CN108955634A - A kind of unmanned plane height sensor fusion method - Google Patents
A kind of unmanned plane height sensor fusion method Download PDFInfo
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- CN108955634A CN108955634A CN201810804502.8A CN201810804502A CN108955634A CN 108955634 A CN108955634 A CN 108955634A CN 201810804502 A CN201810804502 A CN 201810804502A CN 108955634 A CN108955634 A CN 108955634A
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- Prior art keywords
- fusion
- height
- altitude
- height sensor
- unmanned plane
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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 invention discloses a kind of unmanned plane height sensor fusion methods, there are two types of height in unmanned plane: pressure altitude and radio altitude, the data of two kinds of height are merged, when pressure altitude and inconsistent radio altitude, pressure altitude follows radio altitude by certain rate, until being equal to radio altitude stops fusion, obtain final use highly, if it find that radio altitude data invalid, then it is automatically stopped fusion, pass through this height fusion method, the precision of unmanned plane altitude information can be improved, when any height sensor failure of unmanned plane, the continuity and validity of altitude signal may be implemented, improve the safety and stability of unmanned plane.
Description
Technical field
The present invention relates to a kind of unmanned plane height sensor fusion methods, are mainly used in Navigation of Pilotless Aircraft, guidance and control
Field processed.
Background technique
Unmanned plane is a kind of by unpiloted aircraft on power drive, machine, it usually by body, power device, fly
The composition such as row control and management equipment, launch recycling equipment, can be remotely controlled or fly automatically, can be disposable, can also return
It receives, be used for multiple times, it is one of current new- and high-tech weaponry and equipment, and in civil field, it has been widely used in aviation
The fields such as remote sensing, aerial mapping, forest fire protection, coastline patrol, when unmanned plane during flying, need reliable and stable high degree
According to the pressure altimeter on unmanned plane is larger by temperature, airflow influence at present, and especially when low latitude measures, error is larger, but not
It is influenced by landform or wave, stability is relatively preferable；And radio altimetry precision is relatively preferable, but is easy by landform or sea
Unrestrained clutter influences to generate fluctuation, and it is urgently to be resolved as those skilled in the art how to obtain reliable and stable unmanned plane altitude information
The technical issues of.
Summary of the invention
The technical problem to be solved by the present invention is to the shortcomings that overcoming the prior art, provide a kind of unmanned plane highly sensing
Device fusion method, this method is simple and easy, is merged by two kinds of height sensor data to unmanned aerial vehicle onboard, is mentioned significantly
The precision of high elevation carrection improves unmanned plane during flying stability and safety.
In order to solve the above technical problems, the present invention provides a kind of unmanned plane height sensor fusion method, feature exists
In, specifically includes the following steps:
(1) the configuration height sensor on unmanned plane target drone, ground remote control control height and merge, and default fusion is opened, and merge when beating
Close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when configuring two kinds of height sensors on the target drone in step (1), and two height sensor altitude informations are different
When cause, automatically begin to merge；
(3) data of one of height sensor are forced with the plus-minus rate set to another height sensor data
Close to calculate, the result after calculating is altitude information after current fusion；
(4) until being automatically stopped fusion when fused data are consistent with height sensor data another in step (3).
The technical solution that the present invention further limits is:
Further, in aforementioned unmanned plane height sensor fusion method, target drone booting default fusion is opened, and detects two automatically
Fusion function is automatically closed when one of height sensor failure or data failure in kind height sensor data.
In aforementioned unmanned plane height sensor fusion method, instruction is sent by ground, fusion function is carried out to play on or off
It closes.
In aforementioned unmanned plane height sensor fusion method, the height sensor being arranged on step (2) target drone passes through serial/parallel
The mode of connection realizes the fusion of multiple height sensor data.
In aforementioned unmanned plane height sensor fusion method, two kinds of height sensors being arranged on step (2) target drone are distinguished
For pressure altimeter and radio altimeter.
