CN103257348A - Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof - Google Patents

Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof Download PDF

Info

Publication number
CN103257348A
CN103257348A CN2013101859446A CN201310185944A CN103257348A CN 103257348 A CN103257348 A CN 103257348A CN 2013101859446 A CN2013101859446 A CN 2013101859446A CN 201310185944 A CN201310185944 A CN 201310185944A CN 103257348 A CN103257348 A CN 103257348A
Authority
CN
China
Prior art keywords
ultrasonic
relative
distance measuring
ultrasonic distance
ground
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN2013101859446A
Other languages
Chinese (zh)
Other versions
CN103257348B (en
Inventor
杭义军
刘建业
李荣冰
杨景阳
曾庆化
赖际舟
常健
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Nanjing University of Aeronautics and Astronautics
Original Assignee
Nanjing University of Aeronautics and Astronautics
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Nanjing University of Aeronautics and Astronautics filed Critical Nanjing University of Aeronautics and Astronautics
Priority to CN201310185944.6A priority Critical patent/CN103257348B/en
Publication of CN103257348A publication Critical patent/CN103257348A/en
Application granted granted Critical
Publication of CN103257348B publication Critical patent/CN103257348B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)

Abstract

The invention discloses a measurement system of a relative altitude and a relative attitude of an air vehicle and a measurement method thereof. Four ultrasonic ranging modules are installed at different positions of the air vehicle, ultrasonic wave emitting and receiving of the ultrasonic ranging modules are controlled through an MPU, ultrasonic wave transmission time is calculated, pressure parameters, temperature parameters and humidity parameters of atmosphere are collected so that the transmission speed of the ultrasonic waves can be compensated, meanwhile by means of a range error compensation module, range errors of an ultrasonic ranging sensor are compensated, relative height data of the air vehicle and the ground are measured, a relative height calculation model and a relative attitude calculation model are built, and the precise relative height between the centers of wings of the air vehicle and a landing runway plane and attitude angle information of an ultrasonic installation plane relative to the runway plane are calculated. The measurement system and the measurement method improve precision and stability of measurement of the relative height and the relative attitude during landing of the air vehicle.

