CN110658831B - Ground altitude correction method and device and unmanned aerial vehicle - Google Patents

Ground altitude correction method and device and unmanned aerial vehicle Download PDF

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Publication number
CN110658831B
CN110658831B CN201911007421.6A CN201911007421A CN110658831B CN 110658831 B CN110658831 B CN 110658831B CN 201911007421 A CN201911007421 A CN 201911007421A CN 110658831 B CN110658831 B CN 110658831B
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ground
fusion
height
abnormal
altitude
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CN110658831A (en
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张添保
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Shenzhen Autel Intelligent Aviation Technology Co Ltd
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Priority to PCT/CN2020/118852 priority patent/WO2021078005A1/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/04—Control of altitude or depth
    • G05D1/042—Control of altitude or depth specially adapted for aircraft
    • 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 embodiment of the invention relates to a method and a device for correcting ground altitude and an unmanned aerial vehicle, wherein the method is applied to the unmanned aerial vehicle, the unmanned aerial vehicle comprises a ground sensor for detecting the ground altitude between the unmanned aerial vehicle and a landing point, and the method comprises the following steps: acquiring the normal ground height of the ground sensor before abnormality occurs; calculating a ground height correction amount of the ground sensor during the abnormal period; and correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude. According to the method, the normal ground altitude of the unmanned aerial vehicle before the ground sensor is abnormal is obtained, and then the normal ground altitude is corrected according to the ground altitude correction quantity calculated by the ground sensor in the abnormal period, so that the accuracy of the ground altitude of the unmanned aerial vehicle is improved, and the landing performance of the unmanned aerial vehicle is improved.

Description

Ground altitude correction method and device and unmanned aerial vehicle
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a ground altitude correction method and device and an unmanned aerial vehicle.
[ background of the invention ]
While the aircraft normally flies in the air, the ascending speed and the descending speed of the aircraft are generally high, for the purpose of achieving better customer experience and from the perspective of safety, the aircraft is limited in speed at low altitude, and particularly, the speed during takeoff and landing is limited to be small so as to take off and land safely and smoothly.
In the process of implementing the invention, the inventor finds that the related art has at least the following problems: when the aircraft takes off and lands, the ground altitude is a key information, and if the ground altitude is inaccurate, the taking off and landing performance of the aircraft can be influenced.
[ summary of the invention ]
The embodiment of the invention aims to provide a ground altitude correction method and device and an unmanned aerial vehicle, and aims to solve the technical problems that the ground altitude of the unmanned aerial vehicle is inaccurate and the landing performance is poor in the prior art.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a method for correcting ground altitude, applied to an unmanned aerial vehicle comprising a ground sensor for detecting the ground altitude between the unmanned aerial vehicle and a landing site, the method comprising:
acquiring the normal ground height of the ground sensor before abnormality occurs;
calculating a ground height correction amount of the ground sensor during an abnormal period;
and correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude.
Optionally, the calculating a correction amount of the ground height of the ground sensor during the abnormality includes:
acquiring fused data of the ground sensor during the anomaly;
and calculating the ground height correction according to the fusion data.
Optionally, the fused data comprises a fused height;
the calculating the ground height correction quantity according to the fusion data comprises the following steps:
latching the normal fusion height of the ground sensor before the abnormality occurs;
and performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain the ground height correction quantity.
Optionally, the fusion data includes a fusion speed, and the calculating the ground height correction amount according to the fusion data includes:
and integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain the ground height correction quantity.
Optionally, the fusion data includes a fusion height, a fusion speed, and a fusion attitude, and the calculating a ground height correction amount according to the fusion data includes:
latching the normal fusion height of the ground sensor before the abnormality occurs;
performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain a first ground height correction quantity;
integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction quantity;
and calculating the ground height correction quantity according to the first ground height correction quantity, the second ground height correction quantity and the fusion attitude.
Optionally, the calculating a ground height correction amount according to the first ground height correction amount, the second ground height correction amount and the fusion attitude includes:
according to a preset weighting algorithm, performing weighting processing on the first ground height correction quantity and the second ground height correction quantity to obtain weighted correction quantities;
and converting the weighted correction quantity into a coordinate system of the unmanned aerial vehicle according to the fusion attitude to obtain the ground altitude correction quantity.