In aforementioned unmanned plane height sensor fusion method, specifically includes the following steps:
(1) pressure altimeter and radio altimeter are configured on unmanned plane target drone, ground remote control control height merges, and default is melted
Run jointly, when beat fusion close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when fusion is opened, when radio altitude is valid data, automatically begin to merge, the data of pressure altimeter with
The good plus-minus rate of program setting carries out approximation computation to the data of radio altimeter, specifically:
△ H initial value is set as 0, when every cycle calculations start, fusion height calculating HR=HQ+△H；
Wherein, △ H is variable fusion amount, HRFor height, H after current fusionQIndicate current gas pressure height current value；
(3) when fusion height is less than radio altitude, pressure altitude follows radio altitude with the rate of acceleration set, and △ H=
△H +n；
Wherein, n is setting addition rate, indicates that each calculating circulation is incremented by n meters；
(4) when fusion height is greater than radio altitude, pressure altitude follows radio altitude with the rate of deceleration set, and △ H=
△H –m；
Wherein, m is setting subtraction rate, indicates that each calculating circulation is successively decreased m meters；
(5) when fusion height is equal to radio altitude, △ H=△ H, fusion is automatically stopped；
(6) when radio altitude is invalid or failure, it is automatically stopped fusion；
(7) using instruction unpack or closing fusion function, fusion is completed.
The beneficial effects of the present invention are:
Two kinds of altitude information fusion treatments obtain stable and accurate fusion height, improve nobody in conjunction with the advantages of two kinds of height
The stability and safety of machine height control.
Detailed description of the invention
Fig. 1 is that the present invention constitutes schematic diagram；
Fig. 2 is blending algorithm flow chart in the present invention；
The radio altitude data of Fig. 3 example 2 in-flight；
The pressure altitude data of Fig. 4 example 2 in-flight；
The fusion altitude information of Fig. 5 example 2 in-flight.
Specific embodiment
Embodiment 1
A kind of unmanned plane height sensor fusion method provided in this embodiment, as shown in Figs. 1-5, specifically includes the following steps:
A kind of unmanned plane height sensor fusion method, specifically includes the following steps:
(1) the configuration height sensor on unmanned plane target drone, ground remote control control height and merge, and default fusion is opened, and merge when beating
Close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when configuring two kinds of height sensors on the target drone in step (1), and two height sensor altitude informations are different
When cause, automatically begin to merge；
(3) data of one of height sensor are forced with the plus-minus rate set to another height sensor data
Close to calculate, the result after calculating is altitude information after current fusion；
(4) until being automatically stopped fusion when fused data are consistent with height sensor data another in step (3).
In the present embodiment, target drone booting default fusion is opened, and detects two kinds of height sensor data automatically, when wherein
When a kind of height sensor failure or data failure, fusion function is automatically closed；By ground send instruction to fusion function into
Row opens or closes.
In the present embodiment, two kinds of height sensors being arranged on step (2) target drone are respectively pressure altimeter and wireless
Electrical height table, when pressure altimeter being arranged and when radio altimeter, unmanned plane height sensor fusion method, specifically include with
Lower step:
(1) pressure altimeter and radio altimeter are configured on unmanned plane target drone, ground remote control control height merges, and default is melted
Run jointly, when beat fusion close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when fusion is opened, when radio altitude is valid data, automatically begin to merge, the data of pressure altimeter with
The good plus-minus rate of program setting carries out approximation computation to the data of radio altimeter, specifically:
△ H initial value is set as 0, when every cycle calculations start, fusion height calculating HR=HQ+△H；
Wherein, △ H is variable fusion amount, HRFor height, H after current fusionQIndicate current gas pressure height current value；
(3) when fusion height is less than radio altitude, pressure altitude follows radio altitude with the rate of acceleration set, and △ H=
△H +n；
Wherein, n is setting addition rate, indicates that each calculating circulation is incremented by n meters；
(4) when fusion height is greater than radio altitude, pressure altitude follows radio altitude with the rate of deceleration set, and △ H=
△H –m；
Wherein, m is setting subtraction rate, indicates that each calculating circulation is successively decreased m meters；
(5) when fusion height is equal to radio altitude, △ H=△ H, fusion is automatically stopped；
(6) when radio altitude is invalid or failure, it is automatically stopped fusion；
(7) using instruction unpack or closing fusion function, fusion is completed.