Description

Measuring system and the measuring method thereof of a kind of aircraft relative height and relative attitude
Technical field
The invention belongs to aircraft range finding field, measuring system and the method for more specifically say so a kind of aircraft relative height and relative attitude.
Background technology
Aircraft needs the airborne sensor system to provide and the accurate relative height of runway interplanar and relative attitude angle information in the landing stage, traditional relative height measurement mechanism uses single relative height sensor (laser ranging, baroceptor, GPS etc.), because these sensors only are installed in a position of aircraft, there are certain coupling error in the relative height that such relative height measuring system is measured and the installation site of sensor and attitude of flight vehicle, are difficult to provide accurate relative height information; On the other hand, traditional attitude of flight vehicle measuring system (pure-inertial guidance system, boat appearance system, integrated navigation system etc.), mainly constituted by inertial navigation system or satellite navigation system, these system architecture complexity, the cost height, the volume power consumption is all bigger, range of application is limited, and attitude measurement system or little inertia/satellite combined guidance system that above-mentioned use MEMS inertial sensor constitutes, the attitude angle information that provides is the attitude information of relative and Department of Geography, its attitude accuracy is subjected to the satellite receiver time-delay, the micro air vehicle acceleration action, be difficult to guarantee that the aircraft landing stage is to the requirement of relative attitude angular measurement precision and reliability, especially exist under the situation at oblique angle on the landing plane, these systems all can't directly obtain the relative attitude angle with the runway plane.
Because micro air vehicle needs to slow down to reduce aircraft with respect to the speed of runway during landing, therefore, generally in this process there is a bigger deceleration acceleration, be not suitable for using cheaply the MEMS inertial sensor directly to measure attitude of carrier.And when minute vehicle lands near runway, its height apart from ground is relatively low, generally about 5m, reduction gradually along with height, its measuring accuracy to relative height, relative attitude requires also more and more higher, find that after deliberation the relative distance about 5m is fit to utilize ultrasonic distance measuring module to record its relative height very much.
Summary of the invention
The technical matters that the present invention solves is measuring system and the measuring method thereof of a kind of aircraft relative height and relative attitude, when this system and method is mainly used in the minute vehicle landing near runway, its height apart from ground is relatively low, generally about 5m, need under the situation of accurate relative height and relative attitude.
For solving the problems of the technologies described above, the measuring system of a kind of aircraft relative height of the present invention and relative attitude, comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor link to each other with microprocessor respectively; Microprocessor control ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, and simultaneous temperature sensor, humidity sensor and baroceptor send to microprocessor with Current Temperatures, humidity and the pressure information that collects and handle.
Further, in the measuring system of aircraft relative height of the present invention and relative attitude, described ultrasonic distance measuring module is ultrasonic sensor, and its quantity is four, is arranged at head, tail, port wing end and the starboard wing end of aircraft respectively.
Further, in the measuring system of aircraft relative height of the present invention and relative attitude, described temperature sensor, humidity sensor, baroceptor link to each other with microprocessor by the I2C interface.
The present invention simultaneously also proposes a kind of measuring method based on above-mentioned measuring system, may further comprise the steps:
Step 1, by the transmitting and receiving of microprocessor control ultrasonic distance measuring module, and calculate ultrasound wave from being transmitted into the time interval Δ t of reception n=t n K+1-t n k, wherein, n=1,2,3,4; t n kBe the launch time of ultrasonic distance measuring module; t n K+1For receiving the time of echo;
Step 2, utilize temperature sensor, humidity sensor, baroceptor to measure current atmospheric temperature T respectively k, its unit is degree centigrade; Current air humidity H k, its unit is number percent; Current air pressure value P k, its unit is handkerchief;
Step 3, utilize in the step 2 the current air pressure value P that obtains k, current atmospheric temperature T kWith current air humidity H kHyperacoustic transmission speed is compensated, obtain accurate ultrasonic transmission speed V c, be specially:
V c = V 0 ( 1 + T k T 0 ) ( 1 + 0.3192 H k P k )
Wherein, V 0=331.45m/s, T 0=25 ℃;
Step 4, utilize four ultrasonic distance measuring modules to sample respectively, and utilize error compensation that the distance on current time ultrasonic distance measuring module and ground is compensated to obtain accurate measuring distance
Figure BDA00003204280900032
Its unit is rice:
d ^ n k = ( d n k - d bias ) d p
Wherein,
Figure BDA00003204280900034
Be the distance on current time ultrasonic distance measuring module and ground, n=1,2,3,4, its unit is rice; d BiasBe the normal value offset error of finding range, d pBe the range finding scale-up factor; Δ t BiasBe the constant time lag error of interrupting or commanded response is introduced; Δ t pTime scale factor error for MPU clock crystal oscillator deviation or the introducing of frequency division error;
Step 5, according to the symmetry of wing, utilize in the step 4 ultrasonic distance measuring module after the compensation and the accurate measuring distance on ground Ventral apart from the height on ground is under the calculating wing mid point
Figure BDA00003204280900036
Unit is rice;
Figure BDA00003204280900037
Be respectively the accurate measuring distance of the ultrasonic distance measuring module C that is positioned at aircraft port wing end to the accurate measuring distance on ground and the ultrasonic distance measuring module D that is positioned at aircraft starboard wing end after the error compensation to ground after the error compensation;
Step 6, determine the angle of pitch
Figure BDA00003204280900041
Its unit is degree, and roll angle is Its unit is degree,
Figure BDA00003204280900043
Be respectively the ultrasonic distance measuring module A that is positioned at the aircraft head after the error compensation to the accurate measuring distance on ground, the ultrasonic distance measuring module B that is positioned at the aircraft tail after the error compensation to the accurate measuring distance on ground; L 1Be the distance between head and the tail, L 2Be the distance between the wing of the left and right sides.
