Hello, this is Daichi Toratani.

Now, I'm starting to consider the measurement of the altitude.
To improve the Land mode, I want to make the sonar and the barometer more accurate.
The graph shows the altitude measured by the sonar.

3690969336?profile=original
In this graph, I adapt Linear Weighted Moving Average (LWMA) to the altitude.
LWMA is a simple but an effective method for such a date.
LWMA: http://en.wikipedia.org/wiki/Moving_average
This result is just a first step of this deliberation.
In a few weeks, I'll try some methods: an infrared range sensor, Kalman filter and so on.
So, please, notice me, if you have some ideas or advises.

Best regards.

皆様

虎谷です.

オートランディングをもう少しきれいにするために,現在高度測定の方法に改善を加えようと試みています.

上のグラフはソナーで取得されたデータを表しており,青の線はAPMに記録されていたデータを,赤と緑の線はそのデータを線形荷重移動平均 (LWMA) で平滑化した値を表しております.

LWMA: http://ja.wikipedia.org/wiki/%E7%A7%BB%E5%8B%95%E5%B9%B3%E5%9D%87

今後は赤外線センサやカルマンフィルタ等色々試してみて,オートランディングに適した手法を検討していきます.

何かいいアイディアをお持ちの方は返信頂けると幸いです.

よろしくお願いします.

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Replies

  • Developer

    Tora,

        That sonar information is terrible but the issue is the power line filtering.  I'd recommend adding a capacitor and resistor to the power line like below.

    XL-Filter.jpg?width=400Everybody has this problem so I'm planning to start selling a special cable like below or maybe 3DRobotics will start making one.3692537564?profile=original

    ソーナを使うと電波障害がよく起こります。英語ではEMIと言いますが。。

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