CN101666643A - Height measuring device - Google Patents
Height measuring device Download PDFInfo
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- CN101666643A CN101666643A CN200910092450A CN200910092450A CN101666643A CN 101666643 A CN101666643 A CN 101666643A CN 200910092450 A CN200910092450 A CN 200910092450A CN 200910092450 A CN200910092450 A CN 200910092450A CN 101666643 A CN101666643 A CN 101666643A
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- satellite navigation
- location system
- height
- altitude
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Abstract
The invention relates to a height measuring device based on the atmospheric pressure measurement and the data processing of a satellite navigation and positioning system, belonging to the field of height measuring equipment. An atmospheric pressure measuring component and a receiver of the satellite navigation and positioning system are respectively connected with a judgment component and a computing component; the atmospheric pressure measuring component computes atmospheric pressure height according to the atmospheric pressure; the receiver of the satellite navigation and positioning systemcomputes the height of the satellite navigation and positioning system and judges whether the satellite navigation and positioning system discontinues or skips points; when the satellite navigation and positioning system does not discontinue or skip points, the atmospheric pressure height can be corrected by the height of the satellite navigation and positioning system; and when the height of thesatellite navigation and positioning system is not updated or discontinues or skips points, the final height value is equal to the value of the atmospheric pressure height so that a correct and reliable height value with high update rate can be obtained.
Description
Technical field
The invention belongs to the height measuring equipment field, particularly a kind of altitude measuring device based on barometric surveying and satellite navigation and location system data processing.
Background technology
In general, highly have in the height lower higher, in the lower character of height higher position.The present known altitude measuring device that utilizes this character, measures height with air pressure that has.
Yet, the air pressure of measuring with original altitude measuring device, with highly directly corresponding, but air pressure except meeting because of highly difference changes, also can be subjected to the influence of factors such as Changes in weather, so measured height can contain many errors.For example, also can be former in thereby make air pressure change the altitude measuring device height does not change because of Changes in weather etc., thus make the height value that records also change.Aforementioned error is to measure the original reason error of highly this method with air pressure, and pressure transducer self is difficult to eliminate or compensate aforementioned error.Simultaneously, the altitude measuring device of measuring height with air pressure has some advantages, and for example system constitutes simply, is not easy to break down or unexpected and then cause the height value hop or upgrade interrupting; The height value turnover rate can be set as required, can obtain very high data updating rate.
Known satellite navigation and location system has gps satellite GPS, GLONASS GLONASS (Global Navigation Satellite System), Beidou satellite navigation system and Galileo satellite navigation and location system etc.The satellite navigation and location system receiver receives the navigator fix signal that Navsat sends, and with Navsat as dynamic known point, measure in real time motion carrier in position and the speed of navigating, and then finish navigation.Therefore utilize the satellite navigation and location system receiver can calculate height value.
Yet the signal that Navsat sends is subject to disturb and block, and can cause the satellite navigation and location system receiver can't calculate height value.The height value that the satellite navigation and location system receiver resolves sometimes also can hop, and height value changes a lot suddenly.For example, when the satellite navigation and location system receiver is changed the Navsat that receives data, resolve the result and tend to hop.The resolving the result and can only outwards export to the several characteristic frequency between tens Hz with 1Hz usually of satellite navigation and location system receiver, data updating rate can not arbitrarily be set, and the higher data turnover rate is difficult to obtain especially.The height value reliability that these problems make the satellite navigation and location system receiver resolve reduces.Satellite navigation and location system also has the advantage that some barometer altitude instrumentation devices do not have, and for example resolves the result and influenced not quite by uncertain factors such as weather, can long time continuous working and resolve the result and do not drift about.
