CN110231053B - Experimental platform and method for calibrating low-altitude height sensor of unmanned aerial vehicle - Google Patents
Experimental platform and method for calibrating low-altitude height sensor of unmanned aerial vehicle Download PDFInfo
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Abstract
The invention discloses an experimental platform and a method for calibrating a low-altitude altimeter sensor of an unmanned aerial vehicle, wherein the experimental platform comprises a bracket, an altimeter platform arranged on the bracket and used for bearing the unmanned aerial vehicle, a vertical driving mechanism used for driving the altimeter platform to vertically move on the bracket, and a measuring mechanism used for measuring the height of the altimeter platform, wherein the altimeter platform is arranged on the bracket through a vertical sliding mechanism, the altimeter sensor is arranged below the altimeter platform, and the unmanned aerial vehicle is arranged above the altimeter platform. The test platform can measure the calibration of the height measurement sensor on the unmanned aerial vehicle, and has the advantages of simple structure and convenient use.
Description
Technical Field
The invention belongs to the field of unmanned aerial vehicle sensor testing, and relates to an experimental platform and method for calibrating a low-altitude height sensor of an unmanned aerial vehicle.
Background
With the rapid development of technology, unmanned aerial vehicles are widely used in various fields. In agriculture, the unmanned aerial vehicle becomes a new generation agricultural tool, and has the advantage of high operation efficiency. The unmanned aerial vehicle is applied to the agricultural production management time and has higher requirements on relative height, the flying operation height requirement is generally between 1 and 3 meters, different operation environments can lead to different errors of the height measurement sensor, and the sparseness degree of crops is different, so that the fluctuation influence on the height measurement sensor is larger, the height measurement sensor cannot obtain accurate height, and the operation effect is influenced.
Various existing altimeter sensors applied to unmanned aerial vehicles at present, such as barometers, ultrasonic radars, laser radars, millimeter wave radars and the like, have various problems of a single sensor, such as larger error caused by the fact that the barometer is easily affected by the environment; the ultrasonic radar cannot return to effective waveforms due to the sparseness of crops, so that errors are caused; laser sensors are susceptible to interference from sunlight or dust. Aiming at the problems, the method is generally required to be applied to a multi-sensor fusion height measurement technology to improve measurement accuracy, namely, the height measurement sensor is calibrated through a corresponding test platform, fitting is carried out according to test data obtained by simulating a corresponding working environment, and compensation is carried out when actual interference occurs so as to achieve the purpose of stable flight operation of the unmanned aerial vehicle. However, the prior art does not have a simulation platform for simulating the altimetric sensor in the unmanned aerial vehicle.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides an experimental platform for calibrating a low-altitude height measurement sensor of an unmanned aerial vehicle, wherein the experimental platform can be used for measuring the calibration of the height measurement sensor on the unmanned aerial vehicle and has the advantages of simple structure and convenience in use.
The invention further aims to provide an experimental method for calibrating the low-altitude altimeter sensor of the unmanned aerial vehicle.
The technical scheme for solving the technical problems is as follows:
the utility model provides an experimental platform for unmanned aerial vehicle low latitude height measurement sensor is markd, includes the support, sets up be used for bearing unmanned aerial vehicle's height measurement platform on the support, be used for the drive height measurement platform is in do vertical motion's vertical actuating mechanism and be used for right height measurement platform's height carries out measuring mechanism, wherein, height measurement platform passes through vertical sliding mechanism and installs on the support, height measurement sensor installs height measurement platform's below, unmanned aerial vehicle installs height measurement platform's top.
Preferably, the vertical sliding mechanisms are two groups, each group of vertical sliding mechanism comprises a sliding rail vertically arranged on the bracket and a sliding block arranged on the height measuring platform, wherein the number of the sliding blocks is two, and the two sliding blocks are vertically arranged and respectively arranged on the sliding rail.
