CN105203075B - Radio altimeter data fusion height-finding system and the high method of survey - Google Patents
Radio altimeter data fusion height-finding system and the high method of survey Download PDFInfo
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- CN105203075B CN105203075B CN201510587649.2A CN201510587649A CN105203075B CN 105203075 B CN105203075 B CN 105203075B CN 201510587649 A CN201510587649 A CN 201510587649A CN 105203075 B CN105203075 B CN 105203075B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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Abstract
The present invention provides a kind of radio altimeter data fusion height-finding system and surveys high method, and radio altimeter data fusion height-finding system includes：Processor, radio altitude measuring unit, gyroscope, accelerometer and barometer；The processor is connected with the radio altitude measuring unit, the gyroscope, the accelerometer and the barometer respectively.Advantage is：By carrying out data fusion to the aircraft height of antenna value on basis, aircraft inclination angle value, aircraft acceleration value and aircraft pressure altitude value, ensure to provide rational absolute altitude value over the ground to aircraft when surface state is complicated, and absolute altitude value over the ground is provided accurately in high maneuver flight, improve the flight safety of aircraft.
Description
Technical field
The invention belongs to aircraft altitude field of measuring technique, and in particular to a kind of radio altimeter data fusion is surveyed high
System and the high method of survey.
Background technology
Radio altimeter is one of important electronic equipment of aerospace flight vehicle, is mainly used in measuring the exhausted of aircraft
To height.The operation principle of radio altimeter is：Worked using radio-wave reflection principle, specifically, being equipped with aboard
Radio transmitter and radio receiver, during measurement, the emitted antenna of radio transmitter earthward launches radio wave, nothing
The electric wave directly transmitted by radio transmitter and the echo progress returned through ground return that line electricity receiver receives priority
Compare, two beam electric waves there are the time difference.If electric wave is not interfered in transmit process, the time difference is proportional to tested height
Degree, it is therefore, measurable to obtain the current absolute altitude to ground of aircraft because the speed of radio wave propagation is constant.
The absolute altitude of precision real time measuring aircraft, is the crucial ginseng for determining flying vehicles control precision and the stability of a system
Number.Existing radio altimeter is when measuring the absolute altitude of aircraft, the characteristics of surveying high precision with low clearance；But,
When the line of flight passes through high building or zanjon, or, when aircraft carries out big pitching, big roll maneuvering flight, it may appear that wireless
Electrical height table surveys high inaccurate phenomenon, and then influences flying vehicles control precision and the stability of a system, when serious, or even entail dangers to flies
How the flight safety of row device, solve the above problems, be at present it is in the urgent need to address the problem of.
The content of the invention
The defect existed for prior art, the present invention provide a kind of radio altimeter data fusion height-finding system and
High method is surveyed, can effectively be solved the above problems.
The technical solution adopted by the present invention is as follows：
The present invention provides a kind of radio altimeter data fusion height-finding system, including：Processor, radio altitude measurement
Unit, gyroscope, accelerometer and barometer；The processor respectively with the radio altitude measuring unit, the top
Spiral shell instrument, the accelerometer and barometer connection.
