CN109282787A - A UAV flight height step detection system - Google Patents
A UAV flight height step detection system Download PDFInfo
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- CN109282787A CN109282787A CN201811323018.XA CN201811323018A CN109282787A CN 109282787 A CN109282787 A CN 109282787A CN 201811323018 A CN201811323018 A CN 201811323018A CN 109282787 A CN109282787 A CN 109282787A
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- 238000001514 detection method Methods 0.000 title claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 21
- 238000012545 processing Methods 0.000 claims abstract description 12
- 230000004927 fusion Effects 0.000 claims description 22
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005070 sampling Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 3
- 238000007726 management method Methods 0.000 description 6
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- 238000001931 thermography Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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- 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
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
一种无人机高度检测系统，包括检测模块、数据处理模块、电源管理模块、姿态调整模块和预留外部模块口，所述的检测模块包含气压计、3个超声波传感器和速度计，所述的数据处理模块通过数据总线与所述检测模块连接，用于相对高度以及最终高度值的计算，其中，相对高度分配三种量程的超声波传感器进行测量，量程的设置按照大、中、小三个梯度级进行设置；所述的电源管理模块，用于无人机电池管理，实现装置功耗的控制，提高其续航能力；所述的姿态调整模块是无人机的执行模块，用于实现无人机高度的控制；所述的预留外部模块口提供给使用者。本发明提供一种高度连续且大量程、适应性较强的无人机飞行高度梯级检测系统。
An unmanned aerial vehicle altitude detection system includes a detection module, a data processing module, a power management module, an attitude adjustment module and a reserved external module port, the detection module includes a barometer, three ultrasonic sensors and a speedometer, and the The data processing module is connected with the detection module through the data bus, and is used for the calculation of the relative height and the final height value, wherein, the relative height is assigned three ranges of ultrasonic sensors for measurement, and the range is set according to the three gradients of large, medium and small. The power management module is used for the battery management of the drone, to control the power consumption of the device and improve its endurance; the attitude adjustment module is the execution module of the drone, which is used to realize the unmanned aerial vehicle. Control the height of the machine; the reserved external module port is provided to the user. The invention provides a UAV flight height step detection system with continuous height, large range and strong adaptability.
Description
Technical field
The present invention relates to height detecting system when unmanned plane during flying, especially for there is large range high precision to detect demand
Unmanned plane measurement height detection system.
Background technique
In recent years, small-sized rotor wing unmanned aerial vehicle has obtained Popularization And Development.It, can be in a variety of rings because it has motor-driven flight performance
Particular task is executed under border, has become a hot topic of research it in numerous areas.
Elevation information is that unmanned plane safely and effectively flies and task is completed as an important parameter in flight course
With the important leverage of personnel safety.Present Attitude measurement specifically includes that 1) flight course planning；2) topographic(al) reconnaissance；3) unmanned plane is autonomous
Landing etc..Flight course planning is as the important link in flight course, it is desirable that unmanned plane is in specific height smooth flight；Landform
It surveys in link, the height of unmanned plane is related with shooting figure visual angle, in order to correctly be drawn to landform, it requires nobody
Machine is in fixed height and shoots to the landform passed through；The autonomous landing of unmanned plane: unmanned plane take off in descent,
Height of the unmanned plane away from ground is different, and motion state is different, and when close to ground, small error is for unmanned plane
It is all fatal.Therefore, it is necessary to which the flying height to unmanned plane is measured in real time, however, unmanned plane now is in height
It is specific as follows there are various limitations when degree measurement:
1. limitation existing for sensor: there is limitation in single-sensor, at the measuring distance such as sonar at the measuring distance
Limitation and barometer it is relatively low to the pressure change sensitive degree in air in height measurement, the drift of sensor can be led
Cause there is height mutation and measured value phenomena such as obvious distortion occur in measurement process.
2. existing height integration technology has some apparent defects: if handoff procedure will lead to height discontinuously, influencing
Measurement result.
3. often there is hysteresis in height measurements when for unmanned plane jacking condition.
4. stronger for scene specificity when the elevation carrection of traditional unmanned plane, the range of measuring appliance is single, and adaptability is not
By force.
Summary of the invention
In order to overcome, the height of existing unmanned plane height detection mode is discontinuous and range is smaller, adaptability is not strong not
Foot, the present invention provide that a kind of height is continuous and the stronger drone flying height step detection system of wide range, adaptability, use
The ultrasonic sensor of three different ranges carries out relative altitude measurement, and these values are obtained the second height according to blending algorithm
Value；It merges the speed on the height value of barometric surveying and the second height value combination vertical direction to obtain final elevation carrection
Value.
