多传感器数据融合下的无人机高度扩张状态观测器设计

Extended state observer design for altitude of UAV with multi-sensor data fusion

中文关键词  状态估计  数据融合  扩张状态观测器  四旋翼无人机

英文关键词  state estimation  data fusion  extended state observer  quadrotor UAV

中文摘要

      无人机在飞行作业时需要精确稳定的高度估计, 针对传感器噪声以及气流和温度变化对无人机高度估计影响的问题, 本文提出一种基于多传感器数据融合的扩张状态观测器设计方法. 首先, 建立无人机高度和传感器噪声模型并对其进行简化处理; 其次, 针对位置传感器、气压计和惯性测量单元的传感器特性, 结合多传感器数据融合方法设计扩张状态观测器估计出无人机高度、z轴速度和总扰动, 并将总扰动估计值反馈给控制系统; 然后, 根据四旋翼无人机非线性数学模型进行数值仿真, 仿真表明本文设计方法的合理性和有效性; 最后, 通过实物测试验证了所设计的扩张状态观测器能有效估计和补偿扰动并对传感器噪声有良好的抑制能力.

英文摘要

      Unmanned aerial vehicles (UAVs) require accurate and stable altitude estimation when flying. Aiming at the problem of UAV altitude estimation with sensor noise and the disturbance of air flow and temperature, a design method of extended state observer based on multi-sensor data fusion is developed. First of all, the models of UAV altitude and sensor noise have been established and simplified. Secondly, according to the sensor characteristics of position sensor, barometer and inertial measurement unit, an extended state observer with the method of multi-sensor data fusion is designed to estimate the UAV altitude, z-axis speed and total disturbance, and feeds back the total disturbance estimation to the control system. Then, Numerical simulation based on nonlinear mathematical model of quadrotor UAV shows the rationality and effectiveness of the proposed method. Finally, by physical testing, the designed extended state observer can effectively estimate and compensate the disturbance and has a good ability to suppress sensor noise.