The present invention also provides a kind of radio altimeter data fusion and surveys high method, comprises the following steps：
Step 1, during aircraft flight, radio altitude measuring unit is measured in real time by certain sample frequency
To aircraft height of antenna value, and the aircraft height of antenna value that measurement is obtained is uploaded to the processor in real time；
Meanwhile, gyroscope measurement in real time obtains aircraft inclination angle value, and will measure the obtained aircraft
Inclination angle value is uploaded to the processor in real time；
Meanwhile, accelerometer measurement in real time obtains aircraft acceleration value, and will measure the obtained aircraft
Acceleration magnitude is uploaded to the processor in real time；
Meanwhile, barometer measurement in real time obtains the atmospheric pressure value of aircraft place environment, and the atmospheric pressure value is converted
For aircraft pressure altitude value, the aircraft pressure altitude value is then uploaded to the processor in real time；
Step 2, the processor constantly receives the aircraft height of antenna value, the aircraft angle of inclination in real time
Value, the aircraft acceleration value and the aircraft pressure altitude value；
The processor runs the 1st thread, the 2nd thread and the 3rd thread parallel；
Wherein, the running of the 1st thread is step 2.1；
The running of 2nd thread is step 2.2；
The running of 3rd thread is step 2.3；
Step 2.1, the running of the 1st thread, including：
Step 2.1.1：Aircraft acceleration value and the aircraft pressure altitude described in the 1st thread real-time reception
Value；
1st thread using real-time reception to each aircraft for being arrived to real-time reception of each aircraft acceleration value
Pressure altitude value is revised, and obtains the aircraft effective atmosphere height value at each moment；Then, draw and obtain using the time as horizontal stroke
Coordinate, the pressure altitude back-up curve by ordinate of aircraft effective atmosphere height value；And calculating obtains current time in real time
Pressure altitude back-up curve slope K 1；And pressure altitude back-up curve slope K 1 is uploaded to the 2nd thread in real time；
Step 2.2, the running of the 2nd thread, including：
Step 2.2.1, the 2nd thread constantly receives the aircraft height of antenna value in real time, and is flown described in real-time judge
Whether device height of antenna value is more than the 1st setting maximum, if not less than the aircraft height of antenna value real-time Transmission is given
3rd thread；If it does, then performing step 2.2.2；
Step 2.2.2, the 2nd thread is drawn using the time as abscissa, using aircraft height of antenna value as ordinate
To height of antenna curve, and the height of antenna slope of curve K2 for obtaining current time is calculated in real time；
The 2nd thread real-time judge height of antenna slope of curve K2 and the irrelevance of pressure altitude back-up curve slope K 1
Whether preset value is exceeded, if not less than by the aircraft height of antenna value real-time Transmission to the 3rd thread；If it does, then
Reject the aircraft height of antenna value；
Step 2.3, the running of the 3rd thread, including：
Step 2.3.1, aircraft inclination angle value described in the 3rd thread real-time reception, and judge that the aircraft inclines
Whether oblique angle angle value is more than the 2nd setting maximum, as long as not less than i.e. execution step 2.3.2；Once exceeding, terminate hold immediately
Row step 2.3.2, redirects execution step 2.3.3；
Step 2.3.2, the 3rd thread carries out self calibration by the 1st self-calibration cycle, if the time of the 1st self-calibration cycle
Length is T1, then：In current 1st self-calibration cycle, when initial, cache as sky, then, the 3rd thread will constantly be received
To the aircraft height of antenna value for coming from the 2nd thread store into caching, also, whenever by an aircraft height of antenna
When value storage is to caching, processing is filtered to each aircraft height of antenna value stored in caching, current time is obtained
Aircraft height of antenna virtual value, and export the aircraft height of antenna virtual value；When reach this 1st self calibration week
During the phase, the 3rd thread empties each aircraft height of antenna value stored in the caching, subsequently into the next 1st certainly
Calibration cycle；
Step 2.3.3, including：
Step 2.3.3.1, it is assumed that in moment t1, the 3rd thread receives some flight more than the 2nd setting maximum
Device inclination angle value, then since moment t1, the newest aircraft received by the 3rd thread one side real-time judge inclines
Whether oblique angle angle value if be not below, performs step 2.3.3.2 less than the 2nd setting maximum；If be less than, immediately
Return and perform step 2.3.2；
Step 2.3.3.2, the 3rd thread by the 2nd self-calibration cycle carry out self calibration, if the 2nd self-calibration cycle when
Between length be T2；Then：The each flight for coming from the 2nd thread that 3rd thread will be received from moment t1 to moment t1+T2
Device height of antenna value is stored in caching, also, whenever by an aircraft height of antenna value storage to caching, to caching
Middle stored all aircraft height of antenna values are filtered processing, and the aircraft height of antenna for obtaining current time is effective
Value, and export the aircraft height of antenna virtual value.
It is preferred that, in step 2.1.1, each aircraft acceleration value that the 1st thread is arrived using real-time reception is to reality
When each aircraft pressure altitude value for receiving revised, be specially：
1st thread compares what the aircraft pressure altitude value that current time receives was received with previous moment in real time
Aircraft pressure altitude value, judges whether the aircraft pressure altitude value at current time undergos mutation；In the event of being mutated, then obtain
The aircraft acceleration value at current time is taken, and judges whether aircraft acceleration value undergos mutation, if aircraft acceleration
Value is undergone mutation, then the aircraft pressure altitude value at current time is effective aircraft pressure altitude value；If aircraft adds
Velocity amplitude is not undergone mutation, then rejects the aircraft pressure altitude value at current time.
