Research of altitude measurement method based on INS and pressure sensor

To the problems of temperature drift in MEMS pressure sensor, inaccuracy of pressure altitude model and noises in height measurement, the temperature compensation, modeling and fusion with inertial navigation system in altitude measurement are studied. Firstly, the pressure error due to temperature is analyzed and compensated. Secondly, numerical integration is applied in altitude computation, which is compared with standard atmosphere altitude model. Finally, information fusion based on INS and pressure sensors is realized by Adaptive Filter. Experiment shows that the altitude and vertical velocity measurement with this method is accurate, swift and free of error accumulation.