CN108279446A - Minute-pressure mutation measuring device based on four-axle aircraft and hydrostatic head and method - Google Patents
Minute-pressure mutation measuring device based on four-axle aircraft and hydrostatic head and method Download PDFInfo
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- CN108279446A CN108279446A CN201810336451.0A CN201810336451A CN108279446A CN 108279446 A CN108279446 A CN 108279446A CN 201810336451 A CN201810336451 A CN 201810336451A CN 108279446 A CN108279446 A CN 108279446A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/08—Adaptations of balloons, missiles, or aircraft for meteorological purposes; Radiosondes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
Minute-pressure mutation measuring device based on four-axle aircraft and hydrostatic head and method, including four-axle aircraft, the air pressure measuring apparatus based on hydrostatic head, microcontroller, wireless communication module, flight control modules, GPS positioning module and data processing centre.Air pressure measuring apparatus based on hydrostatic head includes hydrostatic head, huge piezoresistance, pressure sensor, filtering and amplifying circuit, A/D analog-digital converters and the microcontroller for handling data.Minute-pressure mutation measuring device and method of the present invention based on four-axle aircraft and hydrostatic head realize the high reliability and high stability measured minute-pressure mutation, can be applied to the climate change corresponding to monitoring pressure fluctuations, realize the early warning to meteorological disaster.
Description
Technical field
The present invention relates to a kind of minute-pressure mutation measuring device and method based on four-axle aircraft and hydrostatic head, it is especially suitable
The measurement of the faint variation of air pressure below 1km height above sea level.
Background technology
The micromutation of air pressure is always an emphasis of meteorological research, formed with meteorological disaster it is closely related, so, it is right
Effective monitoring of minute-pressure mutation is conducive to meteorological disaster early warning.Currently, piezoresistive pressure sensor is mainly used in the measurement of air pressure,
It is at low cost, but its measurement accuracy is relatively low, it is difficult to detect the micromutation in air pressure, such as 5 ~ 20Pa or so in air
Minor change.Since height is aerial, there are wind, wind pressure can influence the measurement accuracy of air pressure, how cause measurement result to generate error
Wind pressure interference problem is solved, effectively improving measurement accuracy becomes particularly important.
Conventional barometric surveying is realized by letting sounding balloon fly away, and this method is although simple and convenient, it is easy to accomplish,
But due to the factor of wind, possible wide apart between front and back 2 points of measurement, the variation of atmospheric pressure value is very big, possibly can not judge
Whether minute-pressure mutation is had occurred.Meanwhile the point of measurement is all direction with the wind and changes, and cannot measure the atmospheric pressure value of fixed point.
Moreover, this method needs repeatedly let sounding balloon fly away, time-consuming, and front and back time interval twice is longer, can not also supervise in real time
Survey the mutation of atmospheric pressure value.Therefore, using new measurement method, the real-time, high efficiency and one that minute-pressure mutation measures are realized
Very urgent problem.
Invention content
The present invention is directed to deficiency in the prior art, provides a kind of minute-pressure mutation survey based on four-axle aircraft and hydrostatic head
Device and method is measured, minute-pressure mutation measuring device is combined using four-axle aircraft and the air pressure measuring apparatus based on hydrostatic head
Mode, greatly improve barometric surveying Wind-Pressure Resistance interference ability；By the wireless communication module of four-axle aircraft, fly control
Module and GPS module carry out formation flight to four-axle aircraft, realize the real-time monitoring being mutated to minute-pressure.
To achieve the above object, the present invention uses following technical scheme：
A kind of minute-pressure mutation measuring device based on four-axle aircraft and hydrostatic head, which is characterized in that including：Hydrostatic head, air pressure
Measuring device, four-axle aircraft, flight control modules, GPS positioning module, wireless communication module and data processing centre；It is described
Hydrostatic head will be offset from the wind pressure in each orientation so that air pressure enters air pressure measuring apparatus, the barometric surveying by conduit
Device is by the data transmission of measurement to four-axle aircraft, the four-axle aircraft data that module will receive by radio communication
Real-time Transmission is to the data processing centre on ground, and the flight control modules are for controlling four-axle aircraft, the GPS positioning mould
Block is for positioning four-axle aircraft.
