Data Fusion Algorithm for the Altitude and Vertical Speed Estimation of the VTOL Platform

An approach to the autonomous of the realization VTOL platform take-off and landing significantly simplifies the operator labor to control such device. At the same time, implementation of these control scenarios allows to perform these tasks under failure conditions (for example communication breakd...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2014-04, Vol.74 (1-2), p.413-420
Main Authors: Błachuta, Marian, Czyba, Roman, Janusz, Wojciech, Szafrański, Grzegorz
Format: Article
Language:English
Subjects:
Algorithms
Artificial Intelligence
Control
Electrical Engineering
Engineering
Mechanical Engineering
Mechatronics
Robotics
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Summary:An approach to the autonomous of the realization VTOL platform take-off and landing significantly simplifies the operator labor to control such device. At the same time, implementation of these control scenarios allows to perform these tasks under failure conditions (for example communication breakdowns). One condition of proper operation of the vertical movement control system is the ability to provide reliable information about the altitude of the controlled platform. In this paper one of the solutions for obtaining estimate of the altitude based on sensor data fusion is presented. Proposed scheme uses information obtained from pressure sensor, inertial measurement unit, ultrasonic sensor and GPS, all of these instruments are nowadays very often mounted on VTOL platforms.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-013-9917-4