CN106524993B - A kind of dynamic outlier detection method and device - Google Patents
A kind of dynamic outlier detection method and device Download PDFInfo
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- CN106524993B CN106524993B CN201610887420.5A CN201610887420A CN106524993B CN 106524993 B CN106524993 B CN 106524993B CN 201610887420 A CN201610887420 A CN 201610887420A CN 106524993 B CN106524993 B CN 106524993B
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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
Abstract
The embodiment of the invention provides a kind of dynamic outlier detection method and device, the described method includes: obtaining data point information, the data point information includes first vertical velocity at aircraft current time and the second vertical velocity for being mounted on the carry-on radio altimeter current time；The error amount for calculating first vertical velocity Yu second vertical velocity, the error amount as current time corresponding data point；The coefficient of variation of the data point is calculated according to the error amount, if judgement knows that the coefficient of variation is greater than threshold value, it is determined that the data point is outlier；Described device is for executing the above method.Dynamic outlier detection method and device provided in an embodiment of the present invention, it can not only detect the isolated outliers point of aircraft altitude measurement data, it is capable of detecting when the patch type outliers point of aircraft altitude measurement data simultaneously, improves the accuracy of the dynamic outlier detection of aircraft altitude measurement data.
Description
Technical field
The present embodiments relate to measurement test technical fields, and in particular to a kind of dynamic outlier point detecting method and
Device.
Background technique
Since small agricultural unmanned plane is usually ultralow idle job, flying height is only 3~5 meters, and essence is wanted in operation process
The really relative altitude of measurement body and ground is avoided leading to air crash due to hypsography variation in operation process or be sent out with crop
Raw collision.Small drone generallys use radio altimeter, pressure-altitude sensor, GPS satellite navigation receiver and carries out nothing
Man-machine flight relative altitude measurement fusion.But radio altitude above crop canopies when, reflection echo is vulnerable to crop
The interference of canopy complexity form generates biggish outlier error in the data of acquisition, and there is only orphans for radio altimeter
Vertical type outlier, there is also a large amount of patch type outliers to be also known as continuous type outlier, needs to carry out the data of acquisition detection and outlier
It rejects.Isolated outliers refer to the outlier occurred in the form of isolated point, and specific manifestation is exactly that the observation data of t moment are wild
Value, and t moment some to face other observation data be that normally, i.e. the appearance of outlier is isolated in the domain in；Patch type outliers refer to
Because of the influence of correlation, outlier occurs in flakes, and feature is that outlier its several sampled point overwhelming majority in front and back occur be also wild to t moment
Value.
In the prior art, Data Detection is carried out for the acquisition data of drone flying height measurement and generallys use the special standard of Lay
Then, also referred to as 3 σ criterion.The applicable precondition of 3 σ criterion is that all observation samples submit to the same normal distribution, works as parameter
When the random error of observed quantity is less than 3 σ, then it is assumed that be normal data, otherwise it is assumed that being outlier error.In actual application
In, unmanned plane body relative altitude is dynamic state quantity, and each state is single measurements, and statistical property is changing, because
This, is directly not suitable for the judgement of dynamic height outlier with Lay spy criterion, and the detection and judgement particularly with patch type outliers are more
Add unsuitable.
Therefore, how to propose a kind of method, can be improved the dynamic outlier detection of aircraft altitude measurement data
Accuracy, become urgent problem to be solved.
Summary of the invention
For the defects in the prior art, the embodiment of the present invention provides a kind of dynamic outlier detection method and device.
On the one hand, the embodiment of the present invention provides a kind of dynamic outlier point detecting method, comprising:
Data point information is obtained, the data point information includes first vertical velocity at aircraft current time and is mounted on
Second vertical velocity at the carry-on radio altimeter current time；
The error amount for calculating first vertical velocity Yu second vertical velocity, as current time corresponding data
The error amount of point；
The coefficient of variation of the data point is calculated according to the error amount, if judgement knows that the coefficient of variation is greater than thresholding
Value, it is determined that the data point is outlier.
