无人机传感器配置和信息融合技术的研究.pdf

无人机传感器配置及信息融合技术的研究 Abstract Unmanned Aerial Vehicle (UAV) is playing an important role in military affairs and civilian use due to predominant characteristic such as no need of pilot and its ability to perform task in dangerous region. The sensor system is the key part of the flight control system. In pursuit of economical efficiency and miniaturization for UAV, low cost control gets more and more important. Low cost control can not only reduce the cost but also switch the system to degraded running mode when some sensors malfunctioned. The information fusion technique which is the assistive technology for different sensor configurations can make full use of effective information from different sensors on UAV. The information fusion technique can provide information which is more accurate, more reliable and more comprehensive for the flight control system. In order to reduce the development cost of UAV, first, three low cost sensor configurations that combined with the GPS and the Vertical gyro, the GPS and the three-axis angular rate gyroscope, the low cost IMU and the GPS have been proposed; then, low-pass filter, high-pass filter, the Kalman filter have been adopted to solve the problem met in the implementation of every configuration; Finally, every sensor configuration has been simulated on MATLAB platform. Simulation results show that the proposed solution can achieve attitude control, height control, rolling control and the tracking control for the UAV with better own stability. Combined with the engineering application methods for Extended Kalman filter, one algorithm based on the earths gravity field and geoma