Summary of the invention
The objective of the invention is to utilize the advantage of barometer altitude instrumentation device and satellite navigation and location system, remedy the problems referred to above of the two existence mutually, design a kind of data updating rate height, height value accurately, the altitude measuring device of reliable operation.It is characterized in that this installs by forming with the lower part:
(1) air pressure is measured assembly: measure air pressure, and by data-interface output pressure data;
(2) satellite navigation and location system receiver: receive the satellite navigation and location system signal, calculate the satellite navigation and location system height, and resolve result and satellite navigation and location system duty by data-interface output according to signal;
(3) judgement and computation module: receive aforementioned barometric information and aforementioned satellite navigation and location system altitude information, resolve barometer altitude according to barometric information, judge whether the satellite navigation and location system height interrupts, judge whether hop of satellite navigation and location system height, change the height value computing method according to aforementioned judgement, and the computed altitude value, this assembly is made of one or more unit with data interaction, logic determines and computing function;
(4) power management assembly: be aforementioned each assembly power supply;
Air pressure is measured assembly and is connected with computation module with judgement respectively with the satellite navigation and location system receiver; The power management assembly is connected with computation module with air pressure mensuration assembly, satellite navigation and location system receiver, judgement respectively.
Described satellite navigation and location system receiver upgrades a height value every unit interval t, and to define this height value be the satellite navigation and location system height, and the moment that the satellite navigation and location system height upgrades is particular moment, and all the other are the nonspecific moment constantly; The satellite navigation and location system height only upgrades in particular moment, and carries out aforementioned judgement in particular moment:
(1) checks whether the satellite navigation and location system height upgrades, when the satellite navigation and location system height does not upgrade, judge that the satellite navigation and location system height interrupts;
(2) set the hop judgment threshold according to the moving body characteristics of motion in advance, when the satellite navigation and location system height change value of up-to-date satellite navigation and location system height and previous moment surpasses hop judgment threshold or the interruption of previous moment satellite navigation and location system height, judge satellite navigation and location system height hop.
The barometer altitude turnover rate that described air pressure is measured assembly is higher than satellite navigation and location system height turnover rate, the nonspecific moment when barometer altitude has renewal, the height value that altitude measuring device shows equals the barometer altitude that air pressure mensuration assembly records.
Described satellite navigation and location system height is in particular moment hop or when interrupting, the height value that altitude measuring device shows equals air pressure and measures the barometer altitude that assembly records; When described satellite navigation and location system height did not have hop and do not interrupt in particular moment, revise the barometer altitude algorithm parameter, make the barometer altitude of up-to-date particular moment equal the satellite navigation and location system height.
Beneficial effect of the present invention is:
(1) can obtain very high height value turnover rate, far above satellite navigation and location system receiver resolved data turnover rate;
(2) altitude measuring device reliable operation still can operate as normal when the satellite navigation and location system receiver signal interrupts or separates the calculated altitude hop;
(3) height value that utilizes the satellite navigation and location system receiver to resolve is revised barometer altitude, and the height value drift that finally calculates significantly reduces.
Description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is a principle of work synoptic diagram of the present invention;
Fig. 3 is that height of devices of the present invention is resolved synoptic diagram.
Embodiment
The invention provides a kind of altitude measuring device, the present invention will be further described below by description of drawings and embodiment.
Fig. 1 is a structural representation of the present invention.It is micro air vehicle or ground moving body that altitude measuring device of the present invention is implemented the carrier moving body.Air pressure is measured assembly and is connected with computation module with judgement respectively with the satellite navigation and location system receiver; The power management assembly is connected with computation module with air pressure mensuration assembly, satellite navigation and location system receiver, judgement respectively.(1) air pressure measure the barometric information that assembly obtains can be with the output of specification data interface, its function is: measure air pressure, and by data-interface output pressure data; (2) function of satellite navigation and location system receiver is: receive the satellite navigation and location system signal, calculate the satellite navigation and location system height according to signal, and resolve result and satellite navigation and location system duty by data-interface output; (3) function of judgement and computation module is: receive aforementioned barometric information and aforementioned satellite navigation and location system altitude information, resolve barometer altitude according to barometric information, judge whether the satellite navigation and location system height interrupts, judge whether hop of satellite navigation and location system height, change the height value computing method according to aforementioned judgement, and the computed altitude value, this assembly is made of one or more unit with data interaction, logic determines and computing function; (4) function of power management assembly is: be aforementioned each assembly power supply.