Further, further comprising the steps of in the measuring method of aircraft relative height of the present invention and relative attitude, according to ventral under the last wing mid point apart from the height d on ground mSelect the triggering sample mode of this ultrasonic distance measuring module, be specially:
Utilize
Figure BDA00003204280900045
Obtain measuring height separation height value d Max, l be ultrasonic distance measuring module A to the ultrasonic distance measuring module D between any two short lines distance wherein; Judge that ventral is apart from the height d on ground under the wing mid point mWith measuring height separation height value d MaxSize; Work as d m＜d MaxThe time, a plurality of ultrasonic distance measuring modules trigger simultaneously and sample, and improve the sampling rate in preceding kiss the earth stage of aircraft landing this moment effectively, thereby improve the dynamic measurement precision of attitude angle; Work as d m〉=d MaxThe time, for avoiding crosstalking between each ultrasonic wave module, adopt the timesharing trigger method, ultrasonic distance measuring module is triggered sampling by the circulation triggering mode, improve distance measuring precision and stability.
The present invention compared with prior art has following obvious improvement: (1) the present invention has taken into full account the influence that changed by atmospheric pressure, temperature, humidity, set up corresponding error model, revise the ultrasonic propagation velocity under the varying environment, reduced the influence of environmental parameter variation to the measuring accuracy of ultrasonic ranging sensor; (2) time error that the present invention is based in MPU data acquisition and the processing procedure is introduced principle, the normal value offset error and the errors of proportional factor that exist in the ultrasonic ranging process have been analyzed, set up the range error compensation model, range error is compensated, reduced processor interruption processing time-delay and timer clock correction to range finding result's influence; (3) the present invention proposes branch distance segment/time data acquisition method, cross-interference issue when having avoided many ultrasonic wave module to work simultaneously, ranging information by many ultrasonic wave module when higher on distance ground, improved the relative height measuring accuracy, near ground the time, by the while sample mode, improved the attitude measurement frequency, improved relative attitude angular motion attitude measuring accuracy, with respect to traditional measuring method, reduce the error of crosstalking, improved the dynamic of height measuring accuracy and attitude measurement; (4) on this basis, the invention allows for a kind of new relative attitude and measure thought, directly calculating can obtain carrier with respect to relative height and the relative attitude of runway, obtain inertia, attitude of satellite measuring method with respect to traditional image, has the measuring accuracy height, dynamic adaptable well is not subjected to the influence of carrier acceleration of motion, and advantage such as cost is low, structure and calculating are simple.
The present invention is described in further detail below in conjunction with the drawings and specific embodiments;
Description of drawings
Fig. 1 ultrasonic distance measuring module of the present invention scheme of installation aboard;
Fig. 2 hardware connection diagram of the present invention;
Fig. 3 the present invention many ultrasonic distance measuring modules relative height and relative attitude are determined the signal flow graph of method;
Fig. 4 (a) is the relative height measuring accuracy comparison diagram of the present invention and high-precision laser range-finding instrument;
Fig. 4 (b) is the relative height measuring error curve map of the present invention and high-precision laser range-finding instrument;
Fig. 5 (a) is the measurement comparison diagram of the present invention and the high precision boat appearance system angle of pitch;
Fig. 5 (b) is the measuring error curve map of the present invention and the high precision boat appearance system angle of pitch;
Fig. 6 (a) is the measurement comparison diagram of the present invention and high precision boat appearance system roll angle;
Fig. 6 (b) is the measuring error curve map of the present invention and high precision boat appearance system roll angle;
Embodiment
As shown in Figure 1 and Figure 2, the measuring system of a kind of aircraft relative height of the present invention and relative attitude, comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor link to each other with microprocessor respectively; Microprocessor control ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, and simultaneous temperature sensor, humidity sensor and baroceptor send to microprocessor with Current Temperatures, humidity and the pressure information that collects and handle; Described ultrasonic distance measuring module is ultrasonic sensor, and its quantity is four, is arranged at head, tail, port wing end and the starboard wing end of aircraft respectively; Described temperature sensor, humidity sensor, baroceptor link to each other with microprocessor by the I2C interface.
As Fig. 1, shown in Figure 3, the measuring method of a kind of aircraft relative height and relative attitude may further comprise the steps:
Step 1, by the transmitting and receiving of microprocessor control ultrasonic distance measuring module, and calculate ultrasound wave from being transmitted into the time interval Δ t of reception n=t n K+1-t n k, wherein, n=1,2,3,4; t n kBe the launch time of ultrasonic distance measuring module; t n K+1For receiving the time of echo;
Step 2, utilize temperature sensor, humidity sensor, baroceptor to measure current atmospheric temperature T respectively k, its unit is degree centigrade; Current air humidity H k, its unit is number percent; Current air pressure value P k, its unit is handkerchief;
Step 3, utilize in the step 2 the current air pressure value P that obtains k, current atmospheric temperature T kWith current air humidity H kHyperacoustic transmission speed is compensated, obtain accurate ultrasonic transmission speed V c, be specially:
V c = V 0 ( 1 + T k T 0 ) ( 1 + 0.3192 H k P k )
Wherein, V 0=331.45m/s, T 0=25 ℃;
Step 4, utilize error compensation that the distance on the ultrasonic distance measuring module that measures and ground is compensated to obtain accurate measuring distance
Figure BDA00003204280900072
Its unit is rice:
d ^ n k = ( d n k - d bias ) d p
Used microprocessor control ultrasonic wave module radiating circuit in the multiplex ultrasonic data acquisition system (DAS), and utilize the microprocessor internal timer to calculate and receive echo and the time interval Δ t that launches between the ultrasound wave, by analysis as can be known, exist the constant time lag error delta t that interruption or commanded response are introduced in this time interval Bias, and because the time scale factor error delta t that microprocessor (MPU) clock crystal oscillator deviation or frequency division error are introduced p, therefore, time interval true value
Figure BDA00003204280900074
With time interval Δ t nBetween exist relation:
Figure BDA00003204280900075
Again by the ultrasonic ranging principle as can be known
Figure BDA00003204280900076
Figure BDA00003204280900077
Be the distance on current time ultrasonic wave module and ground, unit is rice, will Δ t ^ n = ( Δ t n - Δ t bias ) Δ t p Be brought into
