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A two-step strategy to fuse the height measurements of quadrotors: theoretical analysis and experimental verifications

A two-step strategy to fuse the height measurements of quadrotors: theoretical analysis and... Abstract For low-cost unmanned aerial vehicles, it is practically important to estimate flight height using the measurements from low-cost accelerometer and barometer sensors. In this paper, we propose a simple two-step strategy to fuse the measurements from the two sensors. In the first step, two different filters, moving average filter and Kalman filter, are adopted to pre-process the measurements from accelerometer and barometer, respectively. In the second step, a properly designed complementary filter is employed for high-precision height estimation. Several experimental comparison results on a small-size quadrotor demonstrate the effectiveness of the strategy. The strategy is further combined with a simple height controller to yield a height feedback-control scheme. The closed-loop experimental results show that 8-cm and 20-cm control accuracies are achieved for 5-m- and 10-m-height tracking tasks, respectively. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png "Aerospace Systems" Springer Journals

A two-step strategy to fuse the height measurements of quadrotors: theoretical analysis and experimental verifications

Wang, Qiang; Yang, Youzhi; Lin, Boxian; Zhu, Bo
"Aerospace Systems" , Volume 2 (1): 9 – Aug 1, 2019
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Publisher
Springer Journals
Copyright
2018 Shanghai Jiao Tong University
ISSN
2523-3947
eISSN
2523-3955
DOI
10.1007/s42401-018-0019-7
Publisher site
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Abstract

Abstract For low-cost unmanned aerial vehicles, it is practically important to estimate flight height using the measurements from low-cost accelerometer and barometer sensors. In this paper, we propose a simple two-step strategy to fuse the measurements from the two sensors. In the first step, two different filters, moving average filter and Kalman filter, are adopted to pre-process the measurements from accelerometer and barometer, respectively. In the second step, a properly designed complementary filter is employed for high-precision height estimation. Several experimental comparison results on a small-size quadrotor demonstrate the effectiveness of the strategy. The strategy is further combined with a simple height controller to yield a height feedback-control scheme. The closed-loop experimental results show that 8-cm and 20-cm control accuracies are achieved for 5-m- and 10-m-height tracking tasks, respectively.

Journal

"Aerospace Systems" – Springer Journals

Published: Aug 1, 2019

Keywords: Aerospace Technology and Astronautics; Space Sciences (including Extraterrestrial Physics, Space Exploration and Astronautics)

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