Preferably, the vertical driving mechanism comprises a fixed pulley arranged at the top of the bracket, a paratrooper rope and a winding mechanism for winding and releasing the paratrooper rope, wherein the winding mechanism comprises a mounting seat arranged at the bottom of the bracket, a winding shaft arranged on the mounting seat and a rotary driving mechanism for driving the winding shaft to rotate, the winding shaft is rotationally connected to the mounting seat, the paratrooper rope is wound on the winding shaft, and the paratrooper rope upwards bypasses the fixed pulley to be connected with the height measuring platform after coming out of the winding shaft.
Preferably, the rotary driving mechanism comprises a rotary driving motor and a synchronous transmission mechanism, wherein the rotary driving motor and the synchronous transmission mechanism are arranged on the mounting seat, the synchronous transmission mechanism comprises a driving synchronous wheel, a driven synchronous wheel and a synchronous belt encircling the driving synchronous wheel and the driven synchronous wheel, the driving synchronous wheel is arranged on a main shaft of the rotary driving motor, and the driven synchronous wheel is arranged on the rewinding shaft.
Preferably, the vertical driving mechanism further comprises a limiting mechanism arranged on the bracket and used for limiting the vertical movement of the height measuring platform, and the limiting mechanism comprises limiting blocks arranged at the upper end and the lower end of the sliding rail.
Preferably, the limit mechanism further comprises a photoelectric sensor arranged at the top of the bracket and a baffle arranged on the height measurement platform, wherein an extension line of a vertical movement track of the baffle passes through a detection port of the photoelectric sensor.
Preferably, the bracket comprises a rectangular supporting frame and a triangular supporting frame, wherein the rectangular supporting frame is vertically arranged, the triangular supporting frame is arranged at the lower end of the rectangular supporting frame, and the triangular supporting frames are arranged at two sides of the rectangular supporting frame; two vertical rods are arranged in the rectangular supporting frame, the two vertical rods are vertically arranged, and the sliding rail is installed on the vertical rods.
Preferably, the height measurement platform comprises an unmanned aerial vehicle fixing plate for fixing the unmanned aerial vehicle and fixing support frames arranged on two sides of the unmanned aerial vehicle fixing plate, wherein the number of the fixing support frames is two, and the two fixing support frames are connected through a cross rod; each fixed support frame is of a hollowed right-angle isosceles triangle structure, one right-angle side of each fixed support frame is connected with a vertical rod of the corresponding support frame through a vertical sliding mechanism, and the other right-angle side of each fixed support frame is connected with one end of the corresponding unmanned aerial vehicle fixed plate and one end of the corresponding cross rod.
Preferably, the measuring mechanism comprises scale values arranged on two sides of the sliding rail, and the arrangement direction of the scale values is the same as the extending direction of the sliding rail.
The principle of the experimental platform for calibrating the unmanned aerial vehicle low-altitude height sensor is as follows:
before working, the experimental platform is installed in a specific simulation environment, such as cement land, sand land, grassland or crop land, and the like, so that the height measurement platform is positioned at the bottom of the bracket, and the unmanned aerial vehicle and the height measurement sensor are installed on the height measurement platform. When the test platform works, the test platform can carry out static detection and dynamic detection on the height measurement sensor on the unmanned aerial vehicle. Wherein,
the static detection specifically comprises the following steps: starting the unmanned aerial vehicle and the vertical driving mechanism, driving the height measuring platform and the unmanned aerial vehicle arranged on the height measuring platform to move vertically to a certain position through the vertical driving mechanism, measuring the height of the height measuring platform at the position through the measuring mechanism, and obtaining a value which is a true value of the height measuring platform. Meanwhile, the height sensor on the height measurement platform can also measure the height of the height measurement platform, and the obtained value is an experimental value of the height measurement platform. And then comparing the experimental value with a true value, thereby carrying out error calibration on the height measurement sensor. And then, replacing the simulation environment, repeating the test for a plurality of times, and analyzing and fitting an ideal measurement curve of the altimeter sensor according to the collected experimental data so as to observe the error condition of the altimeter sensor.