Optionally, the method further comprises:
acquiring abnormal failure information of the ground sensor during the abnormal period;
judging whether the abnormal failure information meets a preset correction triggering condition or not;
if yes, correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude.
Optionally, the determining whether the abnormal failure information meets a preset correction triggering condition includes:
latching the current fusion horizontal speed when the ground sensor is abnormal;
performing difference integral operation on the fusion horizontal speed of the ground sensor at each moment in the abnormal period and the current fusion horizontal speed to obtain the horizontal relative distance of the unmanned aerial vehicle in the abnormal period;
and judging whether the horizontal relative distance is smaller than a preset distance threshold value.
Optionally, the determining whether the abnormal failure information meets a preset correction triggering condition includes:
calculating the failure duration of the ground sensor during the abnormal period;
and judging whether the failure time length is less than a preset time length threshold value or not.
Optionally, after correcting the ground altitude of the unmanned aerial vehicle, the method further comprises:
judging whether the corrected ground height is normal or not;
if the ground altitude is normal, adjusting flight parameters of the unmanned aerial vehicle according to the corrected ground altitude;
and if the current fusion height is abnormal, obtaining the current fusion height, and adjusting the flight parameters of the unmanned aerial vehicle according to the current fusion height.
Optionally, the adjusting flight parameters of the unmanned aerial vehicle according to the corrected ground altitude includes:
judging whether the corrected ground height is smaller than a preset ground height;
if yes, the flight parameters are adjusted to a first preset parameter range.
Optionally, the preset parameters include flight speed and a stop-grouting threshold;
the adjusting the flight parameter to a first preset parameter range includes:
adjusting the flying speed to be within the range of 1.0-2.0 m/s;
and adjusting the slurry stopping threshold value to be within the range of 6.5-7.5 m/s.
Optionally, the adjusting flight parameters of the unmanned aerial vehicle according to the current fusion altitude includes:
judging whether the current fusion height is within a preset fusion height range or not;
and if so, adjusting the flight parameters to a second preset parameter range.
Optionally, the preset parameters include flight speed and a stop-grouting threshold;
the adjusting the flight parameter to a second preset parameter range includes:
adjusting the flying speed to be within the range of 0.2-0.3 m/s;
and adjusting the slurry stopping threshold value to be within the range of 2.8-3.2 m/s.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: a correction device for ground altitude, which is applied to an unmanned aerial vehicle including a ground sensor for detecting the ground altitude between the unmanned aerial vehicle and a landing site, comprising:
and the resetting module is used for acquiring abnormal failure information of the ground sensor in the abnormal period and judging whether the abnormal failure information meets a preset correction triggering condition.
The prediction module is used for calculating the correction quantity of the height of the ground sensor during the abnormal period when the abnormality occurs to the ground sensor.
And the correction module is used for correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude when the abnormal failure information meets a preset correction triggering condition.
Optionally, the reset module includes a fusion horizontal speed latch unit, a horizontal relative distance calculation unit, and a first judgment unit;
the fusion horizontal speed latch unit is used for latching the current fusion horizontal speed when the ground sensor is abnormal;
the horizontal relative distance calculation unit is used for performing difference integral operation on the fusion horizontal speed of the ground sensor at each moment in the abnormal period and the current fusion horizontal speed to obtain the horizontal relative distance of the unmanned aerial vehicle in the abnormal period;
the first judging unit is used for judging whether the horizontal relative distance is smaller than a preset distance threshold value.
Optionally, the reset module includes a failure duration calculation unit and a second judgment unit;
the failure duration calculation unit is used for calculating the failure duration of the ground sensor in an abnormal period;
the second judging unit is used for judging whether the failure time length is smaller than a preset time length threshold value.
Optionally, the prediction module comprises a fused data acquisition unit and a ground height correction amount unit;
the fused data acquisition unit is used for acquiring fused data of the ground sensor during the abnormal period;
the ground height correction amount unit is used for calculating the ground height correction amount according to the fusion data.