To optimize above-mentioned technical proposal, the concrete measure taken further includes：
The air pressure measuring apparatus includes power module, sensor assembly, signal processing module and signal conversion module, the electricity
Source module is divided into reference voltage source, analog power and digital power, and the reference voltage source is powered for sensor assembly, the mould
Quasi- power supply is powered for signal processing module, and the digital power is powered for signal conversion module；The sensor assembly is by huge
The huge piezoresistance, pressure sensor of piezo-resistive arrangement composition, the signal processing module include voltage amplifier circuit and low-pass filtering electricity
Road, the signal conversion module include AD analog-digital converters and microcontroller one；The huge piezoresistance, pressure sensor will be collected
After electric signal is by voltage amplifier circuit and low-pass filter circuit processing, it is transferred to AD analog-digital converters, the AD analog-to-digital conversions
Output is to microcontroller one after device converts signal, then the microcontroller two being arranged in four-axle aircraft, institute are sent to by microcontroller one
State data processing centre of the module by the real-time data transmission received to ground by radio communication again of microcontroller two.
The AD analog-digital converters use A/D7195, and microcontroller one and microcontroller two are all made of STM32F407, channel radio
Believe that module uses ESP8266WIFI.
The huge piezoresistance, pressure sensor includes the glass substrate layers stacked successively from bottom to top, silicon bottom and silica
The centre of surface of insulating layer, the silicon dioxide insulating layer is placed with stress film, and the surface surrounding of silicon dioxide insulating layer is put
It sets there are four the huge piezo-resistive arrangement of titanium silicon gallium hetero-junctions, the huge piezo-resistive arrangement of the titanium silicon gallium hetero-junctions is positioned symmetrically in stress two-by-two
On film.
The huge piezo-resistive arrangement of the titanium silicon gallium hetero-junctions includes the from-inner-to-outer internal layer gallium structural area of nesting, middle layer silicon successively
It is silicon heterogenous that the intersection in structural area and outer layer titanium structural area, the titanium structural area and silicon structure area forms titanium, silicon structure area and
It is silicon heterogenous that the intersection of gallium structural area forms gallium；The gallium structural area is provided at both ends with metal edges, and the metal edges pass through
Lead is connected to sheet metal, and the sheet metal is connected to aluminium terminal by electrode, by four huge piezo-resistive arrangements of titanium silicon gallium hetero-junctions
It is connected to become wheatstone bridge circuits.
In addition, it is also proposed that a kind of survey of minute-pressure mutation measuring device using above-mentioned based on four-axle aircraft and hydrostatic head
Amount method, which is characterized in that include the following steps：
Step 1, the combination of hydrostatic head and air pressure measuring apparatus is fixed on four-axle aircraft, the air pressure number that microcontroller one obtains
It is transferred to the microcontroller two on four-axle aircraft according to value, then is transmitted back to the control on ground by the wireless communication module on four-axle aircraft
Center processed；
Step 2, minute-pressure sudden change region to be measured is divided into 25 square areas of 5*5 in the horizontal plane, and is carried out
Zone number 1,2 ..., 25；In vertical direction, region is divided into the height layer of 10 equidistant intervals, and is numbered 1,2,
3 ..., 10；The regional space that will be measured in this way is divided into 250 sub-regions, is used per sub-regions（M, N）It indicates, M indicates sub-district
The number of domain in the horizontal plane, N indicate the number of subregion in vertical direction；
Step 3, barometric surveying is carried out to every sub-regions, first in region（1,1）The upper right corner discharge four-axle aircraft one, and
Four-axle aircraft two is discharged in its diagonal positions；
Step 4, four-axle aircraft one and four-axle aircraft two fly along region sideline counterclockwise simultaneously, in each edge line
Starting point, midpoint, terminal carry out a barometric surveying；After being measured every time, four-axle aircraft is adjusted to hovering pattern, is hanged
It is 1 minute between stopping time, carries out an atmospheric pressure value again and measure, compared with the value before 1 minute, if having minor change；
Step 5, when four-axle aircraft one and four-axle aircraft two fly to other side's starting point, heading is adjusted, diagonally side
To flight to first six Along ent of diagonal line, step 4 is repeated；
Step 6, the heading in step 5 is changed to second six Along ent of diagonal line, repeats step 5, this completes
Measurement to 24 sample points in a sub-regions；The rest may be inferred, has measured remaining 24 sub-regions of the 1st height layer；
Step 7, after completing to the measurement of all subregions of horizontal plane, control four-axle aircraft is flown to（M, 2）Plane repeats step
3,4,5,6, completion pair（M, 2）The measurement of plane；The rest may be inferred, completes to measure 10 the whole of height layer.