In order to solve the above-mentioned technical problem the present invention adopts the following technical scheme that:
A kind of drone flying height step detection system, including detection module, data processing module, power management mould
Block, pose adjustment module and reserved external module mouth, the detection module include barometer, 3 ultrasonic sensors and speed
Degree meter, the data processing module are connect by data/address bus with the detection module, highly and final high for second
The calculating of angle value, wherein the ultrasonic sensor that relative altitude distributes three kinds of ranges measures, the setting of range according to it is big,
Middle or small three gradient grades are configured；The power management module is used for unmanned plane battery management, realization device power consumption
Control, improves its cruising ability；The pose adjustment module is the execution module of unmanned plane, for realizing unmanned plane height
Control；The reserved external module mouth is supplied to user；
In the data processing module, the fusion of relative altitude measured value is carried out first, is met as follows:
h2=k1h2_1+k2h2_2+k3h2_3 (1-1)
Wherein, n is the number of ultrasonic sensor, h2For the fusion value of relative altitude (the second height), h2_1Represent be
The height value of small-range measurement, h2_2For the measured value of middle range, h2_3For the measured value of wide range, k1, k2, k3For fusion coefficients
And the constraint condition of meeting formula (1-2), parameter setting follow the constraint of (1-3) and (1-4), work as h2_i> HiWhen, it is corresponding
kiIt is 0；
Then the height fusion carried out:
H=kh2+(1-k)h1+vt (1-5)
Wherein, H3Refer to the maximum range value in relative altitude in sensor；α be user with specific index or
Person requires the constant of setting；V is the velocity amplitude of rising or the decline of vertical height；T is the sampling time of ultrasonic sensor；
Work as h2≥H3, the value of k is 0.
The beneficial effects of the present invention are embodied in:
1. the defects of height for overcoming barometer and ultrasonic sensor to occur in the measurements is discontinuous.
2. the measurement of relative altitude to be divided into the sensor measurement of different ranges, and height is carried out by blending algorithm and is melted
It closes, while guaranteeing measurement accuracy, overcomes the discontinuous situation of the numerical value occurred in detection process.
3. selecting the sensor of suitable range according to project demands, enhance the adaptability of system.
4. vertical speed parameter is added in height convergence strategy, be conducive to the dynamic control of unmanned plane height.
Detailed description of the invention
Fig. 1 is height convergence strategy figure of the present invention.
Fig. 2 is height fusion flow chart of the invention.
Fig. 3 is height detecting system block diagram of the invention.
Fig. 4 is the system construction drawing of unmanned plane.
Specific implementation flow:
With reference to the accompanying drawings to invention is more fully described, wherein the exemplary implementation only of the invention illustrated
Example.
Referring to Fig.1~Fig. 4, a kind of drone flying height step detection system, a kind of drone flying height step inspection
Examining system, including detection module, data processing module, power management module, pose adjustment module and reserved external module mouth, institute
The detection module stated includes that barometer, 3 ultrasonic sensors and speedometer, the data processing module pass through data/address bus
It is connect with the detection module, the calculating for relative altitude and final height value, wherein relative altitude distributes three kinds of ranges
Ultrasonic sensor measure, the setting of range is configured according to large, medium and small three gradient grades；The power supply pipe
Module is managed, unmanned plane battery management is used for, the control of realization device power consumption improves its cruising ability；The pose adjustment mould
Block is the execution module of unmanned plane, for realizing the control of unmanned plane height；The reserved external module mouth is supplied to use
Person；
In the data processing module, the fusion of relative altitude measured value is carried out first, is met as follows:
h2=k1h2_1+k2h2_2+k3h2_3 (1-1)
Wherein, n is the number of ultrasonic sensor, h2For the fusion value of the second height (relative altitude), h2_1Represent be
The height value of small-range measurement, h2_2For the measured value of middle range, h2_3For the measured value of wide range, k1, k2, k3For fusion coefficients
And the constraint condition of meeting formula (1-2), parameter setting follow the constraint of (1-3) and (1-4), work as h2_i> HiWhen, it is corresponding
kiIt is 0；
Then the height fusion carried out:
H=kh2+(1-k)h1+vt (1-5)
Wherein, H3Refer to the maximum range value in relative altitude in sensor, α be user with specific index or
Person requires the constant of setting, and v is the velocity amplitude of rising or the decline of vertical height, and t is the sampling time of ultrasonic sensor,
Work as h2≥H3, the value of k is 0, i.e., the calculation formula of measurement height is with barometer combination speed.
It is illustrated for photovoltaic battery array inspection by unmanned plane, in patrol task, it is desirable that unmanned plane carries red
Outer thermal imaging system and camera.The range of the two is respectively s1M and s2M is (assuming that s1<s2), in the detection module of unmanned plane,
It can be by H1m(H1M=s1M+0.1n) it is set as the minimum range of ultrasonic sensor group.Similarly, H2m(H2M=s2m+0.1m)
It can be set to the middle range of ultrasonic sensor group.It is maximum that wide range can be set as numerical value according to the planning of flight path
Value (is assumed to be H3M, and compare H1And H2Greatly).