Figure BDA00003204280900079
Obtain d n k = V c ( Δ t n - Δ t bias ) Δ t p / 2 , Continuous item is merged following formula can be write as apart from expression-form:
Figure BDA000032042809000711
d BiasBe the normal value offset error of finding range, d pBe the range finding scale-up factor; Can be by the first-order error model of setting up
Figure BDA000032042809000712
Can obtain required error compensation parameter d through least square fitting BiasAnd d p, n=1 wherein, 2,3,4, its concrete derivation can be with reference to " Shi Feng, Deng Sen, Chen Bing, the superfine people of king write " write up in the 283rd page of the matlab function quick checking handbook ";
Step 5, according in the step 4 compensation after ultrasonic distance measuring module and the accurate measuring distance on ground Because the symmetry of wing, ventral apart from the height on ground is under the calculating wing mid point
Figure BDA00003204280900081
Unit is rice, and the angle of pitch is
Figure BDA00003204280900082
Its unit is degree, and roll angle is
Figure BDA00003204280900083
Its unit is degree,
Figure BDA00003204280900084
Figure BDA00003204280900085
Figure BDA00003204280900086
Figure BDA00003204280900087
Be respectively after the error compensation the ultrasonic distance measuring module A that is positioned at the aircraft head to the accurate measuring distance on ground, be positioned at the ultrasonic distance measuring module B of aircraft tail to the accurate measuring distance on ground, be positioned at aircraft port wing end ultrasonic distance measuring module C to the accurate measuring distance on ground be positioned at the terminal ultrasonic distance measuring module D of aircraft starboard wing to the accurate measuring distance on ground; L 1Be the distance between head and the tail, L 2Be the distance between the wing of the left and right sides.
In order to improve sampling rate, the present invention adopts branch distance segment/timesharing dual mode to carry out data acquisition, be specially: according to ventral under the last wing mid point apart from the height d on ground mSelect the triggering sample mode of this ultrasonic distance measuring module, utilize
Figure BDA00003204280900088
Calculate measuring height separation height value d Max, l be ultrasonic distance measuring module A to the ultrasonic distance measuring module D between any two short lines distance wherein; Work as d m＜d MaxThe time, a plurality of ultrasonic distance measuring modules can trigger and sample simultaneously, can improve the sampling rate in preceding kiss the earth stage of aircraft landing this moment effectively, thereby improve the dynamic measurement precision of attitude angle; Work as d m〉=d MaxThe time, for avoiding crosstalking between each ultrasonic wave module, adopt the timesharing trigger method, (A → B → C → D → A) trigger sampling improves distance measuring precision and stability by the circulation triggering mode to ultrasonic distance measuring module.
In said method, can adopt the common order by ultrasonic distance measuring module to sample also can to adopt that branch distance segment/timesharing dual mode carries out data acquisition in the step 5 for the mode of sampling; It is optimum adopting the sample mode in the step 5, cross-interference issue when having avoided many ultrasonic wave module to work simultaneously, by the ranging information of many ultrasonic wave module, improved the relative height measuring accuracy when higher on distance ground, near ground the time, by the while sample mode, improve the attitude measurement frequency, improved relative attitude angular motion attitude measuring accuracy, with respect to traditional measuring method, reduce the error of crosstalking, improved the dynamic of height measuring accuracy and attitude measurement.
Many ultrasound waves relative height and relative attitude measurement mechanism directly are separately fixed at a plurality of ultrasonic wave module terminal four positions of head, tail, port wing end, starboard wing of aircraft, control each ultrasonic wave module by MPU and outwards launch ultrasound wave and receive corresponding echo, calculate each ultrasonic distance measuring module and send ultrasound wave to the time interval that receives echo.Utilize the I2C interface to gather current air pressure, temperature, the humidity information of air, use the sound velocity error compensation model, the acoustic wave propagation velocity of calculating under current air pressure, temperature, humidity environment, recycling ultrasonic ranging principle is calculated the ultrasound wave propagation distance that records, analyze according to the MPU time determination error again, set up the ultrasonic ranging error model, compensation records ultrasonic distance, obtains accurate ultrasonic ranging value.On this basis, consider the existence at ultrasound beamformer angle, cross-interference issue when causing many ultrasonic wave module to find range simultaneously easily, the present invention is according to the bee-line between the ultrasonic wave module installation site, calculate and survey high separation height value, by the judgement to height, the form that adopts the time sharing sampling circulation to trigger range finding successively highly greater than cut off value the time is avoided the echo cross-interference issue between different ultrasonic wave module respectively, improve the relative height measuring accuracy, when highly being lower than the boundary height value, adopt sampled form simultaneously, improve the dynamic accuracy of sampling rate and attitude measurement.Behind stable, the accurate height value that each ultrasonic wave module of acquisition records, utilize relative height, relative attitude computing method, calculate aircraft apart from relative height and the relative attitude information on ground.
Embodiment
In the measuring system of the present invention, the distance L between head and the tail 1Distance L between=1.2m, the left and right sides wing 2=2m, the ultrasonic sensor field angle that adopts is 15 °, the measuring distance scope is 5～500cm.
The contrast experiment of chamber and high-precision laser range-finding instrument and boat appearance system has verified that this method is used for measuring carrier with respect to the height on ground and feasibility and the superiority of attitude by experiment.Fig. 4 (a), Fig. 4 (b) are depicted as the relative height measuring accuracy contrast experiment of the present invention and high-precision laser range-finding instrument, have verified and have carried out the ultrasonic propagation velocity correction, and the precision of ultrasonic ranging after the compensation of ultrasonic ranging error model is better than 0.5cm; Fig. 5 (a), Fig. 5 (b) are depicted as the angle of pitch that records under the manual swing situation and record angle of pitch correlation curve with boat appearance system, and as can be seen from Figure, angle of pitch measuring accuracy of the present invention is better than 1 °; Fig. 6 (a), Fig. 6 (b) are depicted as the roll angle that records under the manual swing situation and record the roll angle correlation curve with boat appearance system, and as seen from the figure, roll angle measuring accuracy of the present invention is better than 1.5 °.