The beneficial effects of the invention are as follows：
1. the present invention hydrostatic head is combined with air pressure measuring apparatus, compare with traditional measurement method, eliminate air apoplexy
The influence to measurement data is pressed, the accuracy of measurement is improved；
2. the huge piezo-resistive arrangement of titanium silicon gallium hetero-junctions that the present invention uses makes the piezoresistance coefficient and the coefficient of strain of the pressure sensor
Increase to the equal order of magnitude, greatly improves sensitivity and the accuracy of measuring device, may be implemented to small air pressure change
Detection；
3. the present invention passes through air pressure measuring apparatus, wireless communication module, flight control modules, GPS using four-axle aircraft as carrier
Locating module realizes the real-time monitoring to atmospheric pressure value micromutation in appointed place in region；
4. the present invention carries out combined measurement using two frame four-axle aircrafts, minute-pressure sudden change region measurement efficiency is improved；
5. the present invention is carried out while being measured using region partitioning method horizontally and vertically, to every sub-regions, carry
The high efficiency of barometric surveying；By the flight control modules of four-axle aircraft, realize to the multiple sampled points of every sub-regions
It measures, and module by radio communication, the data of acquisition is rapidly and accurately reflected to ground control centre, and fixed by GPS
Position module, realizes that the overall situation of barometric information summarizes, draws out and be more clear intuitive barogram, helps meteorologist more preferable
Analysis air pressure tendency situation.
Description of the drawings
The overall structure diagram of Fig. 1 present invention.
The air pressure measuring apparatus structure chart of Fig. 2 present invention.
The module frame chart of the air pressure measuring apparatus of Fig. 3 present invention.
The huge piezo-resistive arrangement schematic diagram of titanium silicon gallium hetero-junctions of Fig. 4 present invention.
The huge piezo-resistive arrangement side view of titanium silicon gallium hetero-junctions of Fig. 5 present invention.
The internal structure vertical view of the huge piezoresistance, pressure sensor of Fig. 6 present invention.
The side sectional view of the huge piezoresistance, pressure sensor of Fig. 7 present invention.
The A/D conversion circuit figures of Fig. 8 present invention.
Zone number schematic diagram on the horizontal plane of Fig. 9 present invention.
The schematic diagram that the required measurement space of Figure 10 present invention divides.
The flight path schematic diagram of the four-axle aircraft of Figure 11 present invention.
Reference numeral is as follows：1- titaniums structural area, 2- silicon structures area, 3- galliums structural area, 4- metal edges, 5- leads, 6- metals
Piece, 7- electrodes, 8- aluminium terminals, the huge piezoresistance, pressure sensors of 9-, 10- glass substrate layers, 11- silicon bottoms, 12- silicon dioxide insulators
Layer, 13- titaniums are silicon heterogenous, and 14- galliums are silicon heterogenous, 15- stress films.
Specific implementation mode
In conjunction with the accompanying drawings, the present invention is further explained in detail.
Minute-pressure based on four-axle aircraft and hydrostatic head as shown in Figure 1 is mutated measuring device, includes mainly that four axis fly
Device, hydrostatic head, huge piezoresistance, pressure sensor, filtering and amplifying circuit, AD7195 analog-digital converters, STM32F407 microcontrollers,
ESP8266WIFI wireless communication modules, flight control modules, GPS positioning module and data processing centre.
As shown in Fig. 2, hydrostatic head will be offset from the wind pressure in each orientation, air pressure just enters barometric surveying dress by conduit
It sets.Huge piezoresistance, pressure sensor is transferred to A/D7195 moduluses and turns after handling collected electric signal by filtering and amplifying circuit
Parallel operation exports to STM32F407 microcontrollers one after the conversion of A/D7195 analog-digital converters, is passed through by STM32F407 microcontrollers one
RS232/485 is sent to the STM32F407 microcontrollers two of four-axle aircraft, the module by radio communication again of microcontroller two
Received data are transferred to the data processing centre on ground by ESP8266WIFI in real time.