Optionally, the ground height correction amount unit includes a normal fusion height obtaining subunit, a first ground height correction amount calculating subunit, a second ground height correction amount calculating subunit, and a ground height correction amount calculating subunit;
the normal fusion height acquisition subunit is used for latching the normal fusion height of the ground sensor before abnormality occurs;
the first ground height correction amount calculation sub-unit is used for performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain a first ground height correction amount;
the second ground height correction amount sub-unit is used for integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction amount;
the ground height correction amount calculation subunit is used for calculating the ground height correction amount according to the first ground height correction amount, the second ground height correction amount and the fusion attitude.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The aircraft comprises: at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the aircraft height-to-ground correction method described above.
Compared with the prior art, the aircraft ground altitude correction method provided by the embodiment of the invention has the advantages that the normal ground altitude of the unmanned aircraft before the ground sensor is abnormal is firstly obtained, and then the normal ground altitude is corrected according to the ground altitude correction quantity calculated by the ground sensor in the abnormal period, so that the accuracy of the ground altitude of the unmanned aircraft is improved, and the landing performance of the aircraft is improved.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a method for correcting a height of a ground according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of one embodiment of S20 of FIG. 2;
FIG. 4 is a schematic flow chart of one embodiment of S22 of FIG. 3;
FIG. 5 is a schematic flow chart of another embodiment of S22 of FIG. 4;
FIG. 6 is a schematic flow chart diagram illustrating one embodiment of S228 of FIG. 5;
FIG. 7 is a schematic flow chart illustrating a method for correcting a ground height according to another embodiment of the present invention;
FIG. 8 is a schematic flow chart of one embodiment of S50 of FIG. 7;
FIG. 9 is a schematic flow chart of another embodiment of S50 of FIG. 7;
FIG. 10 is a flowchart illustrating a method for correcting a ground height according to yet another embodiment of the present invention;
FIG. 11 is a schematic flow chart of one embodiment of S80 of FIG. 10;
FIG. 12 is a schematic flow chart of one embodiment of S90 of FIG. 10;
FIG. 13 is a block diagram of a device for correcting height of ground according to an embodiment of the present invention;
fig. 14 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
It should be noted that, if not conflicted, the various features of the embodiments of the present application may be combined with each other within the scope of protection of the present application. Additionally, while functional block divisions are performed in apparatus schematics, with logical sequences shown in flowcharts, in some cases, steps shown or described may be performed in sequences other than block divisions in apparatus or flowcharts. In addition, the words "first", "second", "third", and the like used herein do not limit the data and execution order, but merely distinguish the same items or similar items having substantially the same functions and actions.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a method and a device for correcting ground altitude, which are applied to an unmanned aerial vehicle 10, wherein a ground sensor of the unmanned aerial vehicle 10 is easily interfered by a ground environment and is unstable in the landing process of the unmanned aerial vehicle 10, so that the ground altitude acquired by the unmanned aerial vehicle 10 in real time is inaccurate, and therefore, the method and the device firstly acquire the normal ground altitude of the unmanned aerial vehicle 10 before the ground sensor is abnormal, and then correct the normal ground altitude according to the ground altitude correction quantity calculated by the ground sensor in the abnormal period, so that the accuracy of the ground altitude of the unmanned aerial vehicle 10 is improved, and the landing performance of the aircraft is improved.
The following illustrates an application environment of the method for correcting the altitude of the ground by the unmanned aerial vehicle 10.
FIG. 1 is a schematic diagram of an application environment of a method and an apparatus for correcting ground altitude according to an embodiment of the present invention; as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 10, a wireless network 20, a smart terminal 30, and a user 40. The user 40 may operate the smart terminal 30 to operate the UAV 10 via the wireless network 20.
The unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotary wing drone, a fixed wing drone, an umbrella wing drone, a flapping wing drone, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, a visual sensor, and a ground sensor.
When the unmanned aerial vehicle 10 is in the landing process, the unmanned aerial vehicle 10 can obtain acceleration information according to the accelerometer to determine whether to execute a landing action.