Embodiment 2
The present embodiment provides a kind of unmanned plane height sensor fusion methods to be obtained stable and accurate by height fusion treatment
Altitude information, fusion method are that the variable fusion amount set an initial value as zero, the numerical value for then merging height are equal to pressure altitude
Add fusion amount, if fusion height is not equal to radio altitude, merges height by way of changing fusion amount to follow nothing
Line electrical height, sets the rate of change as 3 meters per second, as shown in Figs. 1-5, specifically includes the following steps:
(1) pressure altimeter and radio altimeter are configured on unmanned plane target drone, ground remote control control height merges, and default is melted
Run jointly, when beat fusion close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when fusion is opened, when radio altitude is valid data, automatically begin to merge, the data of pressure altimeter with
The good plus-minus rate of program setting carries out approximation computation to the data of radio altimeter, specifically:
△ H initial value is set as 0, when every cycle calculations start, fusion height calculating HR=HQ+△H；
Wherein, HRFor height, H after current fusionQIndicate current gas pressure height current value；
(3) when fusion height is less than radio altitude, pressure altitude is with per second plus 3 meters speed follower radio altitudes, △ H
=△ H+n, n are 3 meters；
(4) when fusion height is greater than radio altitude, pressure altitude is with the speed follower radio altitude per second for subtracting 3 meter, △ H
=△H –m；M is 3 meters；
(5) when fusion height is equal to radio altitude, △ H=△ H, fusion is automatically stopped；
(6) when radio altitude is invalid or failure, it is automatically stopped fusion；
(7) using instruction unpack or closing fusion function, fusion is completed.
In the present embodiment, the result H after calculatingRHeight for altitude information after current fusion, as unmanned plane
Observation and control foundation；When fused data are consistent with radio altimeter data, calculated without data, wherein adding and subtracting
Rate m, n can carry out different set according to height sensor own characteristic and unmanned plane characteristic.
By the above-mentioned means, the type unmanned plane merges two kinds of altitude informations, height measurement accuracy and control precision are equal
Preferable promotion is obtained, fusion front and back data are shown in Fig. 3,4,5, from the way as can be seen that fusion height had both evaded air pressure height
The larger disadvantage of Acquisition Error is spent, and has evaded radio altitude acquisition clutter and has disturbed big disadvantage, the height in flight course
Degree acquisition is superior to before merging with control precision.
Unmanned plane height sensor fusion method of the invention, the height sensor being arranged on target drone pass through series/parallel
Mode realizes the fusion of multiple height sensor data；And this method is defined in height sensor fusion, remaining type incessantly
Data can also carry out fusion calculation by the method.
In addition to the implementation, the present invention can also have other embodiments.It is all to use equivalent substitution or equivalent transformation shape
At technical solution, fall within the scope of protection required by the present invention.
Claims (6)
1. a kind of unmanned plane height sensor fusion method, which is characterized in that specifically includes the following steps:
(1) the configuration height sensor on unmanned plane target drone, ground remote control control height and merge, and default fusion is opened, and merge when beating
Close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when configuring two kinds of height sensors on the target drone in step (1), and two height sensor altitude informations are different
When cause, automatically begin to merge；
(3) data of one of height sensor are forced with the plus-minus rate set to another height sensor data
Close to calculate, the result after calculating is altitude information after current fusion；
(4) until being automatically stopped fusion when fused data are consistent with height sensor data another in step (3).
2. unmanned plane height sensor fusion method according to claim 1, it is characterised in that: the target drone booting default
Fusion is opened, and detects two kinds of height sensor data automatically, when one of height sensor failure or data failure, from
It is dynamic to close fusion function.
3. unmanned plane height sensor fusion method according to claim 2, it is characterised in that: sent and instructed by ground
Fusion function is opened or closed.
4. unmanned plane height sensor fusion method according to claim 3, it is characterised in that: set on step (2) target drone
The height sensor set realizes the fusion of multiple height sensor data by way of series/parallel.