As shown in figure 3, air pressure measuring apparatus is specifically divided into four modules：Power module, sensor assembly, signal processing mould
Block, signal conversion module.Power module is divided into reference voltage source, analog power, digital power, and reference voltage source is sensor die
Block is powered, and analog power is powered for signal processing module, and digital power is powered for signal conversion module.Sensor assembly is by huge pressure
The wheatstone bridge circuits composition that resistance is constituted, signal processing module include voltage amplifier circuit, low-pass filter circuit, signal conversion
Module is made of AD7195 analog-digital converters and STM32F407 microcontrollers one.
As shown in figure 4, the huge piezo-resistive arrangement of titanium silicon gallium hetero-junctions include outer layer titanium structural area 1, it is middle layer silicon structure area 2, interior
Layer gallium structural area 3, outer layer titanium structural area 1 are column type, and middle layer silicon structure area 2 is cylindrical type, and internal layer gallium structural area 3 is column type.
With further reference to Fig. 5, the intersection in titanium structural area 1 and the silicon structure area 2 is titanium silicon heterogenous 13, silicon structure area 2 and gallium knot
The intersection in structure area 3 is gallium silicon heterogenous 14.
As shown in Figure 6, Figure 7, huge piezoresistance, pressure sensor 9 includes glass substrate layers 10,11 and of silicon bottom from bottom to top
Silicon dioxide insulating layer 12, there are four the huge pressure drag of titanium silicon gallium hetero-junctions and stress films for the placement of 12 surface of silicon dioxide insulating layer
15,11 bottom of silicon bottom has set up cavity, is located at the stress that the silicon bottom 11 above cavity is huge piezoresistance, pressure sensor 9
Film 15.Gallium structural area 3 is provided at both ends with metal edges 4, and metal edges 4 are connected to sheet metal 6 by lead 5, and sheet metal 6 passes through
Electrode 7 is connected to aluminium terminal 8, and four huge piezo-resistive arrangements of titanium silicon gallium hetero-junctions are connected to become wheatstone bridge circuits so that pressure
Coefficient and the increase of the coefficient of strain at double are hindered, sensitivity is greatly improved, the minor change of pressure can be measured.Stress film
15 are deformed upon by gas pressure, and the titanium silicon gallium hetero-junctions on stress film 15 can change with the variation of stress, from
And so that the resistance of pressure sensitive structural changes, and realizes huge piezoresistive effect.
As shown in figure 8, being put equipped with what is be sequentially connected between huge pressure drag wheatstone bridge circuits and AD7195 analog-digital converters
Big filter circuit.Filtering and amplifying circuit effectively suppression common mode can interfere the error introduced, improve the precision of signal-to-noise ratio and system,
With higher gain and wider gain-adjusted range.
As shown in figure 9, the projection plane in the space of being measured to be divided into the square area of 5*5, four-axle aircraft exists
It flies in each square area, measures atmospheric pressure value.Further as shown in Figure 10, the space of being measured is divided into 10 etc.
Away from height layer, every layer of square area for being all divided into 5*5.After the unmanned plane in each region is completed to measure, it is increased to
Next height layer continues to measure.
The method that minute-pressure mutation based on four-axle aircraft and hydrostatic head as shown in figure 11 measures, includes the following steps：
Step 1, by hydrostatic head and air pressure measuring apparatus（Huge piezoresistance, pressure sensor, filtering and amplifying circuit, AD converter, monolithic
Machine）Combination be fixed on four-axle aircraft, the barometric information value that microcontroller one obtains is transferred to the monolithic on four-axle aircraft
Machine two, then it is transmitted back to by the wireless communication module on four-axle aircraft the control centre on ground.
Step 2, minute-pressure sudden change region to be measured is divided into 25 square areas of 5*5 in the horizontal plane, and
Progress zone number, 1,2 ..., 25.The length of side of each square area is 6km, can thus measure 900km2Region.
In vertical direction, region is divided into the height layer of 10 equidistant intervals, and is numbered 1,2,3 ..., 10.It thus can be with
The regional space that will be measured is divided into 250 sub-regions, is used per sub-regions（M, N）It indicates, M indicates subregion in the horizontal plane
Number, N indicates subregion number in vertical direction.
