低成本无人机空速测量压力传感器易受外界干扰,导致测量结果产生偏移,直接影响无人机飞行安全。文中提出了两种实用的空速测量偏移在线校正方案:1)利用地速测量信息与无人机航向姿态信息,以空速测量值为观测量,实时估计空速测量偏移与当地风场实现在线校正;2)无人机无法获取真航向,在方法1)中加入对真航向的估计,实现空速偏移的在线估计与校正。通过MonteCarlo仿真与实际飞行验证了算法的有效性,并对算法的可观测性进行了分析。

Low-cost pressure sensor, which provides airspeed measurements for low-cost UAV, is vulnerable to disturbance which causes drift of outputs; this will directly affect the flight safety. To solve this problem, two practical airspeed measurement calibration schemes were proposed based on the measurement of attitude, heading, ground speed and airspeed, the airspeed drift and the wind speed can be estimated by Kalman filter. When the heading measurement was not available, additional heading estimation algorithm was used based on the ground speed measurement. Finally, Monte Carlo simulations and flight test were performed to validate the proposed algorithm, and the algorithm's observability was analyzed.