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Sensors 2012, 12(10), 13212-13224; doi:10.3390/s121013212
Article

An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft

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Received: 14 August 2012; in revised form: 21 September 2012 / Accepted: 21 September 2012 / Published: 27 September 2012
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Abstract: This paper presents an adaptive information fusion method to improve the accuracy and reliability of the altitude measurement information for small unmanned aerial rotorcraft during the landing process. Focusing on the low measurement performance of sensors mounted on small unmanned aerial rotorcraft, a wavelet filter is applied as a pre-filter to attenuate the high frequency noises in the sensor output. Furthermore, to improve altitude information, an adaptive extended Kalman filter based on a maximum a posteriori criterion is proposed to estimate measurement noise covariance matrix in real time. Finally, the effectiveness of the proposed method is proved by static tests, hovering flight and autonomous landing flight tests.
Keywords: small unmanned aerial rotorcraft; wavelet filter; altitude information fusion; adaptive extended Kalman filter small unmanned aerial rotorcraft; wavelet filter; altitude information fusion; adaptive extended Kalman filter
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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MDPI and ACS Style

Lei, X.; Li, J. An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft. Sensors 2012, 12, 13212-13224.

AMA Style

Lei X, Li J. An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft. Sensors. 2012; 12(10):13212-13224.

Chicago/Turabian Style

Lei, Xusheng; Li, Jingjing. 2012. "An Adaptive Altitude Information Fusion Method for Autonomous Landing Processes of Small Unmanned Aerial Rotorcraft." Sensors 12, no. 10: 13212-13224.


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