无人机在湍流中的卡尔曼滤波

2011 2nd International Conference on Control, Instrumentation and Automation (ICCIA) Pub Date : 2011-12-01 DOI:10.1109/ICCIAUTOM.2011.6183981

Zhou Jian, Xie Rong, Gu Xiao-jie, Li Wen-chao

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引用次数: 0

摘要

本文介绍了一种产生符合大气湍流模式特征的湍流风场的方法。首先建立了带有彩色噪声的湍流模型，然后通过状态增强得到了无人机状态的白化模型。本文还根据无人机的有色噪声飞行速度设计了一种卡尔曼滤波器，解决了经典卡尔曼滤波器只能适用于白色模型的问题。仿真结果表明，该滤波器可以减小风湍流对无人机飞行速度的影响，从而满足飞行速度控制的精度。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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The Kalman filter for UAV in the turbulent flow

This paper describes a method for generating the turbulent wind field which accords with the characteristics of atmospheric turbulence model. The model of turbulent wind with colored noise is presented and then the whitening model of the UAV state is obtained by the state augmentation. This paper also designs a Kalman filter based on the colored noisey flight speed of the UAV which can solve the problem that the classic Kalman filter only can be applied in the white color model. The simulation demostrates that this filter can reduce the influence of the wind turbulence on the UAV flight speed, and thus the accuracy of the flight speed control can be satisfied.

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2011 2nd International Conference on Control, Instrumentation and Automation (ICCIA)

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