四旋翼直升机爬升速度检测方法与实验研究

Research on Quadrotors Climbing Speed Detection Method and Experiment

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。

Abstract:

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 differentiators 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.