Claims (5)

1. the measuring system of an aircraft relative height and relative attitude, it is characterized in that: comprise ultrasonic distance measuring module, microprocessor, temperature sensor, humidity sensor and baroceptor, described ultrasonic distance measuring module, temperature sensor, humidity sensor, baroceptor link to each other with microprocessor respectively; Microprocessor control ultrasonic distance measuring module is outwards launched ultrasound wave and is received corresponding echo, and simultaneous temperature sensor, humidity sensor and baroceptor send to microprocessor with Current Temperatures, humidity and the pressure information that collects and handle.
2. the measuring system of aircraft relative height according to claim 1 and relative attitude, it is characterized in that: described ultrasonic distance measuring module is ultrasonic sensor, its quantity is four, is arranged at head, tail, port wing end and the starboard wing end of aircraft respectively.
3. the measuring system of aircraft relative height according to claim 2 and relative attitude is characterized in that: described temperature sensor, humidity sensor, baroceptor link to each other with microprocessor by the I2C interface.
4. one kind based on the relative height of any described measuring system in claim 2 or 3 and the measuring method of relative attitude, it is characterized in that, specifically may further comprise the steps:
Step 1, by the transmitting and receiving of microprocessor control ultrasonic distance measuring module, and calculate ultrasound wave from being transmitted into the time interval Δ t of reception n=t n K+1-t n k, wherein, n=1,2,3,4; t n kBe the launch time of ultrasonic distance measuring module; t n K+1For receiving the time of echo;
Step 2, utilize temperature sensor, humidity sensor, baroceptor to measure current atmospheric temperature T respectively k, its unit is degree centigrade; Current air humidity H k, its unit is number percent; Current air pressure value P k, its unit is handkerchief;
Step 3, utilize in the step 2 the current air pressure value P that obtains k, current atmospheric temperature T kWith current air humidity H kHyperacoustic transmission speed is compensated, obtain accurate ultrasonic transmission speed V c, be specially:
V c = V 0 ( 1 + T k T 0 ) ( 1 + 0.3192 H k P k )
Wherein, V 0=331.45m/s, T 0=25 ℃;
Step 4, utilize four ultrasonic distance measuring modules to sample respectively, and utilize error compensation that the distance on current time ultrasonic distance measuring module and ground is compensated to obtain accurate measuring distance
Figure FDA00003204280800022
Its unit is rice:
d ^ n k = ( d n k - d bias ) d p
Wherein,
Figure FDA00003204280800024
Be the distance on current time ultrasonic distance measuring module and ground, n=1,2,3,4, its unit is rice; d BiasBe the normal value offset error of finding range, d pBe the range finding scale-up factor; Δ t BiasBe the constant time lag error of interrupting or commanded response is introduced; Δ t pTime scale factor error coefficient for MPU clock crystal oscillator deviation or the introducing of frequency division error;
Step 5, according to the symmetry of wing, utilize in the step 4 ultrasonic distance measuring module after the compensation and the accurate measuring distance on ground
Figure FDA00003204280800025
Ventral apart from the height on ground is under the calculating wing mid point
Figure FDA00003204280800026
Unit is rice;
Figure FDA00003204280800027
Figure FDA00003204280800028
Be respectively the accurate measuring distance of the ultrasonic distance measuring module that is positioned at aircraft port wing end to the accurate measuring distance on ground and the ultrasonic distance measuring module that is positioned at aircraft starboard wing end after the error compensation to ground after the error compensation;
Step 6, determine the angle of pitch
Figure FDA00003204280800029
Its unit is degree, and roll angle is
Figure FDA000032042808000210
Its unit is degree,
Figure FDA000032042808000211
Figure FDA000032042808000212
Be respectively the ultrasonic distance measuring module that is positioned at the aircraft head after the error compensation to the accurate measuring distance on ground, the ultrasonic distance measuring module that is positioned at the aircraft tail after the error compensation to the accurate measuring distance on ground; L 1Be the distance between head and the tail, L 2Be the distance between the wing of the left and right sides.
5. the measuring method of relative height according to claim 4 and relative attitude is characterized in that, and is further comprising the steps of, according to ventral under the last wing mid point apart from the height d on ground mSelect the triggering sample mode of this ultrasonic distance measuring module, be specially:
Utilize
Figure FDA00003204280800031
Obtain measuring height separation height value d Max, wherein l is between any two short lines distance in four ultrasonic distance measuring modules; Judge that ventral is apart from the height d on ground under the wing mid point mWith measuring height separation height value d MaxSize; Work as d m＜d MaxThe time, a plurality of ultrasonic distance measuring modules trigger simultaneously and sample, and improve the sampling rate in preceding kiss the earth stage of aircraft landing this moment effectively, thereby improve the dynamic measurement precision of attitude angle; Work as d m〉=d MaxThe time, for avoiding crosstalking between each ultrasonic wave module, adopt the timesharing trigger method, ultrasonic distance measuring module is triggered sampling by the circulation triggering mode, improve distance measuring precision and stability.
CN201310185944.6A 2013-05-17 2013-05-17 Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof Expired - Fee Related CN103257348B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201310185944.6A CN103257348B (en) 2013-05-17 2013-05-17 Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201310185944.6A CN103257348B (en) 2013-05-17 2013-05-17 Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof

