지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2011.10
- 수록면
- 1,429 - 1,432 (4page)
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초록· 키워드
오류제보하기
An intelligent tilt-rotor UAV is being developed by the Smart UAV Development Center of Korea Aerospace Research Institute. It is equipped with integrated GPS/INS system and RALT(radar altimeter) for automatic takeoff and landing. GPS/INS integration system gives the altitude referenced to WGS-84 ellipsoid which can be vulnerable to external multipath environment. RALT provides the aircraft AGL(above ground level) height with the centimeter level accuracy which is dependent on ground surface characteristics. This paper describes the simple KF(Kalman Filter) setup to integrate altitude information from GPS/INS integration system and RALT with its operational logic. It is evaluated using the data obtained from real flight tests. The result shows proposed method provides highly reliable AGL height for automatic takeoff and landing and compensates GPS/INS derived altitude drift efficiently. The proposed method can be easily applied to the existing system without modifying off-the-shelf GPS/INS integration system. It also has a small computational burden due to its simple model.
목차
Abstract
1. INTRODUCTION
2. SYSTEM CONFIGURATION
3. ALTITUDE INTEGRATION ALGORITHM
4. FLIGHT TEST RESULTS
5. CONCLUSION
REFERENCES
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UCI(KEPA) : I410-ECN-0101-2014-569-000914940