NDLI: Altitude data fusion utilising differential measurement and complementary filter

Content Provider	IET Digital Library
Author	Wei, Sheng Dan, Gu Chen, Hu
Abstract	In plenty of researches and real systems, barometer and accelerometer which can provide altitude and acceleration measurements, respectively, are utilised in altitude estimation of small unmanned aerial vehicle. These sensors can draw on their merits and improve the accuracy of altitude estimation. The altitude measurement of barometer has the drift problem as one of its disadvantages which could deteriorate the performance of altitude estimation. In addition, barometer and accelerometer both have stochastic error which reduce the accuracy of altitude estimation. A novel scenario is proposed by utilising differential altitude measurement and complementary filter to deal with above issues. It is accurate and suitable for real-time application. In this scenario, altitude drift is reduced by using differential altitude measurement, and the stochastic error of altitude is minimised by using complementary filter algorithm. Stair and flight experiments are implemented to test this scenario. The experimental results indicate that it can provide good dynamic performance and flexibility for altitude estimation.
Starting Page	874
Ending Page	879
Page Count	6
ISSN	17518822
Volume Number	10
e-ISSN	17518830
Issue Number	Issue 8, Nov (2016)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-smt/10/8
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-smt.2016.0118
Journal	IET Science, Measurement & Technology
Publisher Date	2016-11-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Acceleration Acceleration Measurement Accelerometer Altitude Data Fusion Estimation Barometer Barometers Complementary Filter Algorithm Differential Altitude Measurement Filter Height Measurement Measurement Error Pressure And Vacuum Measurement Probability Theory Rotation Measurement Sensing And Detecting Device Sensing Device And Transducers Sensor Sensor Fusion Spatial Variables Measurement Statistics Stochastic Error Stochastic Linearised SCUC Unmanned Aerial Vehicle Velocity
Content Type	Text
Resource Type	Article
Subject	Atomic and Molecular Physics, and Optics Electrical and Electronic Engineering

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