On the other hand, the embodiment of the present invention provides a kind of dynamic outlier point detection device, comprising:
Information acquisition unit, for obtaining data point information, the data point information includes the of aircraft current time
One vertical velocity and the second vertical velocity for being mounted on the carry-on radio altimeter current time；
Computing unit, for calculating the error amount of first vertical velocity Yu second vertical velocity, as current
The error amount of moment corresponding data point；
Detection unit, for calculating the coefficient of variation of the data point according to the error amount, if the change is known in judgement
Different coefficient is greater than threshold value, it is determined that the data point is outlier.
Dynamic outlier detection method and device provided in an embodiment of the present invention are defended by being mounted on carry-on GPS
Star navigation neceiver obtains reference data data of the first vertical velocity of aircraft as radio altimeter magnitude, and obtains
It is mounted on the second vertical velocity of carry-on radio altimeter, calculates the mistake of the first vertical velocity and the second vertical velocity
Difference calculates the coefficient of variation of current data point according to error amount, judges whether the coefficient of variation is greater than pre-set threshold value
To determine whether the data point at current time is outlier.It can not only detect the stand alone of aircraft altitude measurement data
Outlier, while being capable of detecting when the patch type outliers point of aircraft altitude measurement data, improve aircraft flight height
The accuracy for spending the dynamic outlier detection of measurement data, further improves the safety of aircraft flight.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this hair
Bright some embodiments for those of ordinary skill in the art without creative efforts, can be with root
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the flow diagram of dynamic outlier point detecting method in the embodiment of the present invention；
Fig. 2 is the structural schematic diagram of dynamic outlier point detection device in the embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.
Fig. 1 is the flow diagram of dynamic outlier point detecting method in the embodiment of the present invention, as shown in Figure 1, the present invention is real
Applying the dynamic outlier point detecting method that example provides includes:
S1, data point information is obtained, the data point information includes first vertical velocity and peace at aircraft current time
Mounted in second vertical velocity at the carry-on radio altimeter current time；
Specifically, the base due to barometric leveling value by atmosphere environment impact, as radio altimeter measured value
Standard is with reference to that can impact data monitoring result, and the flying height of aircraft is a dynamic in the flight course of aircraft
Amount, and the lifting speed of aircraft is more accurate, there is normally only a lesser random errors.Therefore it is current to obtain aircraft
Reference data data of first vertical velocity at moment as radio altimeter measured value, the first of aircraft current time are hung down
Refer to lifting speed of the aircraft relative to ground to speed, the embodiment of the present invention is by being mounted on carry-on GPS satellite
Navigation neceiver obtains the first vertical velocity, it is, of course, also possible to obtain by other means, the embodiment of the present invention is not done specifically
It limits.Obtain aircraft the first vertical line speed while obtain be mounted on the carry-on radio altimeter it is current when
The second vertical velocity carved, the second vertical velocity refer to lifting speed of the radio altimeter relative to ground.
S2, the error amount for calculating first vertical velocity and second vertical velocity, it is corresponding as current time
The error amount of data point；
According to the first vertical velocity and the second vertical velocity got, the first vertical velocity and the second vertical degree are calculated
Error amount, the error amount as current time corresponding data point.It should be noted that the first vertical velocity is by being mounted on
Carry-on GPS satellite navigation receiver or other sensors obtain, and the second vertical velocity is high by obtaining radio
The related data of degree table gets to calculate, although being all substantially the vertical velocity of aircraft, between the two can deposit
In error amount.
S3, the coefficient of variation that the data point is calculated according to the error amount, if judgement knows that the coefficient of variation is greater than
Threshold value, it is determined that the data point is outlier.
Specifically, according to the corresponding coefficient of variation of resulting error amount calculating current time data point is calculated, work as data point
When being isolated outliers point and continuous outlier, the coefficient of variation can be increased dramatically, by whether judging the calculated coefficient of variation
Greater than pre-set threshold value, to judge whether current time corresponding data point is outlier.What if judgement was calculated
The coefficient of variation is greater than threshold value, it is determined that the data point at current time is outlier.Threshold value is set as in the embodiment of the present invention
2, certainly, the size of threshold value can be set according to actual use situation, and the real-time example of the present invention is not especially limited.