Publications (2)

Publication Number Publication Date
CN103257348A true CN103257348A (en) 2013-08-21
CN103257348B CN103257348B (en) 2015-05-20

Family

ID=48961372

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201310185944.6A Expired - Fee Related CN103257348B (en) 2013-05-17 2013-05-17 Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof

Country Status (1)

Country Link
CN (1) CN103257348B (en)

Cited By (27)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103616692A (en) * 2013-11-21 2014-03-05 上海海洋大学 Portable multifunctional ultrasonic ranging system based on Android mobile terminal
CN105321315A (en) * 2014-07-30 2016-02-10 芯讯通无线科技（上海）有限公司 Aircraft system and communication method thereof
WO2016019561A1 (en) * 2014-08-08 2016-02-11 深圳市大疆创新科技有限公司 Data processing device and aircraft
CN105652277A (en) * 2015-12-23 2016-06-08 辽东学院 Ultrasonic ranging system based on single-chip microcomputer
US9501060B1 (en) 2014-12-31 2016-11-22 SZ DJI Technology Co., Ltd Vehicle altitude restrictions and control
CN106291522A (en) * 2016-07-27 2017-01-04 南京信息工程大学 A kind of supersonic range finder and distance-finding method
CN107422327A (en) * 2017-06-20 2017-12-01 何晶 Gun firing position identifying system and method
WO2018141198A1 (en) * 2017-02-06 2018-08-09 北京京东尚科信息技术有限公司 Method and device for detecting flight altitude of unmanned aerial vehicle, and unmanned aerial vehicle
CN108510745A (en) * 2018-03-20 2018-09-07 北方工业大学 Air-ground cooperation-based police aircraft detection method and device
US10120068B1 (en) 2017-04-28 2018-11-06 SZ DJI Technology Co., Ltd. Calibration of laser sensors
US10152771B1 (en) 2017-07-31 2018-12-11 SZ DJI Technology Co., Ltd. Correction of motion-based inaccuracy in point clouds
WO2019014896A1 (en) * 2017-07-20 2019-01-24 SZ DJI Technology Co., Ltd. Systems and methods for optical distance measurement
CN109407687A (en) * 2018-12-03 2019-03-01 北京航空航天大学合肥创新研究院 Unmanned plane high-precision independent landing control system
CN109596856A (en) * 2018-12-25 2019-04-09 北京奥特美克科技股份有限公司 Apply the flow-speed measurement method and radar wave current meter in radar wave current meter
US10295659B2 (en) 2017-04-28 2019-05-21 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system
CN110017831A (en) * 2019-04-01 2019-07-16 北京理工大学 The method for resolving attitude of flight vehicle using Geomagnetism Information and sonar sensor
CN110146894A (en) * 2019-05-19 2019-08-20 瑞立集团瑞安汽车零部件有限公司 Automobile height sensor based on ultrasonic distance measurement in air bag
CN110155350A (en) * 2019-04-23 2019-08-23 西北大学 A kind of unmanned plane landing-gear and its control method
US10436884B2 (en) 2017-04-28 2019-10-08 SZ DJI Technology Co., Ltd. Calibration of laser and vision sensors
CN110702102A (en) * 2019-09-18 2020-01-17 安徽华明航空电子系统有限公司 Magnetic navigation system for navigation aircraft and navigation method thereof
US10539663B2 (en) 2017-03-29 2020-01-21 SZ DJI Technology Co., Ltd. Light detecting and ranging (LIDAR) signal processing circuitry
US10554097B2 (en) 2017-03-29 2020-02-04 SZ DJI Technology Co., Ltd. Hollow motor apparatuses and associated systems and methods
US10641875B2 (en) 2017-08-31 2020-05-05 SZ DJI Technology Co., Ltd. Delay time calibration of optical distance measurement devices, and associated systems and methods
US10714889B2 (en) 2017-03-29 2020-07-14 SZ DJI Technology Co., Ltd. LIDAR sensor system with small form factor
CN112558619A (en) * 2020-12-07 2021-03-26 同济大学 Ultrasonic-assisted unmanned aerial vehicle autonomous stable landing system and method
CN112880661A (en) * 2021-01-11 2021-06-01 北京中科宇航技术有限公司 Position and attitude measurement method and device for vertical landing aircraft
CN113814104A (en) * 2021-07-30 2021-12-21 中材科技（邯郸）风电叶片有限公司 Automatic roller coating equipment and roller coating control method for wind power blade