It is preferred that, in step 2.2.1, the 1st sets maximum as 40 meters；
In step 2.3.1, the 2nd sets maximum as 41 °；
In step 2.3.2, the 1st self-calibration cycle is 3 seconds；
In step 2.3.3.2, the 2nd self-calibration cycle is 150 seconds.
The radio altimeter data fusion height-finding system and the high method of survey that the present invention is provided have advantages below：
Can be when surface state be complicated to the rational absolute altitude value, and being carried in high maneuver flight over the ground of aircraft offer
For accurately absolute altitude value over the ground, the flight safety of aircraft is improved.
Brief description of the drawings
The principle schematic for the radio altimeter data fusion height-finding system that Fig. 1 provides for the present invention；
The assembling schematic diagram for the radio altimeter data fusion height-finding system that Fig. 2 provides for the present invention；
The circuit theory schematic diagram for the radio altimeter data fusion height-finding system that Fig. 3 provides for the present invention；
The electrical connection schematic diagram for the radio altimeter data fusion height-finding system that Fig. 4 provides for the present invention；
Fig. 5 surveys the schematic flow sheet of high method for the radio altimeter data fusion that the present invention is provided.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail：
Accurately measured to overcome the shortcomings of that existing radio altimeter can not carry out aircraft distance to the ground, the present invention
A kind of radio altimeter data fusion height-finding system is provided and high method is surveyed, can not only be on the line of flight with a varied topography
Carry out accurate rational aircraft altitude to indicate, and can be prevented effectively from high maneuver flight because antenna lobe is improper
Caused by measurement error.
The radio altimeter data fusion height-finding system that the present invention is provided, as shown in figure 1, being radio altimeter data
The principle schematic of height-finding system is merged, including：Processor, radio altitude measuring unit, gyroscope, accelerometer and gas
Pressure meter；The processor respectively with the radio altitude measuring unit, the gyroscope, the accelerometer and the gas
Pressure meter connection.The flight attitude information provided by gyroscope provides calibration for radio altitude in wide-angle pitching, roll
Data；The pressure altitude value that the acceleration value and barometer provided by accelerometer is provided carries out the abnormal number of radio altitude
According to filter out.
As shown in Fig. 2 be the assembling schematic diagram of radio altimeter data fusion height-finding system, in fig. 2,1 company of representative
Connect device panel, 2 representative sensor plates, 3 represent radio frequency connector, 4 represent low-frequency connector, 5 represent motherboard, 6 represent tuner,
7 represent digiboard, 8 represent processor plate, 9 representative simulation plates, 10 represent power panel.
As shown in figure 3, being the circuit theory schematic diagram of radio altimeter data fusion height-finding system.As shown in figure 4, being
The electrical connection schematic diagram of radio altimeter data fusion height-finding system.
As shown in figure 5, the schematic flow sheet of high method is surveyed for the radio altimeter data fusion that the present invention is provided, including
Following steps：
Step 1, during aircraft flight, radio altitude measuring unit is measured in real time by certain sample frequency
To aircraft height of antenna value, and the aircraft height of antenna value that measurement is obtained is uploaded to the processor in real time；
Meanwhile, gyroscope measurement in real time obtains aircraft inclination angle value, and will measure the obtained aircraft
Inclination angle value is uploaded to the processor in real time；
Meanwhile, accelerometer measurement in real time obtains aircraft acceleration value, and will measure the obtained aircraft
Acceleration magnitude is uploaded to the processor in real time；
Meanwhile, barometer measurement in real time obtains the atmospheric pressure value of aircraft place environment, and the atmospheric pressure value is converted
For aircraft pressure altitude value, the aircraft pressure altitude value is then uploaded to the processor in real time；
Step 2, the processor constantly receives the aircraft height of antenna value, the aircraft angle of inclination in real time
Value, the aircraft acceleration value and the aircraft pressure altitude value；
The processor runs the 1st thread, the 2nd thread and the 3rd thread parallel；
Wherein, the running of the 1st thread is step 2.1；
The running of 2nd thread is step 2.2；
The running of 3rd thread is step 2.3；
Step 2.1, the running of the 1st thread, including：
Step 2.1.1：Aircraft acceleration value and the aircraft pressure altitude described in the 1st thread real-time reception
Value；
1st thread using real-time reception to each aircraft for being arrived to real-time reception of each aircraft acceleration value
Pressure altitude value is revised, and obtains the aircraft effective atmosphere height value at each moment；Then, draw and obtain using the time as horizontal stroke
Coordinate, the pressure altitude back-up curve by ordinate of aircraft effective atmosphere height value；And calculating obtains current time in real time
Pressure altitude back-up curve slope K 1；And pressure altitude back-up curve slope K 1 is uploaded to the 2nd thread in real time.