Dynamic outlier point detecting method provided in an embodiment of the present invention, by being mounted on carry-on GPS satellite navigation
Receiver obtains reference data data of the first vertical velocity of aircraft as radio altimeter magnitude, and obtains and be mounted on
Second vertical velocity of carry-on radio altimeter calculates the error of the first vertical velocity and the second vertical velocity in real time
Value calculates the coefficient of variation of current data point according to error amount, judges whether the coefficient of variation is greater than pre-set threshold value
Whether the data point for determining current time is outlier.It can not only detect that the stand alone of aircraft altitude measurement data is wild
It is worth point, while is capable of detecting when the patch type outliers point of aircraft altitude measurement data, improves aircraft altitude
The accuracy of the dynamic outlier detection of measurement data, further improves the safety of aircraft flight.
On the basis of the above embodiments, the coefficient of variation for calculating the data point according to the error amount includes:
According to formulaCalculate the quasi- standard deviation of the error amount of current time corresponding data point；
According to formulaCalculate the coefficient of variation of the data point；
Wherein σ is the quasi- standard deviation, and n refers to that current time takes forward n data point, and i refers to i-th of data point, δ
It (i) is the corresponding error amount of i-th of data point, η is the coefficient of variation of current time corresponding data point.
Specifically, n data point information, including current time corresponding data point information, root are taken forward from current time
The error amount of the first vertical velocity and the second vertical velocity is calculated according to this n data point information.It is calculated according to formula (1) current
The quasi- standard deviation sigma of the error amount of moment corresponding data point recycles calculated quasi- standard deviation sigma to be calculated according to formula (2)
The coefficient of variation η of current time corresponding data point.Judge whether the calculated coefficient of variation is greater than threshold value 2, if judgement knot
Fruit be greater than, it is determined that current time, corresponding data point was outlier.Wherein it is specific calculate can using computer software come
Calculate, the data that will acquire are sent to computer, carry out data processing using computer software, calculate quasi- standard deviation sigma with
And the coefficient of variation η of current time corresponding data point, it can also calculate and handle by other methods certainly, the present invention is real
Example is applied to be not especially limited.
In formula: σ is the quasi- standard deviation of current time corresponding data point, and n refers to that current time takes forward n data point, i
It is i-th of data point, δ (i) is the corresponding error amount of i-th of data point, and η is the variation lines of current time corresponding data point
Number.
Dynamic outlier point detecting method provided in an embodiment of the present invention, it is corresponding quasi- by calculating current time data point
Standard deviation further calculates out the corresponding coefficient of variation of current time data point, come judge current time data point whether be
Outlier can not only detect isolated outliers point during aircraft flight, also be capable of detecting when patch type outliers point,
Improve the accuracy of the dynamic outlier detection of aircraft altitude measurement data.
On the basis of the above embodiments, the coefficient of variation for calculating the data point according to the margin of error is also wrapped
It includes: modifying factor being added in the coefficient of variation, correspondingly calculate the formula of the coefficient of variation are as follows:Wherein β is the modifying factor.
Specifically, due to the vertical velocity that the first vertical velocity and the second vertical velocity are substantially all aircraft, data
Error amount when point is normal between the two is smaller, after directly calculating the coefficient of variation using formula (1) and formula (2), selection
The range of threshold value is with regard to bigger, it is not easy to select suitable threshold value, testing result is easy to appear mistake.The present invention is implemented
Modifying factor is added when calculating the coefficient of variation in example, calculates the corresponding coefficient of variation of current time data point using formula (3), leads to
Reasonable selection modifying factor is crossed, the range of choice of threshold value is reduced, aircraft altitude measurement data can be reduced in this way
The false detection rate of outlier detection improves the accuracy rate of the outlier detection of aircraft altitude measurement data.The present invention is real
It applies modifying factor β in example and is set as 10, certainly, the size of modifying factor can be configured according to actual use situation, this hair
Bright embodiment is not especially limited.
In formula: η is the coefficient of variation of current time corresponding data point, and σ is the quasi- mark of current time corresponding data point
Quasi- poor, n refers to that current time takes forward n data point, and i refers to i-th of data point, and δ (i) is the corresponding mistake of i-th of data point
Difference, β are modifying factors.
On the basis of the above embodiments, the data point information that obtains includes: to obtain the preceding n data point at current time
The average speed of the vertical velocity of corresponding aircraft is as first vertical velocity, and wherein n is the integer greater than 1.