Step 3, barometric surveying is carried out to every sub-regions, with subregion（1,1）For, it is discharged in the upper right corner in the region
Four-axle aircraft one, and discharge four-axle aircraft two in its diagonal positions.
Step 4, four-axle aircraft one and four-axle aircraft two fly along region sideline counterclockwise simultaneously, at every
The starting point in sideline, midpoint, terminal carry out a barometric surveying；After being measured every time, four-axle aircraft is adjusted to hovering mould
Formula, hovering time are 1 minute, carry out an atmospheric pressure value again and measure, compared with the value before 1 minute, if having minor change.
Step 5, when four-axle aircraft one and four-axle aircraft two fly to other side's starting point, heading is adjusted, diagonally
Line direction is flown to first six Along ent of diagonal line, and step 4 is repeated.
Step 6, the heading in step 5 is changed to second six Along ent, repeats step 5, in this way, just completing pair
The measurement of 24 sample points in one sub-regions.The rest may be inferred, can measure remaining 24 sub-regions simultaneously.
Step 7, after completing to the measurement of all subregions of horizontal plane, control four-axle aircraft is flown to（M, 2）Plane repeats
Above-mentioned steps 3,4,5,6, completion pair（M, 2）The measurement of plane.The rest may be inferred, completes to measure 10 the whole of height layer.
It should be noted that the term of such as "upper", "lower", "left", "right", "front", "rear" cited in invention, also
Only being illustrated for ease of narration, rather than to limit the scope of the invention, relativeness is altered or modified, in nothing
Under essence change technology contents, when being also considered as the enforceable scope of the present invention.
The above is only the preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-described embodiment,
All technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
For those of ordinary skill, several improvements and modifications without departing from the principles of the present invention should be regarded as the protection of the present invention
Range.
Claims (6)
1. a kind of minute-pressure based on four-axle aircraft and hydrostatic head is mutated measuring device, which is characterized in that including：Hydrostatic head, gas
Pressure measuring device, four-axle aircraft, flight control modules, GPS positioning module, wireless communication module and data processing centre；Institute
Stating hydrostatic head will offset from the wind pressure in each orientation so that air pressure enters air pressure measuring apparatus by conduit, and the air pressure is surveyed
Device is measured by the data transmission of measurement to four-axle aircraft, the four-axle aircraft number that module will receive by radio communication
The data processing centre on ground is transferred to when factually, the flight control modules are for controlling four-axle aircraft, the GPS positioning
Module is for positioning four-axle aircraft.
2. a kind of minute-pressure based on four-axle aircraft and hydrostatic head as described in claim 1 is mutated measuring device, feature exists
In：The air pressure measuring apparatus includes power module, sensor assembly, signal processing module and signal conversion module, the electricity
Source module is divided into reference voltage source, analog power and digital power, and the reference voltage source is powered for sensor assembly, the mould
Quasi- power supply is powered for signal processing module, and the digital power is powered for signal conversion module；The sensor assembly is by huge
The huge piezoresistance, pressure sensor of piezo-resistive arrangement composition, the signal processing module include voltage amplifier circuit and low-pass filtering electricity
Road, the signal conversion module include AD analog-digital converters and microcontroller one；The huge piezoresistance, pressure sensor will be collected
After electric signal is by voltage amplifier circuit and low-pass filter circuit processing, it is transferred to AD analog-digital converters, the AD analog-to-digital conversions
Output is to microcontroller one after device converts signal, then the microcontroller two being arranged in four-axle aircraft, institute are sent to by microcontroller one
State data processing centre of the module by the real-time data transmission received to ground by radio communication again of microcontroller two.
3. a kind of minute-pressure based on four-axle aircraft and hydrostatic head as claimed in claim 2 is mutated measuring device, feature exists
In：The AD analog-digital converters use A/D7195, and microcontroller one and microcontroller two are all made of STM32F407, wireless communication module
Using ESP8266WIFI.