The dynamic detection specifically comprises the following steps: and starting the unmanned aerial vehicle and the vertical driving mechanism, and driving the height measuring platform and the unmanned aerial vehicle arranged on the height measuring platform to vertically move upwards at a certain speed through the vertical driving mechanism so as to simulate the upward flight state of the unmanned aerial vehicle. When the height measurement platform reaches the highest point, the vertical driving mechanism stops working, at the moment, the height measurement sensor detects the height value of the height measurement platform in the vertical movement process, and the height value is compared with the true value, so that the error condition of the height measurement sensor under the dynamic condition is observed.
An experimental method for calibrating a low-altitude altimeter sensor of an unmanned aerial vehicle comprises the following steps:
(1) Selecting a simulation environment below the height measurement platform according to the actual working geographical environment;
(2) Installing an experimental platform in a simulation environment, arranging a height measurement platform at the bottom of a bracket, and simultaneously installing an unmanned aerial vehicle and a height measurement sensor on the height measurement platform;
(3) Selecting static detection or dynamic detection according to actual needs, wherein the static detection (3-1) comprises the following steps:
(3-11) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measuring platform, and the unmanned aerial vehicle and the height measuring sensor which are arranged on the height measuring platform to vertically move to a certain position;
(3-12) the measuring mechanism measures the height of the height measurement platform at the position, and the obtained value is a true value of the height measurement platform; meanwhile, a height measuring sensor on the height measuring platform measures the height of the height measuring platform, and the obtained value is an experimental value of the height measuring platform;
(3-13) comparing the experimental value with the true value, thereby performing error calibration on the height measurement sensor;
(3-14) replacing the simulation environment, repeating the test for a plurality of times, and analyzing and fitting an ideal measurement curve of the altimeter sensor according to the collected experimental data so as to observe the error condition of the altimeter sensor;
the dynamic detection comprises the following steps:
(3-21) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measurement platform and the unmanned aerial vehicle arranged on the height measurement platform to vertically move upwards at a certain speed;
(3-22) stopping the vertical driving mechanism when the height measuring platform reaches the highest point;
and (3-23) detecting the height value of the height measurement platform in the vertical movement process by the height measurement sensor, and comparing the value with a true value so as to observe the error condition of the height measurement sensor under the dynamic condition.
Compared with the prior art, the invention has the following beneficial effects:
1. the experimental platform provided by the invention can simulate the situations of the unmanned aerial vehicle in a hovering state and a vertical flight state, so that two different detections are realized, namely static detection can be realized when the unmanned aerial vehicle is simulated to hover, and dynamic detection can be realized when the unmanned aerial vehicle is simulated to fly, so that the measurement precision can be improved.
2. According to the invention, the unmanned aerial vehicle and the height measurement sensor in the experimental platform are respectively arranged at the upper end and the lower end of the height measurement platform, so that the influence caused by wind field and vibration of the experimental unmanned aerial vehicle can be reduced, and the stability is improved.
3. The experimental platform provided by the invention has the advantages of simple structure and convenience in installation, and can be applied to different places.
Drawings
Fig. 1 and fig. 2 are schematic diagrams of a three-dimensional structure of an experimental platform for calibrating a low-altitude altimeter sensor of an unmanned aerial vehicle.
FIG. 3 is an enlarged view of a portion of the altimeter platform.
Fig. 4 and 5 are partial enlarged views of the vertical drive mechanism.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Referring to fig. 1-5, the experimental platform for calibrating the low-altitude altimeter sensor of the unmanned aerial vehicle comprises a bracket 1, an altimeter platform 2 arranged on the bracket 1 and used for bearing the unmanned aerial vehicle 3, a vertical driving mechanism 4 used for driving the altimeter platform 2 to vertically move on the bracket 1, and a measuring mechanism used for measuring the height of the altimeter platform 2, wherein the altimeter platform 2 is arranged on the bracket 1 through a vertical sliding mechanism 6, the altimeter sensor is arranged below the altimeter platform 2, and the unmanned aerial vehicle 3 is arranged above the altimeter platform 2.
