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.
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Acknowledgements
This work was supported by the National Natural Science Foundation of China (Grant No. 61773095) and the Fundamental Research Funds for the Central Universities (Grant No. ZYGX2016J161) at UESTC.
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Wang, Q., Yang, Y., Lin, B. et al. A two-step strategy to fuse the height measurements of quadrotors: theoretical analysis and experimental verifications. AS 2, 41–49 (2019). https://doi.org/10.1007/s42401-018-0019-7
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DOI: https://doi.org/10.1007/s42401-018-0019-7