In this step, the 1st thread using real-time reception to each aircraft acceleration value real-time reception is arrived it is each
Aircraft pressure altitude value is revised, and is specially：
1st thread compares what the aircraft pressure altitude value that current time receives was received with previous moment in real time
Aircraft pressure altitude value, judges whether the aircraft pressure altitude value at current time undergos mutation；In the event of being mutated, then obtain
The aircraft acceleration value at current time is taken, and judges whether aircraft acceleration value undergos mutation, if aircraft acceleration
Value is undergone mutation, then the aircraft pressure altitude value at current time is effective aircraft pressure altitude value；If aircraft adds
Velocity amplitude is not undergone mutation, then rejects the aircraft pressure altitude value at current time.
Specifically, because aircraft pressure altitude value by air-flow is influenceed larger, as long as nearby air-flow becomes aircraft
Change, may result in aircraft pressure altitude value and change, therefore, the limited accuracy of aircraft pressure altitude value, so, this
In invention, aircraft pressure altitude value is revised using aircraft acceleration value, aircraft acceleration value herein refers to winged
The acceleration of row device over the ground, when aircraft acceleration value is undergone mutation, if aircraft pressure altitude value is not undergone mutation,
This aircraft pressure altitude value is then rejected, so as to ensure the correctness of aircraft pressure altitude overall variation trend.
Herein, it is ensured that aircraft pressure altitude overall variation trend is correctly significant, it can aid in revising radio
Altitude information, concrete principle is described in detail below.
Step 2.2, the running of the 2nd thread, including：
Step 2.2.1, the 2nd thread constantly receives the aircraft height of antenna value in real time, and is flown described in real-time judge
Whether device height of antenna value is more than the 1st setting maximum, if not less than the aircraft height of antenna value real-time Transmission is given
3rd thread；If it does, then performing step 2.2.2；
Step 2.2.2, the 2nd thread is drawn using the time as abscissa, using aircraft height of antenna value as ordinate
To height of antenna curve, and the height of antenna slope of curve K2 for obtaining current time is calculated in real time；
The 2nd thread real-time judge height of antenna slope of curve K2 and the irrelevance of pressure altitude back-up curve slope K 1
Whether preset value is exceeded, if not less than by the aircraft height of antenna value real-time Transmission to the 3rd thread；If it does, then
Reject the aircraft height of antenna value.
In this step, rule of thumb, the 1st setting maximum is preferably set to 40 meters, and specific reason is：Due in low clearance
When, air pressure is not changed substantially, is influenceed smaller by ground level, therefore, and barometertic altimeter is measured in low clearance scope
It is inaccurate, so, higher to ground level, the aircraft pressure altitude value that barometertic altimeter measurement is obtained is more accurate.Therefore, for
Low clearance within 40 meters, does not use aircraft pressure altitude value to revise aircraft height of antenna value.
And when higher than 40 meters, use aircraft pressure altitude value revise aircraft height of antenna value principle for：Due to
When higher than 40 meters, although the degree of accuracy of aircraft pressure altitude value is limited, still, and the present invention can effectively ensure that pressure altitude value
The correctness of variation tendency, therefore, by pressure altitude value changes trend (i.e. pressure altitude back-up curve slope K 1) and wireless height
Degree variation tendency (i.e. height of antenna slope of curve K2) is compared, if height of antenna variation tendency and pressure altitude value changes
Trend is inconsistent, shows height of antenna error in data, so rejecting the aircraft height of antenna value, it is ensured that aircraft height of antenna
The correctness of data.
Step 2.3, the running of the 3rd thread, including：
Step 2.3.1, aircraft inclination angle value described in the 3rd thread real-time reception, and judge that the aircraft inclines
Whether oblique angle angle value is more than the 2nd setting maximum, as long as not less than i.e. execution step 2.3.2；Once exceeding, terminate hold immediately
Row step 2.3.2, redirects execution step 2.3.3；
Wherein, rule of thumb, the 2nd setting maximum is preferably set to 41 °.