Specifically, in order to increase the accuracy of the first vertical velocity got, the embodiment of the present invention is led by GPS satellite
The vertical velocity of the corresponding aircraft of boat receiver acquisition current time forward n data point, including current time are corresponding
The vertical velocity of the corresponding aircraft of data point, and the average speed of this n vertical velocity is calculated as the first vertical velocity, n
It is greater than 1 integer, specific value can be configured according to actual use situation, and the embodiment of the present invention is not especially limited,
Specific first vertical velocity that calculates can be with reference to such as formula (4).
In formula: v1Indicate that the first vertical velocity of current time aircraft, n refer to that current time takes forward n data point,
I refers to i-th of data point, v1(i) hanging down for the aircraft that the corresponding GPS satellite navigation receiver of i-th of data point obtains is indicated
To speed.
Combine formula (4) in this way, it can be deduced that calculate the formula of the corresponding error amount of current data point, reference formula (5).
In formula: δ indicates the error amount of current time corresponding data point, v2Indicate the of current time radio altimeter
Two vertical velocities, v1(i) vertical velocity for the aircraft that the corresponding GPS satellite navigation receiver of i-th of data point obtains is indicated.
On the basis of the above embodiments, the data point information that obtains includes: the preceding m data point for obtaining current time
The m height values are carried out numerical differentiation by height value of the corresponding radio altimeter apart from ground, and acquired results are made
For second vertical velocity at the radio altimeter current time, wherein m is the integer greater than 1.
Specifically, what radio altimeter was got is height of the radio altimeter apart from ground, the embodiment of the present invention
By obtaining height value of the corresponding radio altimeter of current time forward m data point apart from ground, including it is current when
Height value of the corresponding radio altimeter of corresponding data point apart from ground is carved, this m height value is subjected to numerical differentiation, institute
Obtain second vertical velocity of the result as radio altimeter current time.The specific method for carrying out numerical differentiation can use drawing
Ge Lang multinomial theorem is directly calculated using the correlation formula of computer software, and the embodiment of the present invention does not limit specifically
It is fixed.Wherein m is greater than 1 integer, it should be noted that the value of m and the value of n can be equal or unequal, the present invention
Embodiment is not especially limited.
Dynamic outlier point detecting method provided in an embodiment of the present invention, the flight obtained by GPS satellite navigation receiver
Reference data data of the vertical velocity of device as radio altimeter measurement aircraft altitude, and calculate current time pair
The error amount of second vertical velocity of the first vertical velocity and radio altimeter for the aircraft flight answered, according to error amount meter
The coefficient of variation for calculating current time data point further judges whether current data point is wild by the way that threshold value is rationally arranged
It is worth point, improves the accuracy of the dynamic outlier detection of aircraft altitude measurement data, further improve aircraft
The safety of flight.
On the basis of the above embodiments, the embodiment of the present invention provides a kind of dynamic outlier point detection device, and Fig. 2 is this hair
The structural schematic diagram of dynamic outlier point detection device in bright embodiment, as shown in Fig. 2, dynamic outlier provided in an embodiment of the present invention
Point detection device includes: information acquisition unit 20, computing unit 21 and detection unit 22, in which:
For information acquisition unit 20 for obtaining data point information, the data point information includes the of aircraft current time
One vertical velocity and the second vertical velocity for being mounted on the carry-on radio altimeter current time；Computing unit 21
For calculating the error amount of first vertical velocity Yu second vertical velocity, as current time corresponding data point
Error amount；Detection unit 22 is used to calculate the coefficient of variation of the data point according to the error amount, if the change is known in judgement
Different coefficient is greater than threshold value, it is determined that the data point is outlier.
Specifically, first vertical velocity at aircraft current time is obtained by information acquisition unit 20 and be mounted on described
Second vertical velocity at carry-on radio altimeter current time, and the information that will acquire is sent to computing unit
21, the data point information that computing unit 21 is got according to information acquisition unit 20 calculates the first vertical velocity and second vertical
The error amount of speed is sent to detection unit 22 as the corresponding error amount of current time data point, and by calculated result.Detection
Unit 22 calculates the coefficient of variation of current time data point according to the calculated error amount of computing unit 21, and judges to calculate gained
The coefficient of variation whether be greater than threshold value, if it is outlier that judging result, which is greater than, it is determined that current time corresponding data point,.
Wherein the acquisition methods and definition of the first vertical velocity and the second vertical velocity and the setting of threshold value are the same as above-described embodiment one
It causes, details are not described herein again.