Referring to fig. 1 to 5, the principle of the experimental platform for calibrating the low-altitude altimeter sensor of the unmanned aerial vehicle is as follows:
before working, the experimental platform of the invention is installed in a specific simulation environment, such as cement, sand, grass or crops, etc., and the altimeter platform 2 is positioned at the bottom of the bracket 1, and the unmanned aerial vehicle 3 and the altimeter sensor are installed on the altimeter platform 2. When the test platform works, the test platform can carry out static detection and dynamic detection on the height measurement sensor on the unmanned aerial vehicle 3. Wherein,
the static detection specifically comprises the following steps: the unmanned aerial vehicle 3 and the vertical driving mechanism 4 are started, the height measuring platform 2 and the unmanned aerial vehicle 3 arranged on the height measuring platform 2 are driven to vertically move to a certain position through the vertical driving mechanism 4, the height of the height measuring platform 2 at the position is measured through the measuring mechanism, and the obtained value is a true value of the height measuring platform 2. Meanwhile, the height sensor on the height measurement platform 2 can also measure the height of the height measurement platform 2, and the obtained value is an experimental value of the height measurement platform 2. And then comparing the experimental value with a true value, thereby carrying out error calibration on the height measurement sensor. And then, replacing the simulation environment, repeating the test for a plurality of times, and analyzing and fitting an ideal measurement curve of the altimeter sensor according to the collected experimental data so as to observe the error condition of the altimeter sensor.
The dynamic detection specifically comprises the following steps: the unmanned aerial vehicle 3 and the vertical driving mechanism 4 are started, the height measuring platform 2 and the unmanned aerial vehicle 3 arranged on the height measuring platform 2 are driven to vertically move upwards at a certain speed through the vertical driving mechanism 4, and accordingly the upward flight state of the unmanned aerial vehicle 3 is simulated. When the height measurement platform 2 reaches the highest point, the vertical driving mechanism 4 stops working, at the moment, the height measurement sensor detects the value of the height measurement platform 2 and compares the value with a true value, so that fluctuation and error conditions of the height measurement sensor under the dynamic condition are observed.
Referring to fig. 1-5, the vertical sliding mechanism 6 includes a sliding rail vertically disposed on the bracket 1 and two sliding blocks disposed on the height-measuring platform 2, where the two sliding blocks are vertically arranged and respectively mounted on the sliding rail. By providing the vertical sliding mechanism 6, the vertical movement of the altimeter platform 2 can be guided. Wherein, the vertical sliding mechanisms 6 are divided into two groups.
Referring to fig. 1-5, the vertical driving mechanism 4 comprises a fixed pulley 4-6 arranged at the top of the bracket 1, a paratrooper rope 4-7 and a winding mechanism for winding and releasing the paratrooper rope 4-7, wherein the winding mechanism comprises a mounting seat 4-4 arranged at the bottom of the bracket 1, a winding shaft 4-3 arranged on the mounting seat 4-3 and a rotary driving mechanism for driving the winding shaft 4-3 to rotate, the winding shaft 4-3 is rotationally connected to the mounting seat 4-4, the paratrooper rope 4-7 is wound on the winding shaft 4-3, and the paratrooper rope 4-7 upwards bypasses the fixed pulley 4-6 after coming out of the winding shaft 4-3 and is connected with the height measuring platform 2. The winding shaft 4-3 is driven to rotate by the rotary driving mechanism, so that the winding and releasing of the paratrooper rope 4-7 are realized. When the paratrooper rope 4-7 is wound, the height measurement platform 2 moves vertically upwards, and when the paratrooper rope 4-7 is released, the height measurement platform 2 moves vertically downwards, so that the situation when the unmanned aerial vehicle 3 flies vertically can be simulated.
