Journal of Advanced Navigation Technology (한국항행학회논문지)

The Korean Navigation Institute (한국항행학회)
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Ultrasonic Rangefinder Spike Rejection Method Using Wavelet Packet Transform

웨이블릿 패킷 변환을 이용한 초음파 거리계 스파이크 제거 기법

  • Kim, Sung-Hoon (Department of Aircraft System Engineering, Hanseo University) ;
  • Hong, Gyo-Young (Department of Aircraft System Engineering, Hanseo University)
  • 김성훈 (한서대학교 항공시스템공학과) ;
  • 홍교영 (한서대학교 항공시스템공학과)
  • Received : 2016.07.01
  • Accepted : 2016.08.11
  • Published : 2016.08.30
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Abstract

In this paper, a wavelet packet 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. The analyzed spikes of the ultrasonic rangefinder using a wavelet packet transform. Compared with the discrete wavelet transform, the wavelet packet decomposition can obtain more abundant time-frequency localization information, so it is more suitable for analyzing and processing ultrasonic signals spike. 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 웨이블릿 패킷 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. 이에 초음파 거리계의 스파이크를 웨이블릿 패킷 변환을 이용하여 분석하였다. DWT (discrete wavelet transform)에 비해 웨이블릿 패킷 분해가 더 풍부한 시간-주파수 국소 정보를 얻을 수 있어 초음파 신호의 스파이크를 분석하고 처리하기에 더 효과적이다. 실험결과 초음파 거리계의 스파이크를 효과적으로 제거할 수 있음을 확인하였다.

Keywords

References

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