CN109282787B - Unmanned aerial vehicle flying height step detecting system - Google Patents
Unmanned aerial vehicle flying height step detecting system Download PDFInfo
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- CN109282787B CN109282787B CN201811323018.XA CN201811323018A CN109282787B CN 109282787 B CN109282787 B CN 109282787B CN 201811323018 A CN201811323018 A CN 201811323018A CN 109282787 B CN109282787 B CN 109282787B
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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
Abstract
An unmanned aerial vehicle height detection system comprises a detection module, a data processing module, a power management module, an attitude adjustment module and a reserved external module port, wherein the detection module comprises a barometer, 3 ultrasonic sensors and a speedometer, the data processing module is connected with the detection module through a data bus and is used for calculating relative height and a final height value, the ultrasonic sensors with three measuring ranges are distributed to the relative height for measurement, and the measuring ranges are set according to three gradient levels, namely a large gradient level, a medium gradient level and a small gradient level; the power management module is used for managing the battery of the unmanned aerial vehicle, realizing the control of the power consumption of the device and improving the cruising ability of the device; the attitude adjusting module is an execution module of the unmanned aerial vehicle and is used for realizing the height control of the unmanned aerial vehicle; the reserved external module port is provided for users. The invention provides an unmanned aerial vehicle flight height step detection system which is continuous in height, wide in range and high in adaptability.
Description
Technical Field
The invention relates to a height detection system for an unmanned aerial vehicle during flying, in particular to a height detection system for the unmanned aerial vehicle with a large range and high precision detection requirement.
Background
In recent years, small rotor unmanned aerial vehicles have been promoted and developed. Due to the mobile flight capability, the aircraft can perform specific tasks under various environments, so that the aircraft becomes a hot point of research in various fields.
The height information is used as an important parameter in the flight process, and is an important guarantee for safe and effective flight of the unmanned aerial vehicle, task completion and personnel safety. Currently, height measurement mainly includes: 1) planning a route; 2) surveying the terrain; 3) unmanned aerial vehicles take off and land autonomously, and the like. The air route planning is an important link in the flight process, and requires the unmanned aerial vehicle to stably fly at a specific height; in the topographic survey link, the height of the unmanned aerial vehicle is related to the visual angle of a shot graph, and in order to draw the terrain correctly, the unmanned aerial vehicle is required to be at a fixed height to shoot the passing terrain; unmanned aerial vehicle independently takes off and land: in the process of takeoff and landing of the unmanned aerial vehicle, the heights of the unmanned aerial vehicle from the ground are different, the motion states of the unmanned aerial vehicle are different, and when the unmanned aerial vehicle approaches the ground, small errors are fatal to the unmanned aerial vehicle. Therefore, it is necessary to measure the flying height of the drone in real time, however, the present drone has various limitations in measuring the flying height, specifically as follows:
1. the sensor has the following limitations: the single sensor has limitations on the measurement distance, such as limitations on the measurement distance of a sonar and low sensitivity of a barometer to air pressure changes in the air during altitude measurement, and the drift of the sensor can cause altitude abrupt change in the measurement process and obvious distortion of the measurement value.
2. The existing high fusion technology has some obvious defects: such as a handover procedure, may result in a high degree of discontinuity affecting the measurement results.
3. When the unmanned aerial vehicle is in a lifting state, the height measurement value of the unmanned aerial vehicle often has a hysteresis phenomenon.
4. The scene specificity is stronger when traditional unmanned aerial vehicle's altitude measurement, and the range of caliber is single, and the adaptability is not strong.
Disclosure of Invention
In order to overcome the defects of discontinuous height, small range and poor adaptability of the existing unmanned aerial vehicle height detection mode, the invention provides an unmanned aerial vehicle flight height step detection system with continuous height, wide range and strong adaptability, wherein three ultrasonic sensors with different ranges are adopted for measuring relative height, and the values are subjected to fusion algorithm to obtain a second height value; and fusing the height value measured by the barometer and the second height value with the speed in the vertical direction to obtain a final height measurement value.
