Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Spike Rejection Method for Improving Altitude Control Performance of Quadrotor UAV Using Ultrasonic Rangefinder

초음파 거리계를 이용하는 쿼드로터 무인항공기의 고도 제어 성능 향상을 위한 스파이크 제거 기법

  • Received : 2016.05.11
  • Accepted : 2016.06.21
  • Published : 2016.06.30
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Abstract

In this paper, a stationary wavelet transform method is proposed for improving the altitude control performance of quadrotor UAV using an ultrasonic rangefinder. A ground tests are conducted using an ultrasonic rangefinder that is much used for vertical takeoff and landing. An ultrasonic rangefinder suffers from signal's spike due to specular reflectance and acoustic noise. The occurred spikes in short time span need to be analyzed at both sides time and frequency domain. It was known that stationary wavelet transform is the transferring solution to the problem occurred by down sampling from DWT also more efficient to remove noise than DWT. The analyzed spikes of the ultrasonic rangefinder using a stationary wavelet transform and experimental results show that it can effectively remove the spikes of the ultrasonic rangefinder.

본 논문은 초음파 거리계를 이용하는 쿼드로터 무인항공기의 고도 제어 성능 향상을 위한 정상 웨이블릿 변환 기법을 제시하였다. 쿼드로터의 수직 이착륙 시 많이 사용되는 초음파 거리계를 이용하여 지상시험을 수행하였다. 초음파 거리계는 정반사율(specular reflectance)과 음향 잡음 (acoustic noise)으로 인한 신호의 스파이크가 생긴다. 짧은 시간 간격으로 발생하는 스파이크는 시간과 주파수 영역에서의 동시 분석을 필요로 한다. 정상 웨이블릿 변환은 DWT (discrete wavelet transform)에서 다운샘플링에 의해 발생하는 문제점을 해결하기 위한 변환방법으로써 잡음제거에 DWT보다 효과적이라고 알려져 있다. 이에 초음파 거리계의 스파이크를 정상 웨이블릿 변환 기법을 이용하여 분석하였고, 실험결과 초음파 거리계의 스파이크를 효과적으로 제거할 수 있음을 확인하였다.

Keywords

References

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