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Method of small unmanned aerial rotorcraft altitude information fusion based on wavelet filter
Bai Lang, Lei Xusheng, Sheng Wei, Du Yuhu*
School of Instrument Science and Opto-electronics Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� Focusing on the low performance of the sensors for the small unmanned aerial rotorcraft, an adaptive Kalman method based on filter data was proposed to improve the accuracy and reliability of the altitude measurement information. Using the wavelet decomposition and reconstruction filter, the high frequency noise of altitude information for the small unmanned aerial rotorcraft was eliminated. Furthermore, since the global positioning system(GPS) measurement accuracy was influenced by GPS satellite-number fluctuation, an adaptive Kalman filter was used to improve altitude measurement performance. At last, hovering flight and three-dimensional track flight test were used to verify the feasibility and effectiveness of the method.
Keywords�� wavelet filter   small unmanned aerial rotorcraft   altitude information fusion   adaptive Kalman filter     
Received 2011-01-24;
Fund:������Ȼ��ѧ����������Ŀ(60736025,60905056)
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Bai Lang, Lei Xusheng, Sheng Wei, Du Yuhu.Method of small unmanned aerial rotorcraft altitude information fusion based on wavelet filter[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2012,V38(5): 659-664
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2012/V38/I5/659
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