4. a kind of minute-pressure based on four-axle aircraft and hydrostatic head as claimed in claim 2 is mutated measuring device, feature exists
In：The huge piezoresistance, pressure sensor（9）Including the glass substrate layers stacked successively from bottom to top（10）, silicon bottom（11）With two
Insulating layer of silicon oxide（12）, the silicon dioxide insulating layer（12）Centre of surface be placed with stress film（15）, silica
Insulating layer（12）Surface surrounding place that there are four the huge piezo-resistive arrangement of titanium silicon gallium hetero-junctions, the huge pressure drag knots of titanium silicon gallium hetero-junctions
Structure is positioned symmetrically in stress film two-by-two（15）On.
5. a kind of minute-pressure based on four-axle aircraft and hydrostatic head as claimed in claim 4 is mutated measuring device, feature exists
In：The huge piezo-resistive arrangement of the titanium silicon gallium hetero-junctions includes from-inner-to-outer nested internal layer gallium structural area successively（3）, middle layer silicon knot
Structure area（2）With outer layer titanium structural area（1）, the titanium structural area（1）With silicon structure area（2）Intersection formed titanium it is silicon heterogenous
（13）, silicon structure area（2）With gallium structural area（3）Intersection formed gallium it is silicon heterogenous（14）；The gallium structural area（3）Both ends
It is provided with metal edges（4）, the metal edges（4）Pass through lead（5）It is connected to sheet metal（6）, the sheet metal（6）Pass through electrode
（7）It is connected to aluminium terminal（8）, four huge piezo-resistive arrangements of titanium silicon gallium hetero-junctions are connected to become wheatstone bridge circuits.
6. a kind of minute-pressure mutation based on four-axle aircraft and hydrostatic head using as described in any one of claim 2-5 measures
The measurement method of device, which is characterized in that include the following steps：
Step 1, the combination of hydrostatic head and air pressure measuring apparatus is fixed on four-axle aircraft, the air pressure number that microcontroller one obtains
It is transferred to the microcontroller two on four-axle aircraft according to value, then is transmitted back to the control on ground by the wireless communication module on four-axle aircraft
Center processed；
Step 2, minute-pressure sudden change region to be measured is divided into 25 square areas of 5*5 in the horizontal plane, and is carried out
Zone number 1,2 ..., 25；In vertical direction, region is divided into the height layer of 10 equidistant intervals, and is numbered 1,2,
3 ..., 10；The regional space that will be measured in this way is divided into 250 sub-regions, is used per sub-regions（M, N）It indicates, M indicates sub-district
The number of domain in the horizontal plane, N indicate the number of subregion in vertical direction；
Step 3, barometric surveying is carried out to every sub-regions, first in region（1,1）The upper right corner discharge four-axle aircraft one, and
Four-axle aircraft two is discharged in its diagonal positions；
Step 4, four-axle aircraft one and four-axle aircraft two fly along region sideline counterclockwise simultaneously, in each edge line
Starting point, midpoint, terminal carry out a barometric surveying；After being measured every time, four-axle aircraft is adjusted to hovering pattern, is hanged
It is 1 minute between stopping time, carries out an atmospheric pressure value again and measure, compared with the value before 1 minute, if having minor change；
Step 5, when four-axle aircraft one and four-axle aircraft two fly to other side's starting point, heading is adjusted, diagonally side
To flight to first six Along ent of diagonal line, step 4 is repeated；
Step 6, the heading in step 5 is changed to second six Along ent of diagonal line, repeats step 5, this completes
Measurement to 24 sample points in a sub-regions；The rest may be inferred, has measured remaining 24 sub-regions of the 1st height layer；
Step 7, after completing to the measurement of all subregions of horizontal plane, control four-axle aircraft is flown to（M, 2）Plane repeats step
3,4,5,6, completion pair（M, 2）The measurement of plane；The rest may be inferred, completes to measure 10 the whole of height layer.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110080744A (en) * | 2019-04-30 | 2019-08-02 | 南京信息工程大学 | Underground detection device and preparation method based on monolithic integrated sensor |
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| CN101965527A (en) * | 2008-01-17 | 2011-02-02 | 阿弗泰克瑞典股份公司 | A flight control method |
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| CN208044102U (en) * | 2018-04-16 | 2018-11-02 | 南京信息工程大学 | Minute-pressure based on four-axle aircraft and hydrostatic head is mutated measuring device |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110080744A (en) * | 2019-04-30 | 2019-08-02 | 南京信息工程大学 | Underground detection device and preparation method based on monolithic integrated sensor |
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