In the takeoff,landing,and fixed-altitude flight control of unmanned aerial vehicles(UAVs),single al-titude sensor often suffers from low measurement accuracy,poor stability,and susceptibility to interference,making it difficult to adapt to various flight scenarios.To address these issues,a multi-sensor altitude fusion method based on the Kalman filter is proposed.Firstly,the UAV altitude state equation and sensor observation model are estab-lished.Then,a redundant attitude measurement unit based on STM32H753 is designed by using BeiDou navigation equipment,barometer,and accelerometer.Finally,altitude information is predicted and updated through software recursion,resulting in optimal measurement outcomes.The simulation results show that the proposed method has higher measurement accuracy,better stability,and higher robustness.It can meet the flight control requirements of UAVs in different scenarios.
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