In order to solve the technical problems, the invention adopts the following technical scheme:
an unmanned aerial vehicle flying height step detection system comprises a detection module, a data processing module, a power management module, an attitude adjustment module and a reserved external module port, wherein the detection module comprises a barometer, 3 ultrasonic sensors and a speedometer, the data processing module is connected with the detection module through a data bus and is used for calculating a second height value and a final height value, the ultrasonic sensors with three measuring ranges are distributed relative to the height for measurement, and the measuring ranges are arranged according to three gradient levels, namely a large gradient level, a middle gradient level and a small gradient level; the power management module is used for managing the battery of the unmanned aerial vehicle, realizing the control of the power consumption of the device and improving the cruising ability of the device; the attitude adjusting module is an execution module of the unmanned aerial vehicle and is used for realizing the height control of the unmanned aerial vehicle; the reserved external module port is provided for a user;
in the data processing module, fusion of the relative height measurement values is performed first, which is in accordance with the following:
h2＝k1h2_1+k2h2_2+k3h2_3 (1-1)
wherein n is the number of the ultrasonic sensors, h2Is a fusion value of the relative height (second height), h2_1Representative is the height value, h, of the small-scale measurement2_2Is a measured value of the middle range, h2_3Is a wide-range measurement value, k1，k2，k3In order to fuse the coefficients and conform to the constraint conditions of (1-2), the parameter settings thereof conform to the constraints of (1-3) and (1-4), when h2_i＞HiWhen, corresponding to kiIs 0;
high fusion was then performed:
h＝kh2+(1-k)h1+vt (1-5)
wherein H3Refers to the maximum range value in the sensor in relative altitude; α is a constant set by the user in accordance with a specific index or request; v is the value of the velocity of the rise or fall of the vertical altitude; t is the sampling time of the ultrasonic sensor; when h is generated2≥H3And k has a value of 0.
The invention has the beneficial effects that:
1. the defects of discontinuous height and the like of the barometer and the ultrasonic sensor in the measurement process are overcome.
2. The measurement of the relative height is divided into the measurement of sensors with different measuring ranges, and the height fusion is carried out through a fusion algorithm, so that the numerical value discontinuity condition in the detection process is overcome while the measurement precision is ensured.
3. And a sensor with a proper measuring range is selected according to project requirements, so that the adaptability of the system is enhanced.
4. Vertical direction speed parameters are added into the height fusion strategy, so that the dynamic control of the height of the unmanned aerial vehicle is facilitated.
Drawings
FIG. 1 is a schematic view of the high fusion strategy of the present invention.
FIG. 2 is a high level fusion flow diagram of the present invention.
FIG. 3 is a block diagram of the height detection system of the present invention.
Fig. 4 is a system configuration diagram of the drone.
The specific implementation process comprises the following steps:
the present invention now will be described more fully hereinafter with reference to the accompanying drawings, in which exemplary embodiments of the invention are shown.
Referring to fig. 1 to 4, an unmanned aerial vehicle flying height step detection system, which comprises a detection module, a data processing module, a power management module, an attitude adjustment module and a reserved external module port, wherein the detection module comprises a barometer, 3 ultrasonic sensors and a speedometer, the data processing module is connected with the detection module through a data bus and used for calculating relative height and a final height value, the ultrasonic sensors with three measuring ranges are distributed to the relative height for measurement, and the measuring ranges are set according to three gradient levels, namely large, medium and small; the power management module is used for managing the battery of the unmanned aerial vehicle, realizing the control of the power consumption of the device and improving the cruising ability of the device; the attitude adjusting module is an execution module of the unmanned aerial vehicle and is used for realizing the height control of the unmanned aerial vehicle; the reserved external module port is provided for a user;
in the data processing module, fusion of the relative height measurement values is performed first, which is in accordance with the following:
h2＝k1h2_1+k2h2_2+k3h2_3 (1-1)
wherein n is the number of the ultrasonic sensors, h2Is a fusion value of the second height (relative height), h2_1Representative is the height value, h, of the small-scale measurement2_2Is a measured value of the middle range, h2_3Is a wide-range measurement value, k1，k2，k3In order to fuse the coefficients and conform to the constraint conditions of (1-2), the parameter settings thereof conform to the constraints of (1-3) and (1-4), when h2_i＞HiWhen, corresponding to kiIs 0;
high fusion was then performed:
h＝kh2+(1-k)h1+vt (1-5)
wherein H3Is the maximum measuring range value in the sensor in the relative height, alpha is a constant set by a user along with a specific index or requirement, v is the speed value of the rise or fall of the vertical height, t is the sampling time of the ultrasonic sensor, and when h is the sampling time of the ultrasonic sensor2≥H3The value of k is 0, i.e. the calculation formula for the measured height is in barometer binding speed.
The unmanned aerial vehicle is used for carrying out the explanation on the inspection of the photovoltaic cell array, and the unmanned aerial vehicle is required to carry the thermal infrared imager and the camera in the inspection task. The two ranges are respectively s1m and s2m (assume s)1<s2) In the detection module of the unmanned aerial vehicle, H can be used1m(H1m＝s1m +0.1n) is set as the minimum range of the ultrasonic sensor group. In the same way, H2m(H2m＝s2m +0.1m) can be set to the mid-range of the ultrasonic sensor set. The large range can be set to the maximum value (assumed to be H) according to the flight path plan3m, and a ratio H1And H2Large).
