Extended state observer design for altitude of UAV with multi-sensor data fusion
Unmanned aerial vehicles(UAVs)require accurate and stable altitude estimation when flying.Aiming at the problem of UAV altitude estimation with sensor noise and the disturbance of air flow and temperature,a design method of extended state observer based on multi-sensor data fusion is developed.First of all,the models of UAV altitude and sensor noise have been established and simplified.Secondly,according to the sensor characteristics of position sensor,barometer and inertial measurement unit,an extended state observer with the method of multi-sensor data fusion is designed to estimate the UAV altitude,z-axis speed and total disturbance,and feeds back the total disturbance estimation to the control system.Then,Numerical simulation based on nonlinear mathematical model of quadrotor UAV shows the rationality and effectiveness of the proposed method.Finally,by physical testing,the designed extended state observer can effectively estimate and compensate the disturbance and has a good ability to suppress sensor noise.
state estimationdata fusionextended state observerquadrotor UAV
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