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0849212A (en) * 1994-02-08 1996-02-20 Tokimec Inc Ultrasonic range finder for road construction
DE19644122C1 (en) * 1996-10-23 1998-01-15 Siemens Ag Speed measuring apparatus especially for measuring speed of moving patient beds in medicine technology
CN102139164A (en) * 2011-01-28 2011-08-03 深圳市格兰之特科技有限公司 Flying device and method capable of automatically avoiding barrier
CN102156285A (en) * 2011-03-16 2011-08-17 杭州华韵天略电子科技有限公司 Method and system for performing three-dimensional location by ultrasonic waves

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0849212A (en) * 1994-02-08 1996-02-20 Tokimec Inc Ultrasonic range finder for road construction
DE19644122C1 (en) * 1996-10-23 1998-01-15 Siemens Ag Speed measuring apparatus especially for measuring speed of moving patient beds in medicine technology
CN102139164A (en) * 2011-01-28 2011-08-03 深圳市格兰之特科技有限公司 Flying device and method capable of automatically avoiding barrier
CN102156285A (en) * 2011-03-16 2011-08-17 杭州华韵天略电子科技有限公司 Method and system for performing three-dimensional location by ultrasonic waves

Cited By (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103616692A (en) * 2013-11-21 2014-03-05 上海海洋大学 Portable multifunctional ultrasonic ranging system based on Android mobile terminal
CN105321315A (en) * 2014-07-30 2016-02-10 芯讯通无线科技（上海）有限公司 Aircraft system and communication method thereof
US10108188B2 (en) 2014-08-08 2018-10-23 SZ DJI Technology Co., Ltd. Data processing device and aerial vehicle
WO2016019561A1 (en) * 2014-08-08 2016-02-11 深圳市大疆创新科技有限公司 Data processing device and aircraft
CN105518639A (en) * 2014-08-08 2016-04-20 深圳市大疆创新科技有限公司 Data processing device and aircraft
JP2016540294A (en) * 2014-08-08 2016-12-22 エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ Data processing apparatus and aircraft
US11687098B2 (en) 2014-12-31 2023-06-27 SZ DJI Technology Co., Ltd. Vehicle altitude restrictions and control
US9501060B1 (en) 2014-12-31 2016-11-22 SZ DJI Technology Co., Ltd Vehicle altitude restrictions and control
US10216197B2 (en) 2014-12-31 2019-02-26 SZ DJI Technology Co., Ltd. Vehicle altitude restrictions and control
US11163318B2 (en) 2014-12-31 2021-11-02 SZ DJI Technology Co., Ltd. Vehicle altitude restrictions and control
CN105652277A (en) * 2015-12-23 2016-06-08 辽东学院 Ultrasonic ranging system based on single-chip microcomputer
CN106291522B (en) * 2016-07-27 2018-09-14 南京信息工程大学 A kind of supersonic range finder and distance measuring method
CN106291522A (en) * 2016-07-27 2017-01-04 南京信息工程大学 A kind of supersonic range finder and distance-finding method
WO2018141198A1 (en) * 2017-02-06 2018-08-09 北京京东尚科信息技术有限公司 Method and device for detecting flight altitude of unmanned aerial vehicle, and unmanned aerial vehicle
US10554097B2 (en) 2017-03-29 2020-02-04 SZ DJI Technology Co., Ltd. Hollow motor apparatuses and associated systems and methods
US10539663B2 (en) 2017-03-29 2020-01-21 SZ DJI Technology Co., Ltd. Light detecting and ranging (LIDAR) signal processing circuitry
US10714889B2 (en) 2017-03-29 2020-07-14 SZ DJI Technology Co., Ltd. LIDAR sensor system with small form factor
US11336074B2 (en) 2017-03-29 2022-05-17 SZ DJI Technology Co., Ltd. LIDAR sensor system with small form factor
US10436884B2 (en) 2017-04-28 2019-10-08 SZ DJI Technology Co., Ltd. Calibration of laser and vision sensors
US10120068B1 (en) 2017-04-28 2018-11-06 SZ DJI Technology Co., Ltd. Calibration of laser sensors
US10884110B2 (en) 2017-04-28 2021-01-05 SZ DJI Technology Co., Ltd. Calibration of laser and vision sensors
US10859685B2 (en) 2017-04-28 2020-12-08 SZ DJI Technology Co., Ltd. Calibration of laser sensors
US10698092B2 (en) 2017-04-28 2020-06-30 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system
US11460563B2 (en) 2017-04-28 2022-10-04 SZ DJI Technology Co., Ltd. Calibration of laser sensors
US10295659B2 (en) 2017-04-28 2019-05-21 SZ DJI Technology Co., Ltd. Angle calibration in light detection and ranging system
CN107422327A (en) * 2017-06-20 2017-12-01 何晶 Gun firing position identifying system and method
US11982768B2 (en) 2017-07-20 2024-05-14 SZ DJI Technology Co., Ltd. Systems and methods for optical distance measurement
WO2019014896A1 (en) * 2017-07-20 2019-01-24 SZ DJI Technology Co., Ltd. Systems and methods for optical distance measurement
US10371802B2 (en) 2017-07-20 2019-08-06 SZ DJI Technology Co., Ltd. Systems and methods for optical distance measurement
US11961208B2 (en) 2017-07-31 2024-04-16 SZ DJI Technology Co., Ltd. Correction of motion-based inaccuracy in point clouds
US10152771B1 (en) 2017-07-31 2018-12-11 SZ DJI Technology Co., Ltd. Correction of motion-based inaccuracy in point clouds
US11238561B2 (en) 2017-07-31 2022-02-01 SZ DJI Technology Co., Ltd. Correction of motion-based inaccuracy in point clouds
US10641875B2 (en) 2017-08-31 2020-05-05 SZ DJI Technology Co., Ltd. Delay time calibration of optical distance measurement devices, and associated systems and methods
CN108510745A (en) * 2018-03-20 2018-09-07 北方工业大学 Air-ground cooperation-based police aircraft detection method and device
CN109407687A (en) * 2018-12-03 2019-03-01 北京航空航天大学合肥创新研究院 Unmanned plane high-precision independent landing control system
CN109596856A (en) * 2018-12-25 2019-04-09 北京奥特美克科技股份有限公司 Apply the flow-speed measurement method and radar wave current meter in radar wave current meter
CN110017831B (en) * 2019-04-01 2023-08-25 北京理工大学 Method for calculating aircraft attitude by geomagnetic information and sonar sensor
CN110017831A (en) * 2019-04-01 2019-07-16 北京理工大学 The method for resolving attitude of flight vehicle using Geomagnetism Information and sonar sensor
CN110155350A (en) * 2019-04-23 2019-08-23 西北大学 A kind of unmanned plane landing-gear and its control method
CN110155350B (en) * 2019-04-23 2022-07-26 西北大学 Control method of unmanned aerial vehicle landing device
CN110146894A (en) * 2019-05-19 2019-08-20 瑞立集团瑞安汽车零部件有限公司 Automobile height sensor based on ultrasonic distance measurement in air bag
CN110702102A (en) * 2019-09-18 2020-01-17 安徽华明航空电子系统有限公司 Magnetic navigation system for navigation aircraft and navigation method thereof
CN112558619A (en) * 2020-12-07 2021-03-26 同济大学 Ultrasonic-assisted unmanned aerial vehicle autonomous stable landing system and method
CN112880661A (en) * 2021-01-11 2021-06-01 北京中科宇航技术有限公司 Position and attitude measurement method and device for vertical landing aircraft
CN113814104A (en) * 2021-07-30 2021-12-21 中材科技（邯郸）风电叶片有限公司 Automatic roller coating equipment and roller coating control method for wind power blade

