采用惯导、GPS与气压计数据的飞控系统高度滤波算法

Altitude Filter Algorithm Based on Fused Data of INS, GPS and Barometer

摘要: 飞行高度是飞控系统研制过程中一个极其重要的参数。论文给出了一种采用GPS、惯导和气压计数据融合的飞控系统高度滤波算法。算法构建了GPS与气压计高度融合模型，并结合惯导数据，使用互补滤波对导航坐标系下的高度、速度及位置进行滤波。利用实验室飞控平台，通过静态及模拟动态测试，验证滤波算法能够得到较为准确的高度、速度与加速度。算法解决了单一传感器信号较弱或数据较差时对滤波效果产生的不利影响。

Abstract: Flight altitude is a very important parameter in the development of flight control system. This pa-per presents a height filtering algorithm fusing GPS, INS and barometer data. First, the altitude fu-sion model of GPS and barometer is constructed, and then combined with inertial navigation data, the algorithm uses complementary filtering to filter altitude, velocity and position in the navigation coordinate system. The static and simulated dynamic tests whose data is collected by flight control board in laboratory reveal that the algorithm can give accurate relatively height, and also velocity and acceleration. The algorithm eliminates the adverse effects of the filtering result when the signal of single sensor is weak or the data is poor.