Referring to fig. 1-5, the rotary driving mechanism comprises a rotary driving motor 4-1 and a synchronous transmission mechanism 4-2, wherein the rotary driving motor is arranged on the mounting seat 4-4, the synchronous transmission mechanism 4-2 comprises a driving synchronous wheel, a driven synchronous wheel and a synchronous belt encircling the driving synchronous wheel and the driven synchronous wheel, the driving synchronous wheel is arranged on a main shaft of the rotary driving motor 4-1, and the driven synchronous wheel is arranged on the winding shaft 4-3. The synchronous transmission mechanism 4-2 is driven to move by the rotary driving motor 4-1, so that the rolling shaft 4-3 is driven to rotate, and the height measuring platform 2 is driven to move vertically. In addition, the winding or releasing speed of the paratrooper rope 4-7 can be controlled by controlling the rotating speed of the rotary driving motor 4-1, so that the height measurement platform 2 vertically moves at a certain specific speed, and the situation that the unmanned aerial vehicle 3 vertically flies at a certain specific speed is simulated.
Referring to fig. 1-5, the vertical driving mechanism 4 further includes a limiting mechanism disposed on the bracket 1 and used for limiting the vertical movement of the height measurement platform 2, and the limiting mechanism includes limiting blocks 4-5 disposed at the upper end and the lower end of the sliding rail. Therefore, the height measuring platform 2 can be prevented from being separated from the sliding rail when doing vertical movement, and the support 1 can be further reinforced, so that the overall stability of the support 1 is improved.
In addition to the above embodiment, the vertical driving mechanism 4 may also adopt a mode of combining a motor with a screw rod transmission mechanism.
Referring to fig. 1-5, the limiting mechanism further comprises a photoelectric sensor 5 arranged at the top of the bracket 1 and a baffle plate arranged on the height measurement platform 2, wherein an extension line of a vertical movement track of the baffle plate passes through a detection port of the photoelectric sensor 5. By arranging the mechanism, when the photoelectric sensor 5 detects the baffle plate of the height measurement platform 2, the control system controls the vertical driving mechanism 4 to stop working, so that the over-travel of the height measurement platform is avoided.
Referring to fig. 1-5, the bracket 1 comprises a rectangular supporting frame 1-1 arranged vertically and a triangular supporting frame 1-2 arranged at the lower end of the rectangular supporting frame 1-1, wherein the triangular supporting frames 1-2 are arranged at two sides of the rectangular supporting frame 1-1; two vertical rods 1-3 are arranged in the rectangular supporting frame 1-1, the two vertical rods 1-3 are vertically arranged, and the sliding rail is arranged on the vertical rods 1-3. By providing the above structure, the stability of the bracket 1 can be improved.
Referring to fig. 1-5, the height measurement platform 2 includes an unmanned aerial vehicle fixing plate 2-1 for fixing an unmanned aerial vehicle 3 and fixing support frames 2-2 disposed at two sides of the unmanned aerial vehicle fixing plate 2-1, wherein two fixing support frames 2-2 are provided, and the two fixing support frames 2-2 are connected through a cross rod 2-3; the fixed support frames 2-2 are hollow right isosceles triangle structures, one right angle side of each right isosceles triangle support frame 1-2 is connected with the vertical rod 1-3 of the support frame 1 through the vertical sliding mechanism 6, and the other right angle side is connected with the unmanned aerial vehicle fixed plate 2-1 and one end of the cross rod 2-3. By the arrangement of the structure, the weight of the height measuring platform 2 can be reduced, the moment is balanced, and the height measuring platform 2 is ensured not to influence data measurement.
Referring to fig. 1-5, the measuring mechanism includes scale values disposed on two sides of the sliding rail, and a setting direction of the scale values is the same as an extending direction of the sliding rail. The scale values are arranged on the two sides of the sliding rail, so that an experimenter can conveniently measure the actual height of the height measurement platform 2, and the experimental value is compared with the true value, so that the error calibration is carried out on the height measurement sensor.