Wherein, a ground sensor is used for detecting the height of the ground between the unmanned aerial vehicle 10 and the landing site, and the ground sensor can be an ultrasonic sensor, an infrared sensor, a laser sensor and the like. The accuracy of the ground altitude directly affects the safety of the unmanned aerial vehicle 10 during landing, for example: when the unmanned aerial vehicle 10 lands, the unmanned aerial vehicle 10 needs to sense the ground through the downward-looking ground sensor, if the downward-looking ground sensor has a problem in a certain period of time, the acquired ground height is inaccurate, and if the unmanned aerial vehicle 10 performs a landing operation according to the inaccurate ground height at this time, the phenomenon that the unmanned aerial vehicle 10 suddenly stops grout and smashes the ground violently or does not decelerate and smash the ground violently may occur.
Therefore, in order to solve the above technical problem, the unmanned aerial vehicle 10 is correspondingly provided with an information receiving device for receiving and processing the information collected by the at least one sensor. Meanwhile, correspondingly, the unmanned aerial vehicle 10 is provided with an information fusion device, the information fusion device can perform data fusion according to the information acquired by the at least one sensor acquired by the information receiving device, and the fusion data can include fusion speed, fusion height and fusion attitude angle. The UAV 10 may calculate a correction amount of the altitude to ground of the sensor during the abnormal period according to the fusion data, and may correct the altitude to ground of the UAV 10 according to the correction amount of the altitude to ground and the normal altitude to ground.
The unmanned aerial vehicle 10 comprises at least one main control chip which is used as a control core for unmanned aerial vehicle flight, data transmission and the like, and one or more modules are integrated to execute corresponding logic control programs.
For example, in some embodiments, the master control chip may include a ground altitude correction device for calculating a ground altitude correction amount of the ground sensor during an abnormal period according to the fusion data, and further for correcting the ground altitude of the unmanned aerial vehicle 10 according to the ground altitude correction amount and the normal ground altitude.
The smart terminal 30 may be any type of smart device, such as a mobile phone, a tablet computer, or a smart remote controller, for establishing a communication connection with the unmanned aerial vehicle 10. The intelligent terminal 30 may be equipped with one or more different user 40 interaction means for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the smart terminal 30 may be equipped with a touch display screen, through which a remote control instruction of the user 40 to the unmanned aerial vehicle 10 is received and image information obtained by aerial photography is presented to the user 40 through the touch display screen, and the user 40 may also switch the image information currently displayed on the display screen through the remote control touch screen.
In some embodiments, the unmanned aerial vehicle 10 and the intelligent terminal 30 may further integrate the existing image vision processing technology to further provide more intelligent services. For example, the unmanned aerial vehicle 10 may capture images by using the dual-optical camera, and the intelligent terminal 30 analyzes the images, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
The wireless network 20 may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network or a combination thereof located in different signal frequency bands.
Fig. 2 is a diagram illustrating an embodiment of a method for correcting the altitude of the unmanned aerial vehicle 10 according to an embodiment of the present invention. As shown in fig. 2, the method for correcting the altitude of the unmanned aerial vehicle 10 to the ground includes the steps of:
s10: and acquiring the normal ground height of the ground sensor before the abnormality occurs.
During the landing of the unmanned aerial vehicle 10, the ground sensor is required to acquire the ground altitude in real time, and when the ground sensor is disturbed and unstable, the ground altitude is inaccurate. For example, the ground sensor may be damaged by magnetic field interference generated by the surrounding environment (e.g., high voltage lines, iron works, etc.), as well as by aging or explosion of the unmanned aerial vehicle 10 multiple times.
Specifically, whether the ground sensor is abnormal or not can be judged according to the acquired ground height information of the ground sensor. Taking an ultrasonic sensor as an example, the ground height information of the ultrasonic sensor comprises noise intensity, flight vertical speed, time stamp and ground height corresponding to the time stamp. The following method can be adopted to judge whether the ultrasonic sensor is abnormal according to the ground height information of the ultrasonic sensor, for example, judge whether the noise intensity is smaller than a preset intensity threshold; judging whether the difference value of the flight vertical speed and the fusion data is smaller than a preset error threshold value or not; judging whether the timestamp updating is normal or not; judging whether the ground height corresponding to the timestamp continuously changes; and if the judgment is yes, the ultrasonic sensor can be confirmed to be normal. Otherwise, the ultrasonic sensor can be confirmed to be abnormal.
