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

Kim, Sung-Hoon;Choi, Kyeung-Sik;Hong, Gyo-Young

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


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.


Altitude;Quadrotor;Stationary wavelet transform;Spike;Ultrasonic rangefinder


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Supported by : 국토교통부