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http://dx.doi.org/10.12673/jkoni.2013.17.6.749

Ground Altitude Measurement Algorithm using Laser Altimeter and Ultrasonic Rangefinder for UAV  

Choi, Kyeung-Sik (Department of Avionics, Hanseo University)
Hyun, Jung-Wook (Flight Control and Avionics Team, Korea Aerospace Research Institute)
Jang, Jae-Won (Flight Control and Avionics Team, Korea Aerospace Research Institute)
Ahn, Dong-Man (Department of Avionics, Hanseo University)
Hong, Gyo-Young (Department of Avionics, Hanseo University)
Publication Information
Journal of Advanced Navigation Technology / v.17, no.6, 2013 , pp. 749-756 More about this Journal
Abstract
This paper presents an algorithm concerning the ground altitude measurement using a laser altimeter and an ultrasonic rangefinder for UAV(Unmanned Aerial Vehicle). A simple ground test conducted using the laser altimeter and ultrasonic rangefinder that are used for conducting the low altitude measurement of UAV and identify the characteristics of each sensor. Especially, the disadvantages of the laser altimeter were checked through the ground test. After that who those are participated in this paper planned the algorithm which is complemented by the ultrasonic rangefinder and the experiment was conducted. The laser altimeter and the ultrasonic rangefinder were fused by a loosely coupled method by Kalman filter. The paper shows that stable value of altitude complemented by the ultrasonic rangefinder that covers the laser altimeter's drawbacks can be measured through the ground test.
Keywords
Laser Altimeter; Ultrasonic Rangefinder; Altitude Measurement; Kalman Filter; UAV;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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