Step 2.3.2, the 3rd thread carries out self calibration by the 1st self-calibration cycle, if the time of the 1st self-calibration cycle
Length is T1, then：In current 1st self-calibration cycle, when initial, cache as sky, then, the 3rd thread will constantly be received
To the aircraft height of antenna value for coming from the 2nd thread store into caching, also, whenever by an aircraft height of antenna
When value storage is to caching, processing is filtered to each aircraft height of antenna value stored in caching, current time is obtained
Aircraft height of antenna virtual value, and export the aircraft height of antenna virtual value；When reach this 1st self calibration week
During the phase, the 3rd thread empties each aircraft height of antenna value stored in the caching, subsequently into the next 1st certainly
Calibration cycle；
Wherein, rule of thumb, the 1st self-calibration cycle is preferably set to 3 seconds.
Step 2.3.3, including：
Step 2.3.3.1, it is assumed that in moment t1, the 3rd thread receives some flight more than the 2nd setting maximum
Device inclination angle value, then since moment t1, the newest aircraft received by the 3rd thread one side real-time judge inclines
Whether oblique angle angle value if be not below, performs step 2.3.3.2 less than the 2nd setting maximum；If be less than, immediately
Return and perform step 2.3.2；
Step 2.3.3.2, the 3rd thread by the 2nd self-calibration cycle carry out self calibration, if the 2nd self-calibration cycle when
Between length be T2；Then：The each flight for coming from the 2nd thread that 3rd thread will be received from moment t1 to moment t1+T2
Device height of antenna value is stored in caching, also, whenever by an aircraft height of antenna value storage to caching, to caching
Middle stored all aircraft height of antenna values are filtered processing, and the aircraft height of antenna for obtaining current time is effective
Value, and export the aircraft height of antenna virtual value.
Wherein, rule of thumb, the 2nd self-calibration cycle is preferably set to 150 seconds.
The operation logic of 3rd thread is：
Measured in real time by gyroscope and obtain aircraft inclination angle value, when aircraft angle of inclination is not less than 41 °, this
When aircraft be believed that and belong to regular flight condition, due to aircraft non-knockdown over the ground, pass through radio transmitting and receive
Antenna, it is measurable to obtain relatively accurate radio altitude value, now, and using the self-calibration cycle of 3 seconds, the nothing obtained to measurement
Line electrical height value carries out data filtering processing, prevents the saltus step of altitude information.In the present invention, self-alignment implication is：Often pass through 3
Second, all radio altitude values stored in caching are emptied, by radio transmitting and reception antenna, ground searched again
Rope measures radio altitude value；And in each 3 seconds self-calibration cycle, a radio altitude is often stored into caching
During value, i.e., processing is filtered to all radio altitude values stored in caching, the result after processing is used as current time
Final valid wireless electrical height value, and export valid wireless electrical height value.
And when aircraft angle of inclination is more than 41 °, now aircraft knockdown over the ground, for example, roll is carried out, because
This, it is inaccurate now to measure obtained radio altitude value, now, normal much larger than foregoing using the self-calibration cycle of 150 seconds
The self-calibration cycle of 3 seconds when not tilting, meaning is：Assuming that at the 1st second to the 3rd second, aircraft was not tilted over the ground, then delay in caching
Deposit 1-3 seconds and measured n obtained radio altitude value；Then, when the aircraft knockdown over the ground at the 4th second, due to
Self-calibration cycle is extended, so, processing is not emptied to caching, continue to measure the 4th second obtained radio altitude value storage
Into caching, the 4th second is measured obtained radio altitude value and be designated as radio altitude value a, then：Due to having stored n in caching
Individual normal radio altitude value, so when by radio altitude value a deposit cachings, to n normal radio altitudes
The radio altitude value a of value and an exception is filtered after processing, it is ensured that correct radio altitude value is obtained after filtering；
And due under normal circumstances, the time of origin of aircraft knockdown over the ground is much smaller than 150 seconds, it is generally only 2-3 seconds, so,
In the self-calibration cycle of 150 seconds, quantity very small abnormal height of antenna value can be only stored in into caching, and most of nothings
Line electrical height value is effectively smoothly, therefore, in the self-calibration cycle of 150 seconds, whenever into caching, storage one is wireless
During electrical height value, by being filtered processing to all radio altitude values in caching, one is obtained more after can guarantee that filtering
For accurate radio altitude value.
