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论文:2013,Vol:31,Issue(4):511-516 |
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引用本文： |
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谭雁英, 许鳌, 祝小平, 周洲. 小型无人机掠海飞行高度滤波系统优化设计[J]. 西北工业大学 |
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Tan Yanying, Xu Ao, Zhu Xiaoping, Zhou Zhou. Optimizing and Designing Hybrid Altimeter Filtering System for Small Sea-Skimming Unmanned Aerial Vehicle(UAV)[J]. Northwestern polytechnical university |
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| 小型无人机掠海飞行高度滤波系统优化设计 |
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| 谭雁英, 许鳌, 祝小平, 周洲 |
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| 西北工业大学 无人机特种技术重点实验室, 陕西 西安 710065 |
| 摘要: |
| 针对掠海飞行小型无人机高度控制精度要求,设计了以无线电高度表和垂直加速度计为测高设备的三阶组合测高滤波系统。基于对某小型无人机实际飞行数据以及海浪谱的分析,建立了垂直加速度计和无线电高度表误差模型,推导出该组合测高系统输出高度信号的均方误差关于反馈增益的函数,并采用遗传算法优化得到该函数的极小值和系统的最优反馈增益。仿真结果表明,该三阶组合测高滤波系统可有效滤除海浪噪声,且采用遗传算法优化得到的反馈增益,其滤波效果优于传统上采用等根法得到的反馈增益。 |
| 关键词:
小型无人机
掠海飞行
组合测高
垂直加速度计
无线电高度表
遗传算法
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| Optimizing and Designing Hybrid Altimeter Filtering System for Small Sea-Skimming Unmanned Aerial Vehicle(UAV) |
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| Tan Yanying, Xu Ao, Zhu Xiaoping, Zhou Zhou |
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| Science and Technology on UAV Laboratory, Northwestern Polytechnic University, Xi'an 710065, China |
| Abstract: |
| To achieve the altitude control precision of a small sea-skimming UAV, we design a third-order hybrid altimeter filtering system that uses a radio altimeter and a vertical accelerometer.We analyze the flight data of the vertical accelerometer on the small UAV and the sea wave spectra and then establish the error model of the vertical accelerometer and the sea wave noise model of the radio altimeter.We minimize the mean square error of the output altitude signal of the hybrid altimeter filtering system and use the genetic algorithm to optimize its feedback gains. The simulation results, given in Figs.2 through 6, and their analysis show preliminarily that:(1) our third-order hybrid altimeter filtering system can effectively filter sea wave noise;(2) the feedback gains optimized with the ge-netic algorithm has better filtering results than those obtained with the traditional equivalent root method. |
| Key words:
accelerometers
altitude control
feedback
genetic algorithms
mathematical models
mean square error
optimization
radio altimeters
spectrum analysis
unmanned aerial vehicles(UAV)
hybrid altimeter
small sea-skimming UAV
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| 收稿日期: 2012-10-18
修回日期:
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| DOI: |
| 通讯作者:
Email： |
| 作者简介: 谭雁英(1967-),女,西北工业大学研究员、博士,主要从事无人机自主飞行智能管理及导航控制研究。
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| 作者相关文章 |
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| 谭雁英 在本刊中的所有文章 |
| 许鳌 在本刊中的所有文章 |
| 祝小平 在本刊中的所有文章 |
| 周洲 在本刊中的所有文章 |
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