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Sensors 2012, 12(10), 13212-13224; doi:10.3390/s121013212

An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft

Science and Technology on Inertial Laboratory, Beijing 100191, China
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Received: 14 August 2012 / Revised: 21 September 2012 / Accepted: 21 September 2012 / Published: 27 September 2012
(This article belongs to the Special Issue New Trends towards Automatic Vehicle Control and Perception Systems)
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Abstract

This paper presents an adaptive information fusion method to improve the accuracy and reliability of the altitude measurement information for small unmanned aerial rotorcraft during the landing process. Focusing on the low measurement performance of sensors mounted on small unmanned aerial rotorcraft, a wavelet filter is applied as a pre-filter to attenuate the high frequency noises in the sensor output. Furthermore, to improve altitude information, an adaptive extended Kalman filter based on a maximum a posteriori criterion is proposed to estimate measurement noise covariance matrix in real time. Finally, the effectiveness of the proposed method is proved by static tests, hovering flight and autonomous landing flight tests. View Full-Text
Keywords: small unmanned aerial rotorcraft; wavelet filter; altitude information fusion; adaptive extended Kalman filter small unmanned aerial rotorcraft; wavelet filter; altitude information fusion; adaptive extended Kalman filter
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

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Lei, X.; Li, J. An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft. Sensors 2012, 12, 13212-13224.

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