The first step is as follows: according to the above description, 3 ultrasonic sensors with different ranges are selected in conjunction with the description of fig. 1. Wherein the small range is up to H1m small-range ultrasonic sensors; the range is up to H2The middle range of m; up to H3m large range sensor. And the parameters are recorded, so that the use of the fusion strategy is facilitated.
The second step is that: when the unmanned aerial vehicle is in flight, the hardware system detection is as shown in fig. 3, wherein there are three sensors, barometer, ultrasonic wave and vertical velocity sensor. These three sensors communicate values to the microprocessor via a data bus and, in conjunction with fig. 2, perform a height determination. The values of the ultrasonic sensors are processed according to the formulas (1-1), (1-2), (1-3), and (1-4).
2-1) when the measured values of the three ultrasonic sensors are fused relatively highly, the fusion coefficients are firstly obtained, the fusion coefficients are solved by utilizing (1-3) and (1-4), the fusion coefficients of the ultrasonic sensors with medium range and small range are obtained, and the specific calculation formula refers to (1-3) and (1-4).
2-2) solving the fusion coefficient of the large range according to the formula (1-2), and subtracting the fusion coefficients of the first two terms from 1 according to the sum of the fusion coefficients of all terms in the formula as 1 to obtain the fusion coefficient.
2-3) for the case where the measured value in the condition of the formula (1-4) is equal to the span, the coefficient thereof is set to 0 because the measured value at this time cannot accurately represent the measured height value, and the measured value of the sensor of this span is discarded.
The third step: based on the relative altitude determined in the second step, the absolute (altitude) altitude measured by the barometer is fused with it according to (1-5), (1-6).
Fusion calculations for relative altitude and altitude measured by the barometer. The fusion is carried out according to the formulas (1-5) and (1-6), and the characteristics of the parameters mainly depend on the comparison of the measuring range and the flying height. Wherein, it is to be noted that for H3Refers to the maximum measuring range H of the sensor in the relative height (second height)3m, α are constants that the user sets in accordance with a specific index or request.
In the fusion of the two altitude (relative altitude and barometric measured altitude) strategies, the velocity value of the vertical altitude is added as a fusion element to the altitude estimation.
For positive and negative description of velocity values: when the unmanned aerial vehicle flies upwards: v > 0; when the unmanned plane flies downwards, v is less than 0.
FIG. 4 is described herein with reference to an example in which the measurement modules (ultrasonic, barometer, speedometer) perform measurements of various values as described above; the power management system in the figure is a necessary module in each system module and determines the cruising ability of the system; the external modules are reserved in the figure in order to provide some ports to the user of the drone to place the modules needed to accomplish a specific task. In this example, the thermal imager and camera are placed in two pre-existing outside modules. The attitude adjustment module in the figure is a control module for the flight of the unmanned aerial vehicle, and in a combination example, when the height of the unmanned aerial vehicle is higher than a target value, the unmanned aerial vehicle descends through the module; when the altitude is lower than the target value, the unmanned aerial vehicle is lifted through the module. In connection with the example, the target values are the values in the effective measurement range of the thermal imager and the effective photographing distance value of the camera.
Finally, it should also be noted that the above is merely an embodiment of the detection system, but is not limited to the above.
Claims (1)
1. An unmanned aerial vehicle flying height step detection system is characterized by comprising a detection module, a data processing module, a power management module, an attitude adjustment module and a reserved external module port, wherein the detection module comprises a barometer, 3 ultrasonic sensors and a speedometer, the data processing module is connected with the detection module through a data bus and is used for calculating relative height and a final height value, the ultrasonic sensors with three measuring ranges are distributed to the relative height for measurement, and the measuring ranges are set according to three gradient levels, namely large, medium and small; the power management module is used for managing the battery of the unmanned aerial vehicle, realizing the control of the power consumption of the device and improving the cruising ability of the device; the attitude adjusting module is an execution module of the unmanned aerial vehicle and is used for realizing the height control of the unmanned aerial vehicle; the reserved external module port is provided for a user;
in the data processing module, fusion of the relative height measurement values is performed first, which is in accordance with the following:
h2＝k1h2_1+k2h2_2+k3h2_3 (1-1)
wherein n is the number of the ultrasonic sensors, h2As a fusion value of relative height, h2_1Representative is the height value, h, of the small-scale measurement2_2Is a measured value of the middle range, h2_3Is a wide-range measurement value, k1，k2，k3In order to fuse the coefficients and conform to the constraint conditions of (1-2), the parameter settings thereof conform to the constraints of (1-3) and (1-4), when h2_i＞HiWhen, corresponding to kiIs 0;
high fusion was then performed:
h＝kh2+(1-k)h1+vt (1-5)
wherein H3Refers to the maximum range value in the sensor in relative altitude; α is a set constant; v is the value of the velocity of the rise or fall of the vertical altitude; t is the sampling time of the ultrasonic sensor; when h is generated2≥H3And k has a value of 0.
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