In addition, when aircraft angle of inclination is more than 41 °, survey high sensitivity can be improved simultaneously, in aircraft heeling condition
Under, improve and be located at ground return intensity of wave immediately below aircraft received by radio receiver, connect radio altimeter
Receive as far as possible many normal wireless electrical height data.
In addition, in the present invention, as long as the radio altitude value that radio altimeter measurement is obtained is less than alarm highly, immediately
Stop data rejecting, it is ensured that the safety of aircraft.Reason is：When aircraft altitude is relatively low, due to now echo-signal
It is sufficiently stable, therefore the degree of accuracy of height of antenna data ensures its reliability enough, it is not necessary to carry out data and reject operation.
As can be seen here, the radio altimeter data fusion height-finding system and the high method of survey that the present invention is provided have following
Advantage：
Pass through aircraft height of antenna value, aircraft inclination angle value, aircraft acceleration value and the flight to basis
Device pressure altitude value carries out data fusion, it is ensured that provide rational absolute altitude over the ground to aircraft when surface state is complicated
Value, and absolute altitude value over the ground is provided accurately in high maneuver flight, improve the flight safety of aircraft.
Described above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
Depending on protection scope of the present invention.
Claims (3)
1. a kind of radio altimeter data fusion based on radio altimeter data fusion height-finding system surveys high method, it is special
Levy and be, radio altimeter data fusion height-finding system includes：Processor, radio altitude measuring unit, gyroscope, acceleration
Degree meter and barometer；The processor respectively with the radio altitude measuring unit, the gyroscope, the accelerometer
And the barometer connection；
Radio altimeter data fusion is surveyed high method and comprised the following steps：
Step 1, during aircraft flight, by certain sample frequency, measurement is flown radio altitude measuring unit in real time
Row device height of antenna value, and the aircraft height of antenna value that measurement is obtained is uploaded to the processor in real time；
Meanwhile, gyroscope measurement in real time obtains aircraft inclination angle value, and will measure obtained aircraft inclination
Angle value is uploaded to the processor in real time；
Meanwhile, accelerometer measurement in real time obtains aircraft acceleration value, and will measure obtained aircraft acceleration
Angle value is uploaded to the processor in real time；
Meanwhile, barometer measurement in real time obtains the atmospheric pressure value of environment where aircraft, and the atmospheric pressure value is scaled winged
Row device pressure altitude value, is then uploaded to the processor in real time by the aircraft pressure altitude value；
Step 2, the processor constantly receives the aircraft height of antenna value, the aircraft inclination angle value, institute in real time
State aircraft acceleration value and the aircraft pressure altitude value；
The processor runs the 1st thread, the 2nd thread and the 3rd thread parallel；
Wherein, the running of the 1st thread is step 2.1；
The running of 2nd thread is step 2.2；
The running of 3rd thread is step 2.3；
Step 2.1, the running of the 1st thread, including：
Step 2.1.1：Aircraft acceleration value and the aircraft pressure altitude value described in the 1st thread real-time reception；
1st thread using real-time reception to each aircraft air pressure for being arrived to real-time reception of each aircraft acceleration value
Height value is revised, and obtains the aircraft effective atmosphere height value at each moment；Then, draw and obtain sitting using the time to be horizontal
Mark, the pressure altitude back-up curve by ordinate of aircraft effective atmosphere height value；And calculating obtains current time in real time
Pressure altitude back-up curve slope K 1；And pressure altitude back-up curve slope K 1 is uploaded to the 2nd thread in real time；
Step 2.2, the running of the 2nd thread, including：
Step 2.2.1, the 2nd thread constantly receives the aircraft height of antenna value in real time, and aircraft described in real-time judge without
Whether line height value is more than the 1st setting maximum, if not less than by the aircraft height of antenna value real-time Transmission to the 3rd
Thread；If it does, then performing step 2.2.2；
Step 2.2.2, the 2nd thread is using the time as abscissa, using aircraft height of antenna value as ordinate, and drafting obtains nothing
