apply to the flight control system. Both altitude and attitude angle fusion algorithms were validated using the sensor simulation data and flight test data, the result indicated that the accuracy of information acquisition