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

Authors:
Marian Błachuta;Roman Czyba;Wojciech Janusz;Grzegorz Szafrański
Affiliations:
Silesian University of Technology, Gliwice, Poland 44-100;Silesian University of Technology, Gliwice, Poland 44-100;Silesian University of Technology, Gliwice, Poland 44-100;Silesian University of Technology, Gliwice, Poland 44-100
Venue:
Journal of Intelligent and Robotic Systems
Year:
2014

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Abstract

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.