Line altitude curve, and the height of antenna slope of curve K2 for obtaining current time is calculated in real time；
Whether the irrelevance of the 2nd thread real-time judge height of antenna slope of curve K2 and pressure altitude back-up curve slope K 1
More than preset value, if not less than by the aircraft height of antenna value real-time Transmission to the 3rd thread；If it does, then rejecting
The aircraft height of antenna value；
Step 2.3, the running of the 3rd thread, including：
Step 2.3.1, aircraft inclination angle value described in the 3rd thread real-time reception, and judge the aircraft inclination angle
Whether angle value is more than the 2nd setting maximum, as long as not less than i.e. execution step 2.3.2；Once exceeding, terminate perform step immediately
Rapid 2.3.2, redirects execution step 2.3.3；
Step 2.3.2, the 3rd thread carries out self calibration by the 1st self-calibration cycle, if the time span of the 1st self-calibration cycle
For T1, then：In current 1st self-calibration cycle, when initial, cache as sky, then, the 3rd thread will constantly be received
The aircraft height of antenna value storage for coming from the 2nd thread is deposited into caching, also, whenever by an aircraft height of antenna value
When storing up caching, processing is filtered to each aircraft height of antenna value stored in caching, flying for current time is obtained
Row device height of antenna virtual value, and export the aircraft height of antenna virtual value；When reaching this 1st self-calibration cycle
When, the 3rd thread empties each aircraft height of antenna value stored in the caching, subsequently into next 1st self-correcting
Paracycle；
Step 2.3.3, including：
Step 2.3.3.1, it is assumed that in moment t1, the 3rd thread receives some and inclined more than the aircraft of the 2nd setting maximum
Oblique angle angle value, then since moment t1, the newest aircraft inclination angle received by the 3rd thread one side real-time judge
Whether angle value if be not below, performs step 2.3.3.2 less than the 2nd setting maximum；If be less than, return immediately
Perform step 2.3.2；
Step 2.3.3.2, the 3rd thread carries out self calibration by the 2nd self-calibration cycle, if the time of the 2nd self-calibration cycle is long
Spend for T2；Then：3rd thread by each aircraft for coming from the 2nd thread received from moment t1 to moment t1+T2 without
Line height value is stored in caching, also, whenever by an aircraft height of antenna value storage to caching, to institute in caching
All aircraft height of antenna values of storage are filtered processing, obtain the aircraft height of antenna virtual value at current time, and
Export the aircraft height of antenna virtual value.
2. radio altimeter data fusion according to claim 1 surveys high method, it is characterised in that in step 2.1.1,
1st thread using real-time reception to each aircraft pressure altitude for being arrived to real-time reception of each aircraft acceleration value
Value is revised, and is specially：
1st thread compares the flight that the aircraft pressure altitude value that current time receives is received with previous moment in real time
Device pressure altitude value, judges whether the aircraft pressure altitude value at current time undergos mutation；In the event of being mutated, then obtain and work as
The aircraft acceleration value at preceding moment, and judge whether aircraft acceleration value undergos mutation, if aircraft acceleration value is sent out
Raw mutation, then the aircraft pressure altitude value at current time is effective aircraft pressure altitude value；If aircraft acceleration
Value is not undergone mutation, then rejects the aircraft pressure altitude value at current time.
3. radio altimeter data fusion according to claim 1 surveys high method, it is characterised in that in step 2.2.1,
1st sets maximum as 40 meters；
In step 2.3.1, the 2nd sets maximum as 41 °；
In step 2.3.2, the 1st self-calibration cycle is 3 seconds；
In step 2.3.3.2, the 2nd self-calibration cycle is 150 seconds.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510587649.2A CN105203075B (en) | 2015-09-15 | 2015-09-15 | Radio altimeter data fusion height-finding system and the high method of survey |
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| CN110658831B (en) * | 2019-10-22 | 2022-04-15 | 深圳市道通智能航空技术股份有限公司 | Ground altitude correction method and device and unmanned aerial vehicle |
| CN111665508B (en) * | 2020-04-28 | 2022-10-25 | 北京安达维尔航空设备有限公司 | Helicopter-mounted terrain following and avoiding visual navigation system and navigation method |
| CN113706934B (en) * | 2021-08-08 | 2023-04-18 | 中国航空工业集团公司沈阳飞机设计研究所 | Dangerous altitude warning method based on radio altitude calculation |
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