And when the abnormality of the ground sensor is detected, acquiring the normal ground height of the ground sensor before the abnormality occurs.
For example, if the abnormality occurs in the ground sensor, the time T is the time TiThe abnormal time Ti corresponds to an abnormal height H to the groundi. The abnormal time TiThe previous moment is Ti-1It is to be understood that T isi-1The time is the time when the earth sensor is not abnormal, namely the normal time Ti-1Corresponding to a normal height Hi-1. That is, when the abnormality of the ground sensor is detected, the normal time T before the abnormality of the ground sensor is acquiredi-1Corresponding normal height to ground Hi-1。
S20: and calculating the correction quantity of the ground height of the ground sensor during the abnormal period.
The abnormal time refers to a time interval from when the abnormality occurs in the ground sensor to when the ground sensor returns to normal, for example, the time when the abnormality occurs in the ground sensor is TiThe normal time for the restoration of the ground sensor is Ti+1I.e. the abnormal period is Ti+1-Ti。
Wherein the altitude correction during the anomaly may be calculated from the acquired fusion data of the plurality of sensors onboard the unmanned aerial vehicle 10.
In particular, the sensor comprises at least one sensor of an accelerometer, a magnetometer, a gyroscope, a locator and a visual sensor.
Specifically, the data fusion technology is to perform a series of operation processes such as analysis, sorting and fusion on data collected by the sensors, and the multi-sensor fusion data can realize correction on the ground height.
In the embodiment, data fusion is performed on data acquired by multiple sensors based on a weighted average method. Specifically, in the first step, various software and hardware to be used are initialized, such as sensor initialization, kalman filter initialization, and the like; secondly, acquiring data in the IMU, judging according to the data information, and judging whether attitude angle compensation is needed or not, if so, determining the specific numerical value; and thirdly, acquiring data acquired by sensors such as an accelerometer, a magnetometer, a gyroscope, a locator, a visual sensor and the like, performing relevant weighted average operation on the data values, and performing Kalman filtering on the acquired data values to generate the fusion data.
The fusion data comprises fusion speed, fusion height and fusion attitude angle, and the ground height correction quantity is obtained by combining one or more fusion data of the fusion speed, the fusion height and the fusion attitude angle with the ground height obtained by the ground sensor.
S30: and correcting the ground altitude of the unmanned aerial vehicle 10 according to the ground altitude correction quantity and the normal ground altitude.
Specifically, the corrected ground height may be obtained by summing and/or subtracting the correction amount of the ground height during the abnormal period and the normal ground height before the abnormality of the ground sensor occurs.
For example, a correction quantity Δ H of the ground height during an abnormality is calculated, and the normal ground height before the abnormality of the ground sensor occurs is HbI.e. corrected height to ground of Hb±△H。
Because the ground sensor of the unmanned aerial vehicle 10 is easily interfered by the ground environment and unstable in the landing process of the unmanned aerial vehicle 10, and further the ground altitude obtained by the unmanned aerial vehicle 10 in real time is inaccurate, the embodiment of the invention provides a method for correcting the ground altitude of the unmanned aerial vehicle 10, which includes the steps of firstly obtaining the normal ground altitude of the unmanned aerial vehicle 10 before the ground sensor is abnormal, and then correcting the normal ground altitude according to the ground altitude correction quantity calculated by the ground sensor in the abnormal period, so that the accuracy of the ground altitude of the unmanned aerial vehicle 10 is improved, and the landing performance of the aircraft is improved.
In order to accurately calculate the correction amount of the ground height of the ground sensor during the abnormal period, in some embodiments, referring to fig. 3, S20 includes the following steps:
and S21, acquiring the fused data of the ground sensor during the abnormal period.
The abnormal time refers to a time interval from when the abnormality occurs in the ground sensor to when the ground sensor returns to normal, for example, the time when the abnormality occurs in the ground sensor is TiThe normal time for the restoration of the ground sensor is Ti+1I.e. the abnormal period is Ti+1-Ti。
Specifically, the fusion data during the abnormal period is obtained by data fusion of data information acquired by at least one sensor of an accelerometer, a magnetometer, a gyroscope, a locator and a visual sensor, and the data information may be processed by a plurality of different data fusion algorithms, for example: weighted averaging, normalized weighted averaging, kalman filtering, and extended kalman filtering.
