Suppression of an Effect of Terrain Unevenness on Accuracy of Height Measurement in UAV with Integrated Ultrasound Altimeter During Landing

Abstract

The goal of this paper is to examine filtration possibilities of ultrasonically measured height of unmanned aerial vehicle (UAV) for the suppression of terrain unevenness. The article presents two basic methods of the filtration; namely, moving average method and Kalman filter, and it carries out performance comparisons of the two methods with simulated data. The comparison implies that the performance of the two methods depends on character of the observed terrain and also on the accuracy of the initial ultrasound measurements before filtration.