Fig. 2 is a principle of work synoptic diagram of the present invention.Set the satellite navigation and location system receiver and upgrade a height value, and to define this height value be the satellite navigation and location system height that the moment that the satellite navigation and location system height upgrades is particular moment every unit interval t.Program loop in judgement and the computation module is carried out, and cycle period is identical with the barometric information update cycle that air pressure is measured assembly.The program first step is to read barometric information; Second step was to resolve barometer altitude; The 3rd step was a final height value of the barometer altitude assignment being given altitude measuring device; The 4th step was to judge whether to arrive the particular moment that the satellite navigation and location system height should upgrade, if the result is not, this loop ends is if the result is for being program continuation execution; The 5th step was to judge whether the satellite navigation and location system height interrupts, and basis for estimation is that data have or not renewal, if the result is for being, and this loop ends, if for not, program continuation execution; The 6th step was to judge whether hop of satellite navigation and location system height, the satellite navigation and location system height change value that is judged as the foundation that is and is up-to-date satellite navigation and location system height and previous moment surpasses the hop judgment threshold or previous moment satellite navigation and location system height interrupts, otherwise for denying, if the result is for being, this loop ends, if for denying program continuation execution; The 7th step was to revise the barometer altitude algorithm parameter, made the barometer altitude of up-to-date particular moment equal the satellite navigation and location system height.
Fig. 3 is that height of devices of the present invention is resolved synoptic diagram.Uncorrected barometer altitude departs from the satellite navigation and location system height simultaneously because As time goes on the influence of factors such as weather, can depart from true altitude gradually; The satellite navigation and location system height is more consistent with true altitude, but turnover rate is lower.Whenever satellite navigation and location system more during new high degree, just revise the barometer altitude algorithm parameter one time, make barometer altitude at that time equal the satellite navigation and location system height, revise the back algorithm calculate barometer altitude be exactly the height value of altitude measuring device of the present invention.As we can see from the figure, during correction algorithm, height can be undergone mutation.In the actual conditions, because factors vary such as weather are very slow, twice correction of barometer altitude algorithm internal gas pressure highly deviated satellite navigation and location system height at interval is all very little, so this sudden change is also not obvious in actual applications.
Claims (4)
1. altitude measuring device is characterized in that, this installs by forming with the lower part:
Air pressure is measured assembly: measure air pressure, and by data-interface output pressure data;
Satellite navigation and location system receiver: receive the satellite navigation and location system signal, calculate the satellite navigation and location system height, and resolve result and satellite navigation and location system duty by data-interface output according to signal;
Judge and computation module: receive aforementioned barometric information and aforementioned satellite navigation and location system altitude information, resolve barometer altitude according to barometric information, judge whether the satellite navigation and location system height interrupts, judge whether hop of satellite navigation and location system height, change the height value computing method according to aforementioned judgement, and the computed altitude value, this assembly is made of one or more unit with data interaction, logic determines and computing function;
Power management assembly: be aforementioned each assembly power supply;
Air pressure is measured assembly and is connected with computation module with judgement respectively with the satellite navigation and location system receiver; The power management assembly is connected with computation module with air pressure mensuration assembly, satellite navigation and location system receiver, judgement respectively.
2. altitude measuring device according to claim 1, it is characterized in that, described satellite navigation and location system receiver upgrades a height value every unit interval t, and to define this height value be the satellite navigation and location system height, the moment that the satellite navigation and location system height upgrades is particular moment, and all the other are the nonspecific moment constantly; The satellite navigation and location system height only upgrades in particular moment, and carries out aforementioned judgement in particular moment:
(1) checks whether the satellite navigation and location system height upgrades, when the satellite navigation and location system height does not upgrade, judge that the satellite navigation and location system height interrupts;
(2) set the hop judgment threshold according to the moving body characteristics of motion in advance, when the satellite navigation and location system height change value of up-to-date satellite navigation and location system height and previous moment surpasses hop judgment threshold or the interruption of previous moment satellite navigation and location system height, judge satellite navigation and location system height hop.
