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http://dx.doi.org/10.12673/jant.2016.20.4.298

Ultrasonic Rangefinder Spike Rejection Method Using Wavelet Packet Transform  

Kim, Sung-Hoon (Department of Aircraft System Engineering, Hanseo University)
Hong, Gyo-Young (Department of Aircraft System Engineering, Hanseo University)
Publication Information
Journal of Advanced Navigation Technology / v.20, no.4, 2016 , pp. 298-304 More about this Journal
Abstract
In this paper, a wavelet packet transform method is proposed for improving the altitude control performance of quadrotor UAV using an ultrasonic rangefinder. A ground tests are conducted using an ultrasonic rangefinder that is much used for vertical takeoff and landing. An ultrasonic rangefinder suffers from signal's spike due to specular reflectance and acoustic noise. The occurred spikes in short time span need to be analyzed at both sides time and frequency domain. The analyzed spikes of the ultrasonic rangefinder using a wavelet packet transform. Compared with the discrete wavelet transform, the wavelet packet decomposition can obtain more abundant time-frequency localization information, so it is more suitable for analyzing and processing ultrasonic signals spike. Experimental results show that it can effectively remove the spikes of the ultrasonic rangefinder.
Keywords
Altitude; Quadrotor; Wavelet packet transform; Spike; Ultrasonic rangefinder;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
연도 인용수 순위
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