Dynamic outlier point detection device provided in an embodiment of the present invention, by information acquisition unit obtain the first vertical velocity and
Second vertical velocity, reference data data of the first vertical velocity that will acquire as radio altimeter magnitude calculate single
Member calculates the error amount of the first vertical velocity and the second vertical velocity, calculates current data point according to error amount by detection unit
The corresponding coefficient of variation, and judge whether the coefficient of variation is greater than pre-set threshold value, further judge data point whether be
Outlier improves the accuracy of the dynamic outlier detection of aircraft altitude measurement data, further improves flight
The safety of device flight.
On the basis of the above embodiments, detection unit 22 is specifically used for, according to formulaCalculating is worked as
The quasi- standard deviation of the error amount of preceding moment corresponding data point；
According to formulaCalculate the coefficient of variation of the data point；
Wherein σ is the quasi- standard deviation, and n refers to that current time takes forward n data point, and i is i-th of data point, δ (i)
It is the corresponding error amount of i-th of data point, η is the coefficient of variation of current time corresponding data point.
Specifically, information acquisition unit 20 takes forward n data point information from current time, including current time is corresponding
Data point information, computing unit 21 calculate the mistake of the first vertical velocity and the second vertical velocity according to this n data point information
Difference.Detection unit 22 calculates the quasi- standard deviation sigma of the error amount of current time corresponding data point according to above-mentioned formula (1), and
Whether the coefficient of variation η that current time corresponding data point is calculated according to above-mentioned formula (2), judge the calculated coefficient of variation
Greater than threshold value, if judging result be greater than, it is determined that current time, corresponding data point was outlier.Specific calculation formula
And meaning is consistent with above-described embodiment, details are not described herein again.
Dynamic outlier point detection device provided in an embodiment of the present invention calculates current time data point by detection unit
Corresponding quasi- standard deviation calculates the corresponding coefficient of variation of current time data point according to quasi- standard deviation, to judge current time
Data point whether be outlier, can not only detect isolated outliers point, also be capable of detecting when patch type outliers point, improve
The accuracy of the dynamic outlier detection of aircraft altitude measurement data.
On the basis of the above embodiments, detection unit 22 is also used to, and modifying factor, phase are added in the coefficient of variation
The formula for the calculating coefficient of variation answered are as follows:Wherein β is the coefficient of variation.
Specifically, modifying factor is added when calculating the coefficient of variation in detection unit 22, is calculated using above-mentioned formula (3) current
The corresponding coefficient of variation of time data point reduces the range of choice of threshold value by reasonably selecting modifying factor, in this way can be with
The false detection rate for reducing aircraft altitude measurement outlier improves the standard of the outlier detection of aircraft altitude measurement
True rate.Wherein the setting of modifying factor is consistent with above-described embodiment, and details are not described herein again.
On the basis of the above embodiments, information acquisition unit 20 is specifically used for, and obtains the preceding n data point at current time
The average speed of the vertical velocity of corresponding aircraft is as first vertical velocity, and wherein n is the integer greater than 1.
Specifically, information acquisition unit 20 obtains current time forward n data point by GPS satellite navigation receiver
The vertical velocity of the corresponding aircraft of the vertical velocity of corresponding aircraft, including current time corresponding data point are corresponding winged
The vertical velocity of row device, and the average speed of this n vertical velocity is calculated as first vertical velocity, wherein n's is specific
Value is consistent with above-described embodiment, and details are not described herein again.Specific first vertical velocity that calculates refers to above-mentioned formula (4).
On the basis of the above embodiments, information acquisition unit 20 is specifically used for, and obtains the preceding m data point at current time
The m height values are carried out numerical differentiation by height value of the corresponding radio altimeter apart from ground, and acquired results are made
For second vertical velocity at the radio altimeter current time, wherein m is the integer greater than 1.
Specifically, information acquisition unit 20 obtain the corresponding radio altimeter of current time forward m data point away from
Height value from the ground, the height value including the corresponding radio altimeter of current time corresponding data point apart from ground will
This m height value carries out numerical differentiation, second vertical velocity of the acquired results as radio altimeter current time.Wherein have
The method of body progress numerical differentiation and the specific value of m are consistent with above-described embodiment, and details are not described herein again.
