Height Estimation of Ultrasonic Array Based on Integrated Navigation for UAVs

Abstract

Aiming at the problem that the single ultrasonic sensor is not concentrated in energy and it is easy to cause false alarm and low resolution with larger beam, an ultrasonic array sensor based on small beam angle is designed to measure the true height between UAVs and the ground. Firstly, the advantage of the wide measurement angle of the ultrasonic sensor is verified by the simulation of the vertical take-off of UAVs accompanying the posture movement; Secondly, the higher resolution of the ultrasonic array sensor is verified by the simulation of UAVs flying flatly into obstacles; Finally, considering the hysteresis of the measurement data of the ultrasonic array sensor, the integrated navigation information is used to fuse by the Federated filter, and the simulation experiments are carried out under various terrain conditions. The simulation results show that the fusion results of the vertical takeoff phase of UAVs and horizontal flight into sinusoidal terrain are better than those of using ultrasonic array sensors alone.