Also Published As

Publication number Publication date
CN103257348B (en) 2015-05-20

Similar Documents

Publication Publication Date Title
CN103257348B (en) Measurement system of relative altitude and relative attitude of air vehicle and measurement method thereof
Van den Kroonenberg et al. Measuring the wind vector using the autonomous mini aerial vehicle M2AV
CN101256080B (en) Midair aligning method for satellite/inertia combined navigation system
CN103472503B (en) Sonde and upper air wind finding method based on INS
CN103487822A (en) BD/DNS/IMU autonomous integrated navigation system and method thereof
CN104180804A (en) Single reference node underwater vehicle integrated navigation method based on underwater information network
CN105242682B (en) Target drone target signature measurement system
CN110779496B (en) Three-dimensional map construction system, method, device and storage medium
CN205540290U (en) Many rotor unmanned aerial vehicle with ultrasonic ranging device
Shi et al. Multichannel sense-and-avoid radar for small UAVs
CN114510076A (en) Target collaborative detection and guidance integrated method and system based on unscented transformation
CN201004180Y (en) Pose control system for unmanned plane
CN104655134A (en) Multisensor data acquisition system based on GPS time scale
CN113671598B (en) Combined high-altitude wind detection method
CN104765373A (en) On-satellite relative motion state acquiring method
CN105910578A (en) Integrated air pressure radio composite height measurement equipment
RU95117763A (en) COMPLEX ON-BOARD TRAJECTOR MEASUREMENTS
US9562788B1 (en) System and method for doppler aided navigation using weather radar
Crosbie et al. Synchronous navigation of AUVs using WHOI micro-modem 13-bit communications
CN103823209A (en) Low-cost motion error measuring device used in light and small-sized synthetic aperture radar system
CN102541065A (en) High-accuracy low-height control method and system for aircraft
CN205582036U (en) Unmanned helicopter dual antenna surveys appearance direction -finding and flight data acquisition and recording system
RU2347193C1 (en) Methods of determination of attack angles and slide at flight trials of supersonic flying machine
RU2606712C2 (en) Integrated system of backup devices
JP2014196906A (en) Meteorological observation device

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20150520

Termination date: 20180517