気圧センサによるUAVの姿勢推定のための高精度高度計測

抄録

In this paper, we developed a method of measuring altitude using a MEMS differential pressure sensor (DPS) with a cavity, for an unmanned aerial vehicle (UAV). The method includes modeling of DPS and prevention of the influence by the wind. Firstly, we built a transfer function model of the DPS and measured two parameters required for calculating altitude. The parameters were obtained with two experiments: applying static and dynamic pressure onto the both side of the DPS. Secondly, we developed on the basis of fluid dynamics a shielding cap which protects the sensor chip from direct wind caused by the propellers on a UAV, while keeping it to pursue the static pressure. The most sufficient cap, which is spherical with holes at a specific angle to the wind axis, removed both noise and the dynamic pressure.