• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
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• pp.386-388
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• 2007

In many applications of UAVs flying in low altitude, the steady supply of accurate height measurements is very important for the UAVs to complete their mission successfully. In order to do this, a barometer or GPS height measurements are widely used. However, because these two sensors have their limitations in the application environment, a method for fusing these two measurements to produce reference heights are required. In this paper, a reference height generation filter is designed for UAV(Unmanned Air Vehicle) applications. The barometer errors originated by the change of the atmospheric environment are modeled using random walk models, and then the errors are identified and compensated through the ZSB(zero-scan-back) filter algorithm using the GPS height measurements. The performance of the proposed filter is demonstrated by realistic simulations.