Abstract
This paper presents a ground altitude determination algorithm using a laser altimeter and GPS for automatic take-off and landing of UAV. The characteristics of the laser altimeter was analyzed in ground tests and a low-pass filter was designed to reduce the effect of signal interruption due to reflectivity problem. The paper shows that a single sensor cannot measure ground altitude appropriately in terms of reliability and accuracy. To complement shortcomings of the laser altimeter, the linear Kalman filter was designed using DGPS vertical speed. Designed filter was validated and tuned through the steps of simulation, ground test and flight test. It was confirmed that the accuracy for automatic landing is achievable.
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