5. unmanned plane height sensor fusion method according to claim 4, it is characterised in that: set on step (2) target drone
The two kinds of height sensors set are respectively pressure altimeter and radio altimeter.
6. unmanned plane height sensor fusion method according to claim 5, it is characterised in that: specifically include following step
It is rapid:
(1) pressure altimeter and radio altimeter are configured on unmanned plane target drone, ground remote control control height merges, and default is melted
Run jointly, when beat fusion close instruction when, stop fusion, when beat merge open instruction when, continue to merge；
(2) when fusion is opened, when radio altitude is valid data, automatically begin to merge, the data of pressure altimeter with
The good plus-minus rate of program setting carries out approximation computation to the data of radio altimeter, specifically:
△ H initial value is set as 0, when every cycle calculations start, fusion height calculating HR=HQ+△H；
Wherein, △ H is variable fusion amount, HRFor height, H after current fusionQIndicate current gas pressure height current value；
(3) when fusion height is less than radio altitude, pressure altitude follows radio altitude with the rate of acceleration set, and △ H=
△H +n；
Wherein, n is setting addition rate, indicates that each calculating circulation is incremented by n meters；
(4) when fusion height is greater than radio altitude, pressure altitude follows radio altitude with the rate of deceleration set, and △ H=
△H –m；
Wherein, m is setting subtraction rate, indicates that each calculating circulation is successively decreased m meters；
(5) when fusion height is equal to radio altitude, △ H=△ H, fusion is automatically stopped；
(6) when radio altitude is invalid or failure, it is automatically stopped fusion；
(7) using instruction unpack or closing fusion function, fusion is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810804502.8A CN108955634A (en) | 2018-07-20 | 2018-07-20 | A kind of unmanned plane height sensor fusion method |
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| CN201810804502.8A CN108955634A (en) | 2018-07-20 | 2018-07-20 | A kind of unmanned plane height sensor fusion method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110262551A (en) * | 2019-06-24 | 2019-09-20 | 陕西飞机工业（集团）有限公司 | A kind of high and low empty cruise pre-selected height benchmark switching method in aircraft sea |
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| US20160356892A1 (en) * | 2012-01-20 | 2016-12-08 | Sandel Avionics, Inc. | Pressure altitude stabilization |
| CN106225769A (en) * | 2016-09-30 | 2016-12-14 | 深圳市富微科创电子有限公司 | The fixed high method and system of a kind of aircraft |
| CN106595578A (en) * | 2017-01-25 | 2017-04-26 | 上海拓攻机器人有限公司 | Multi-sensor information fusion-based unmanned aerial vehicle height measurement method and system |
| CN106681344A (en) * | 2016-12-26 | 2017-05-17 | 湖南纳雷科技有限公司 | Height control method and height control system for aerial vehicle |
| JP2017200803A (en) * | 2016-05-06 | 2017-11-09 | 株式会社プロドローン | Flight altitude correction system and method for unmanned aircraft |
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2018
- 2018-07-20 CN CN201810804502.8A patent/CN108955634A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160356892A1 (en) * | 2012-01-20 | 2016-12-08 | Sandel Avionics, Inc. | Pressure altitude stabilization |
| JP2017200803A (en) * | 2016-05-06 | 2017-11-09 | 株式会社プロドローン | Flight altitude correction system and method for unmanned aircraft |
| CN106225769A (en) * | 2016-09-30 | 2016-12-14 | 深圳市富微科创电子有限公司 | The fixed high method and system of a kind of aircraft |
| CN106681344A (en) * | 2016-12-26 | 2017-05-17 | 湖南纳雷科技有限公司 | Height control method and height control system for aerial vehicle |
| CN106595578A (en) * | 2017-01-25 | 2017-04-26 | 上海拓攻机器人有限公司 | Multi-sensor information fusion-based unmanned aerial vehicle height measurement method and system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110262551A (en) * | 2019-06-24 | 2019-09-20 | 陕西飞机工业（集团）有限公司 | A kind of high and low empty cruise pre-selected height benchmark switching method in aircraft sea |
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Application publication date: 20181207 |