The Kalman filter for UAV in the turbulent flow

Abstract

This paper describes a method for generating the turbulent wind field which accords with the characteristics of atmospheric turbulence model. The model of turbulent wind with colored noise is presented and then the whitening model of the UAV state is obtained by the state augmentation. This paper also designs a Kalman filter based on the colored noisey flight speed of the UAV which can solve the problem that the classic Kalman filter only can be applied in the white color model. The simulation demostrates that this filter can reduce the influence of the wind turbulence on the UAV flight speed, and thus the accuracy of the flight speed control can be satisfied.