摘要
为实现四旋翼直升机爬升速度的精确测量,提出了一种新型的检测方法;该方法首先采用加权平均法和均值滤波方法测量高度值,然后采用平滑鲁棒噪声微分法计算爬升速度,通过对实时数据的采集与处理,得到精确的信息;基于MEAS公司MS5611-01BA气压传感器的实验结果表明,经过平滑鲁棒噪声微分法处理后的爬升速度精度明显提高,标准差只有中心差分法的34%,比Lanczos微分法减少了13%,具有较好的鲁棒性,满足实际应用要求。
For realizing precise measurement of climbing speed of quadrotors, a new detection method is presented. Firstly it applies the weighted average method and mean filter method to measure height, then it uses smooth noise--robust differentiators to calculate the climb speed, and finally it obtains accurate information by means of the real--time data acquisition and processing. The experimental results based on the MS5611- 01BA barometer sensor from MEAS show that~ the climbing speed precision obtained by smooth noise--robust differentia- tors is improved obviously, the standard deviation value is only about 34 % of that gets by central differences method, and 13 % less than that gets by Lanczos differentiators method, it has better robustness, and meets the requirements of practical applications.
出处
《计算机测量与控制》
北大核心
2014年第5期1475-1477,1501,共4页
Computer Measurement &Control
关键词
气压计
高度测量
爬升速度
滤波
barometer
measurement height
climbing speed
filter