3. according to claim 1 and 2 described altitude measuring devices, it is characterized in that, the barometer altitude turnover rate that described air pressure is measured assembly is higher than satellite navigation and location system height turnover rate, the nonspecific moment when barometer altitude has renewal, the height value that altitude measuring device shows equals air pressure and measures the barometer altitude that assembly records.
4. according to claim 1 and 2 described altitude measuring devices, it is characterized in that described satellite navigation and location system height is in particular moment hop or when interrupting, the height value that altitude measuring device shows equals air pressure and measures the barometer altitude that assembly records; When described satellite navigation and location system height did not have hop and do not interrupt in particular moment, revise the barometer altitude algorithm parameter, make the barometer altitude of up-to-date particular moment equal the satellite navigation and location system height.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910092450A CN101666643A (en) | 2009-09-08 | 2009-09-08 | Height measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910092450A CN101666643A (en) | 2009-09-08 | 2009-09-08 | Height measuring device |
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| CN101666643A true CN101666643A (en) | 2010-03-10 |
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| CN200910092450A Pending CN101666643A (en) | 2009-09-08 | 2009-09-08 | Height measuring device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075936A (en) * | 2010-12-28 | 2011-05-25 | 中兴通讯股份有限公司 | Positioning method and terminal |
| CN106772496A (en) * | 2016-11-04 | 2017-05-31 | 上海斐讯数据通信技术有限公司 | The measuring method and system of a kind of height above sea level |
| CN108828512A (en) * | 2018-06-25 | 2018-11-16 | 北京易途客信息技术有限公司 | Accurate positioning method and equipment based on the base station LBS |
| CN110325819A (en) * | 2017-02-24 | 2019-10-11 | 赫尔环球有限公司 | Precise height for indoor positioning is estimated |
| CN111397551A (en) * | 2020-03-11 | 2020-07-10 | 支付宝(杭州)信息技术有限公司 | Displacement identification method and device based on air pressure |
-
2009
- 2009-09-08 CN CN200910092450A patent/CN101666643A/en active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075936A (en) * | 2010-12-28 | 2011-05-25 | 中兴通讯股份有限公司 | Positioning method and terminal |
| WO2012088833A1 (en) * | 2010-12-28 | 2012-07-05 | 中兴通讯股份有限公司 | Positioning method and terminal |
| CN106772496A (en) * | 2016-11-04 | 2017-05-31 | 上海斐讯数据通信技术有限公司 | The measuring method and system of a kind of height above sea level |
| CN110325819A (en) * | 2017-02-24 | 2019-10-11 | 赫尔环球有限公司 | Precise height for indoor positioning is estimated |
| US11248908B2 (en) | 2017-02-24 | 2022-02-15 | Here Global B.V. | Precise altitude estimation for indoor positioning |
| CN108828512A (en) * | 2018-06-25 | 2018-11-16 | 北京易途客信息技术有限公司 | Accurate positioning method and equipment based on the base station LBS |
| CN111397551A (en) * | 2020-03-11 | 2020-07-10 | 支付宝(杭州)信息技术有限公司 | Displacement identification method and device based on air pressure |
| CN111397551B (en) * | 2020-03-11 | 2021-07-20 | 支付宝(杭州)信息技术有限公司 | Displacement identification method and device based on air pressure |
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Inventor after: Zhou Zhaoying Inventor after: Guo Qi Inventor after: Xiong Wei Inventor after: Liu Shaopeng Inventor after: Liu Xiaoyan Inventor after: Ye Xiongying Inventor before: Guo Qi Inventor before: Xiong Wei Inventor before: Liu Shaopeng Inventor before: Zhou Zhaoying Inventor before: Ye Xiongying |
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Free format text: CORRECT: INVENTOR; FROM: GUO QI XIONG WEI LIU SHAOPENG ZHOU ZHAOYING YE XIONGYING TO: ZHOU ZHAOYINGGUO QI XIONG WEI LIU SHAOPENG LIU XIAOYAN YE XIONGYING |
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Open date: 20100310 |