Dynamic outlier point detection device provided by the invention is for executing the above method, specific embodiment and method
Embodiment it is consistent, details are not described herein again.
Dynamic outlier point detection device provided in an embodiment of the present invention obtains aircraft flight by information acquisition unit
Reference data benchmark of first vertical velocity as radio altimeter measurement aircraft altitude, is calculated by computing unit
The error amount of second vertical velocity of the first vertical velocity and radio altimeter of aircraft flight, by detection unit according to meter
The error amount of calculating calculates the coefficient of variation of current time data point, further judges whether current data point is outlier.
It can not only detect the isolated outliers point of aircraft altitude measurement data, while be capable of detecting when aircraft altitude
The patch type outliers point of measurement data improves the accuracy of the dynamic outlier detection of aircraft altitude measurement data,
Further improve the safety of aircraft flight.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: it still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features；
And these are modified or replaceed, technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (8)
1. a kind of dynamic outlier point detecting method characterized by comprising
Data point information is obtained, the data point information includes first vertical velocity at aircraft current time and is mounted on described
Second vertical velocity at carry-on radio altimeter current time；
The error amount for calculating first vertical velocity Yu second vertical velocity, as current time corresponding data point
Error amount；
According to formulaThe quasi- standard deviation for calculating the error amount of current time corresponding data point, according to public affairs
FormulaThe coefficient of variation of the data point is calculated, if judgement knows that the coefficient of variation is greater than threshold value,
Determine that the data point is outlier；
Wherein σ is the quasi- standard deviation, and n refers to that current time takes forward n data point, and i is i-th of data point, and δ (i) is i-th
The corresponding error amount of a data point, η is the coefficient of variation of current time corresponding data point.
2. the method according to claim 1, wherein the change for calculating the data point according to the error amount
Different coefficient further include: modifying factor is added in the coefficient of variation, correspondingly calculates the formula of the coefficient of variation are as follows:Wherein β is the modifying factor.
3. the method according to claim 1, wherein the acquisition data point information includes: to obtain current time
The corresponding aircraft of preceding n data point vertical velocity average speed as first vertical velocity, wherein n be greater than
1 integer.
4. the method according to claim 1, wherein the acquisition data point information includes: to obtain current time
Height value of the corresponding radio altimeter of preceding m data point apart from ground, it is micro- that the m height values are subjected to numerical value
Point, second vertical velocity of the acquired results as the radio altimeter current time, wherein m is the integer greater than 1.
5. a kind of dynamic outlier point detection device characterized by comprising
Information acquisition unit, for obtaining data point information, the data point information includes the first of aircraft current time hanging down
To speed and the second vertical velocity for being mounted on the carry-on radio altimeter current time；
Computing unit, for calculating the error amount of first vertical velocity Yu second vertical velocity, as current time
The error amount of corresponding data point；
Detection unit, for according to formulaCalculate the quasi- of the error amount of current time corresponding data point
Standard deviation；According to formulaThe coefficient of variation of the data point is calculated, if the coefficient of variation is known in judgement
Greater than threshold value, it is determined that the data point is outlier；
Wherein σ is the quasi- standard deviation, and n refers to that current time takes forward n data point, and i is i-th of data point, and δ (i) is i-th
The corresponding error amount of a data point, η is the coefficient of variation of current time corresponding data point.
6. device according to claim 5, which is characterized in that the detection unit is also used to, in the coefficient of variation
Modifying factor is added, correspondingly calculates the formula of the coefficient of variation are as follows:Wherein β is described repairs
Positive divisor.
7. device according to claim 5, which is characterized in that the information acquisition unit is specifically used for, when obtaining current
The average speed of the vertical velocity for the corresponding aircraft of preceding n data point carved is as first vertical velocity, and wherein n is big
In 1 integer.
8. device according to claim 5, which is characterized in that the information acquisition unit is specifically used for, when obtaining current
The m height values are carried out numerical value by height value of the corresponding radio altimeter of preceding m data point carved apart from ground
Differential, second vertical velocity of the acquired results as the radio altimeter current time, wherein m is the integer greater than 1.
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| CN108230319A (en) * | 2018-01-17 | 2018-06-29 | 北京农业智能装备技术研究中心 | For evaluating the method and device that granulated fertilizer sheds effect |
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