Research On Design Of Multi-sensor Altitude Measuring Module Of SUAV

As an important parameter of the small UAV(unmanned aerial vehicle)flight control,the altitude data is the key point for the UAV to locate accurately and realize the navigation and autonomous flight.At present,UAV usually use GPS and barometric pressure sensors to obtain flight height data.Due to the low precision of GPS and barometric pressure sensors,it's difficult to obtain the accurate UAV height in real time.Considering the size of small UAV,flexibility and mobility,low-altitude,we need an effective way to accurately measure the height of small UAV in real time,in order to provide security for low-altitude flight,take-off and landing.In order to improve the precision of low altitude measurement of small UAV in real time,this paper investigates the problem of small UAV altitude measurement,and proposes a multi-sensor altitude measurement system for small UAV.In our design,we use the STM32F103 TB 32-bit high-performance ARM microcontroller as the core controller.We use three different types of sensors to obtain the real-time altitude data.First,we use the MAX6 GPS module to obtain altitude directly.Second,we get the atmospheric pressure data through digital air pressure sensor BMP180,which can be transformed into altitude.Lastly,the UAV is also equipped with a digital ultrasonic module KS103,which measures the distance between the UAV and the ground.Due to the limitation of ultrasonic distance measurement technology,ultrasonic measuring distance is limited.To further expand the range of ultrasonic distance measurement,we need to analyze and study the actual ultrasonic echo waveform information.To this end,the ultrasonic echo acquisition system is built.The Received echo signal travels through the filtering,amplification and other signal processing module,and then is sent as the input to the multi-sensor altitude measurement system.For further study,we record the ultrasonic echo waveform while measuring the real-time altitude.On the basis of the design,tests of our multi-sensor altitude measurement system were carried out upon the platform of Phantom small four rotor UAV.Test results show the rationality and correctness of our design of the altitude measurement system.