Step 1: from the description above, choosing the ultrasonic sensor of 3 different ranges as shown in connection with fig. 1.Its Small Amount
Journey is maximum to H1The small-range ultrasonic sensor of m；Range is maximum to H2The middle range of m；Maximum is to H3The wide range of m passes
Sensor.And by its reference record, the use of convergence strategy after facilitating.
Step 2: when unmanned plane is in flight course, hardware system detection as shown in figure 3, wherein there are three types of sensor,
Barometer, ultrasonic wave and vertical velocity sensor.Value is passed to micro process by data/address bus mode by these three sensors
Device, and Fig. 2 is combined, it carries out height and determines.To the value of ultrasonic sensor according to formula (1-1), (1-2), (1-3), (1-4) into
Row processing.
When 2-1) carrying out relative altitude fusion for the measured value of three ultrasonic sensors, its fusion coefficients is first found out,
It utilizes (1-3), (1-4) is solved, and what is obtained is the fusion coefficients of middle range and small-range ultrasonic sensor, specific to count
Formula is calculated referring to (1-3), (1-4).
2-2) fusion coefficients of wide range are solved referring to formula (1-2), according to the total of fusion coefficients every in formula
Be 1, use 1 subtracts preceding two fusion coefficients, can be in the hope of.
When 2-3) being equal to range for measured value in the condition in the formula (1-4), 0 is set by its coefficient, because
Measured value at this time cannot accurately indicate the height value of measurement, and the measured value of the sensor of this range is cast out.
Step 3: based on the relative altitude that second step determines, by absolute (height above sea level) of barometric surveying height and its according to
(1-5), (1-6) are merged.
For the fusion calculation of the height of relative altitude and barometric surveying.According to (1-5), (1-6) formula is melted
The characteristics of conjunction, parameter, depends primarily on the range of measurement and the comparison of flying height.Wherein, it should be noted that for
H3Refer to the maximum range H of sensor in relative altitude (the second height)3M, α are users with specific index or requirement
The constant of setting.
When carrying out two height (height of relative altitude and barometric surveying) strategy fusions, by the speed of vertical height
Value is added height as fusion element and estimates.
Positive and negative description for velocity amplitude: when the upward flight of unmanned plane: v > 0；The v < 0 when unmanned plane downward flight.
Fig. 4 is illustrated here in conjunction with example, the measurement module (ultrasonic wave, barometer, speedometer) in figure is as above
The measurement for carrying out various values；Power-supply management system in figure is required module in each system module, determines system
Cruising ability；Reserved external module in figure is to provide for some ports to the user of unmanned plane, places and completes specific
Module required for being engaged in.In the present example, thermal imaging system and camera are placed in two reserved external modules.In figure
Pose adjustment module is the control module of unmanned plane during flying, in conjunction in example, when the height of unmanned plane is higher than target value, is passed through
This module declines unmanned plane；When height is lower than target value, increase unmanned plane by this module.In conjunction with example, mesh
Scale value is exactly the distance value of effectively taking pictures of the value and camera in the effective range of thermal imaging system.
Content more than finally, it should also be noted that is only a kind of embodiment of detection system, but is not limited to above
Form.
Claims (1)
1. a kind of drone flying height step detection system, which is characterized in that the system comprises detection modules, data processing
Module, power management module, pose adjustment module and reserved external module mouth, the detection module surpass comprising barometer, 3
Sonic sensor and speedometer, the data processing module are connect by data/address bus with the detection module, for opposite
The calculating of height and final height value, wherein the ultrasonic sensor that relative altitude distributes three kinds of ranges measures, range
Setting be configured according to large, medium and small three gradient grades；The power management module is used for unmanned plane battery management, real
The control of existing device power consumption, improves its cruising ability；The pose adjustment module is the execution module of unmanned plane, for realizing
The control of unmanned plane height；The reserved external module mouth is supplied to user；
In the data processing module, the fusion of relative altitude measured value is carried out first, is met as follows:
h2=k1h2_1+k2h2_2+k3h2_3 (1-1)
Wherein, n is the number of ultrasonic sensor, h2For the fusion value of relative altitude, h2_1What is represented is the height of small-range measurement
Angle value, h2_2For the measured value of middle range, h2_3For the measured value of wide range, k1, k2, k3For fusion coefficients and meeting formula (1-2)
Constraint condition, parameter setting follows the constraint of (1-3) and (1-4), works as h2_i> HiWhen, corresponding kiIt is 0；
Then the height fusion carried out:
H=kh2+(1-k)h1+vt (1-5)
Wherein, H3Refer to the maximum range value in relative altitude in sensor；α is the constant of setting；V is the upper of vertical height
The velocity amplitude for rising or declining；T is the sampling time of ultrasonic sensor；Work as h2≥H3, the value of k is 0.
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| CN109445449A (en) * | 2018-11-29 | 2019-03-08 | 浙江大学 | A kind of high subsonic speed unmanned plane hedgehopping control system and method |
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