Referring to fig. 1-5, the experimental method for calibrating the low-altitude altimeter sensor of the unmanned aerial vehicle 3 comprises the following steps:
(1) Selecting a simulation environment below the height measurement platform 2 according to the actual working geographical environment;
(2) Installing an experimental platform in a simulation environment, arranging a height measurement platform 2 at the bottom of a bracket 1, and simultaneously installing an unmanned aerial vehicle 3 and a height measurement sensor on the height measurement platform 2;
(3) Selecting static detection or dynamic detection according to actual needs, wherein the static detection comprises the following steps:
(3-11) starting the unmanned aerial vehicle 3 and a vertical driving mechanism 4, wherein the vertical driving mechanism 4 drives the height measurement platform 2 and the unmanned aerial vehicle 3 arranged on the height measurement platform 2 to vertically move to a certain position;
(3-12) the measuring mechanism measures the height of the altimeter platform 2 at the position, and the obtained value is a true value of the height of the altimeter platform 2; meanwhile, the height sensor on the height measurement platform 2 measures the height of the height measurement platform 2, and the obtained value is an experimental value of the height measurement platform 2;
(3-13) comparing the experimental value with the true value, thereby performing error calibration on the height measurement sensor;
and (3-14) replacing the simulation environment, repeating the test for a plurality of times, and analyzing and fitting an ideal measurement curve of the altimeter sensor according to the collected experimental data so as to observe the error condition of the altimeter sensor.
The dynamic detection comprises the following steps:
(3-21) starting the unmanned aerial vehicle 3 and a vertical driving mechanism 4, wherein the vertical driving mechanism 4 drives the height measurement platform 2 and the unmanned aerial vehicle 3 arranged on the height measurement platform 2 to vertically move upwards at a certain speed;
(3-22) stopping the operation of the vertical driving mechanism 4 when the height measuring platform 2 reaches the highest point;
and (3-23) the height measurement sensor detects the height value of the height measurement platform 2 in the vertical motion process, and compares the height value with a true value, so that the error condition of the height measurement sensor in the dynamic condition is observed.
The foregoing is illustrative of the present invention, and is not to be construed as limiting thereof, but rather as merely providing for the purpose of teaching herein before described various modifications, alternatives, variations and alternatives, as well as variations and alternatives, without departing from the spirit and principles of the invention.
Claims (1)
1. An experimental method for realizing an experimental platform for calibrating a low-altitude height sensor by using an unmanned aerial vehicle is characterized by comprising the following steps of:
the unmanned aerial vehicle low-altitude height measurement sensor calibration experiment platform comprises a support, a height measurement platform arranged on the support and used for bearing an unmanned aerial vehicle, a vertical driving mechanism used for driving the height measurement platform to vertically move on the support, and a measurement mechanism used for measuring the height of the height measurement platform, wherein the height measurement platform is arranged on the support through a vertical sliding mechanism, the height measurement sensor is arranged below the height measurement platform, and the unmanned aerial vehicle is arranged above the height measurement platform;
the vertical sliding mechanisms are two groups, each group of vertical sliding mechanism comprises a sliding rail vertically arranged on the bracket and sliding blocks arranged on the height measuring platform, wherein the number of the sliding blocks is two, and the two sliding blocks are vertically arranged and respectively arranged on the sliding rails;
the vertical driving mechanism comprises a fixed pulley, a paratrooper rope and a winding mechanism, wherein the fixed pulley is arranged at the top of the bracket, the paratrooper rope is used for winding and releasing the paratrooper rope, the winding mechanism comprises a mounting seat, a winding shaft and a rotary driving mechanism, the mounting seat is arranged at the bottom of the bracket, the winding shaft is used for driving the winding shaft to rotate, the winding shaft is rotationally connected to the mounting seat, the paratrooper rope is wound on the winding shaft, and the paratrooper rope upwards bypasses the fixed pulley to be connected with the height measurement platform after coming out of the winding shaft;
