CAJ | 학술논문

针对掠海飞行小型无人机高度控制精度要求，设计了以无线电高度表和垂直加速度计为测高设备的三阶组合测高滤波系统。基于对某小型无人机实际飞行数据以及海浪谱的分析，建立了垂直加速度计和无线电高度表误差模型，推导出该组合测高系统输出高度信号的均方误差关于反馈增益的函数，并采用遗传算法优化得到该函数的极小值和系统的最优反馈增益。仿真结果表明，该三阶组合测高滤波系统可有效滤除海浪噪声，且采用遗传算法优化得到的反馈增益，其滤波效果优于传统上采用等根法得到的反馈增益。
침대략해비행소형무인궤고도공제정도요구，설계료이무선전고도표화수직가속도계위측고설비적삼계조합측고려파계통。기우대모소형무인궤실제비행수거이급해랑보적분석，건립료수직가속도계화무선전고도표오차모형，추도출해조합측고계통수출고도신호적균방오차관우반궤증익적함수，병채용유전산법우화득도해함수적겁소치화계통적최우반궤증익。방진결과표명，해삼계조합측고려파계통가유효려제해랑조성，차채용유전산법우화득도적반궤증익，기려파효과우우전통상채용등근법득도적반궤증익。
To achieve the altitude control precision of a small sea-skimming UAV, we design a third-order hybrid altimeter filtering system that uses a radio altimeter and a vertical accelerometer .We analyze the flight data of the vertical accelerometer on the small UAV and the sea wave spectra and then establish the error model of the vertical accelerometer and the sea wave noise model of the radio altimeter .We minimize the mean square error of the output altitude signal of the hybrid altimeter filtering system and use the genetic algorithm to optimize its feedback gains . The simulation results, given in Figs.2 through 6, and their analysis show preliminarily that:(1) our third-order hybrid altimeter filtering system can effectively filter sea wave noise;(2) the feedback gains optimized with the ge-netic algorithm has better filtering results than those obtained with the traditional equivalent root method .