Height Estimation of Ultrasonic Array Based on Integrated Navigation for UAVs

Xu, Guangyan; Meng, Tinglei; Zhang, Hongmei

doi:10.1109/ccdc.2019.8833066

Cited by 2 publications

(1 citation statement)

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“…An integrated navigation framework is an autonomous system used for determining the position, attitude and velocity of UAVs using multi-sensors [7,8], i.e., a global positioning system (GPS), an inertial measurement unit ((IMU) e.g., an accelerometer, a gyroscope and a magnetometer) [9] and radar or distance sensors [10][11][12][13]. To achieve a more reliable travel in real environments, fruitful research efforts have focused on the height control problem [14].…”

Section: Introductionmentioning

confidence: 99%

Real-Time Terrain-Following of an Autonomous Quadrotor by Multi-Sensor Fusion and Control

et al. 2021

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For the application of the autonomous guidance of a quadrotor from confined undulant ground, terrain-following is the major issue for flying at a low altitude. This study has modified the open-source autopilot based on the integration of a multi-sensor receiver (a Global Navigation Satellite System (GNSS)), a Lidar-lite (a laser-range-finder device), a barometer and a low-cost inertial navigation system (INS)). These automatically control the position, attitude and height (a constant clearance above the ground) to allow terrain-following and avoid obstacles based on multi-sensors that maintain a constant height above flat ground or with obstacles. The INS/Lidar-lite integration is applied for the attitude and the height stabilization, respectively. The height control is made by the combination of an extended Kalman filter (EKF) estimator and a cascade proportional-integral-derivative (PID) controller that is designed appropriately for the noise characteristics of low accuracy sensors. The proposed terrain-following is tested by both simulations and real-world experiments. The results indicate that the quadrotor can continuously navigate and avoid obstacles at a real-time response of reliable height control with the adjustment time of the cascade PID controller improving over 50% than that of the PID controller.

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