the rotary driving mechanism comprises a rotary driving motor and a synchronous transmission mechanism which are arranged on the mounting seat, wherein the synchronous transmission mechanism comprises a driving synchronous wheel, a driven synchronous wheel and a synchronous belt which surrounds the driving synchronous wheel and the driven synchronous wheel, the driving synchronous wheel is arranged on a main shaft of the rotary driving motor, and the driven synchronous wheel is arranged on the rewinding shaft;
the vertical driving mechanism further comprises a limiting mechanism which is arranged on the bracket and used for limiting the vertical movement of the height measurement platform, and the limiting mechanism comprises limiting blocks which are arranged at the upper end and the lower end of the sliding rail;
the limiting mechanism further comprises a photoelectric sensor arranged at the top of the bracket and a baffle plate arranged on the height measuring platform, wherein an extension line of a vertical movement track of the baffle plate passes through a detection port of the photoelectric sensor;
the support comprises a rectangular support frame and a triangular support frame, wherein the rectangular support frame is vertically arranged, the triangular support frame is arranged at the lower end of the rectangular support frame, and the triangular support frames are arranged at two sides of the rectangular support frame; two vertical rods are arranged in the rectangular support frame, the two vertical rods are vertically arranged, and the sliding rail is arranged on the vertical rods;
the height measurement platform comprises an unmanned aerial vehicle fixing plate for fixing an unmanned aerial vehicle and fixing support frames arranged on two sides of the unmanned aerial vehicle fixing plate, wherein the number of the fixing support frames is two, and the two fixing support frames are connected through a cross rod; each fixed support frame is of a hollowed right-angle isosceles triangle structure, one right-angle side of each fixed support frame is connected with the vertical rod of the corresponding support frame through a vertical sliding mechanism, and the other right-angle side of each fixed support frame is connected with one end of the corresponding unmanned aerial vehicle fixed plate and one end of the corresponding cross rod;
the measuring mechanism comprises scale values arranged on two sides of the sliding rail, and the arrangement direction of the scale values is the same as the extension direction of the sliding rail;
the method comprises the following steps:
(1) Selecting a simulation environment below the height measurement platform according to the actual working geographical environment;
(2) Installing an experimental platform in a simulation environment, arranging a height measurement platform at the bottom of a bracket, and simultaneously installing an unmanned aerial vehicle and a height measurement sensor on the height measurement platform;
(3) Selecting static detection or dynamic detection according to actual needs, wherein the static detection comprises the following steps:
(3-11) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measurement platform and the unmanned aerial vehicle arranged on the height measurement platform to vertically move to a certain position;
(3-12) the measuring mechanism measures the height of the height measurement platform at the position, and the obtained value is a true value of the height measurement platform; meanwhile, a height measuring sensor on the height measuring platform measures the height of the height measuring platform, and the obtained value is an experimental value of the height measuring platform;
(3-13) comparing the experimental value with the true value, thereby performing error calibration on the height measurement sensor;
(3-14) replacing the simulation environment, repeating the test for a plurality of times, and analyzing and fitting an ideal measurement curve of the altimeter sensor according to the collected experimental data so as to observe the error condition of the altimeter sensor; the dynamic detection comprises the following steps:
(3-21) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measurement platform and the unmanned aerial vehicle arranged on the height measurement platform to vertically move upwards at a certain speed;
(3-22) stopping the vertical driving mechanism when the height measuring platform reaches the highest point;
and (3-23) detecting the height value of the height measurement platform in the vertical movement process by the height measurement sensor, and comparing the value with a true value so as to observe the error condition of the height measurement sensor under the dynamic condition.
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| US10852158B1 (en) * | 2019-09-27 | 2020-12-01 | Kitty Hawk Corporation | Distance sensor test system |
| CN110827611B (en) * | 2019-11-29 | 2021-10-29 | 桂林电子科技大学 | Unmanned aerial vehicle comprehensive experiment platform with adjustable degree of freedom and capability of simulating external environment |
| CN112344919A (en) * | 2020-11-06 | 2021-02-09 | 中航通飞华南飞机工业有限公司 | Adjustable device for measuring airplane attitude |
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