In the present embodiment, a weighted data fusion calculation is used for data fusion.
And S22, calculating the ground height correction quantity according to the fusion data.
Specifically, the fusion data includes a fusion speed, a fusion height and a fusion attitude angle, and the ground height correction amount is obtained by combining one or more of the fusion speed, the fusion height and the fusion attitude angle with the ground height obtained by the ground sensor.
In order to better obtain the accurate correction amount of the ground height according to the fusion data, in some embodiments, referring to fig. 4, S22 includes the following steps:
and S221, latching the normal fusion height of the ground sensor before the abnormality occurs.
Specifically, whether the ground sensor is abnormal or not can be judged according to the acquired ground height information of the ground sensor.
And when the abnormality of the ground sensor is detected, acquiring the normal fusion height of the ground sensor before the abnormality occurs.
For example, if the abnormality occurs in the ground sensor, the time T is the time TiSaid abnormal time TiCorresponding to an abnormal fusion height Fi. The abnormal time TiThe previous moment is Ti-1It is to be understood that T isi-1The time is the time when the earth sensor is not abnormal, namely the normal time Ti-1Corresponding to a normal fusion height Fi-1. That is, when the abnormality of the ground sensor is detected, the normal time T before the abnormality of the ground sensor is acquiredi-1Corresponding normal fusion height Fi-1。
And S223, calculating the difference value between the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain the correction quantity of the ground height.
The abnormal time refers to a time interval from when the abnormality occurs in the ground sensor to when the ground sensor returns to normal, for example, the time when the abnormality occurs in the ground sensor is TiThe normal time for the restoration of the ground sensor is Ti+nI.e. the abnormal period is Ti+n-Ti。
The abnormal period Ti+n-TiIncludes N moments, each corresponding to a fusion altitude of the UAV 10. Subjecting the ground sensor to the abnormality period Ti+n-TiA fusion height per time instant and the normal fusion heightAnd performing difference operation on the degrees to obtain the ground height correction quantity.
By way of example, the anomaly time T6-T2Including an abnormal time T3、T4And T5Abnormal time T3Corresponding to a fusion height F3Abnormal time T4Corresponding to a fusion heightF4Abnormal time T5Corresponding to a fusion height F5Abnormal time T2Is T1Said T is1Is a normal time, the normal time T1Corresponding normal fusion height F1Then respectively setting the abnormal time T3、T4And T5Corresponding fusion height F3、F4And F5Height F from Normal fusion1Performing difference calculation to obtain the correction quantity of ground height Δ F3 and Δ F at each abnormal time4And Δ F5。
In order to better obtain the accurate correction amount of the ground height according to the fusion data, in some embodiments, referring to fig. 5, S22 includes the following steps:
and integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain the ground height correction quantity.
Specifically, the abnormal period Ti+n-TiN moments are included, each corresponding to a fusion speed of the unmanned aerial vehicle 10. Subjecting the ground sensor to the abnormality period Ti+n-TiAnd integrating the fusion speed at each moment to obtain the ground height correction quantity.
By way of example, the anomaly time T6-T2Including an abnormal time T3、T4And T5Abnormal time of dayT3Corresponding to a fusion speed V3Abnormal time T4Corresponding to a fusion speed V4Abnormal time of dayT5Corresponding to a fusion speed V5Then respectively setting the abnormal time T3、T4And T5Corresponding fusion velocity V3、V4And V5Then to V3、V4And V5And performing integration processing to obtain the ground height correction quantity.
In order to better obtain the accurate correction amount of the ground height according to the fusion data, in some embodiments, referring to fig. 5, S22 includes the following steps:
and S222, latching the normal fusion height of the ground sensor before the abnormality occurs.
Specifically, whether the ground sensor is abnormal or not can be judged according to the acquired ground height information of the ground sensor. And when the abnormality of the ground sensor is detected, acquiring the normal fusion height of the ground sensor before the abnormality occurs.
For example, if the abnormality occurs in the ground sensor, the time T is the time TiSaid abnormal time TiCorresponding to an abnormal fusion height Fi. The abnormal time TiThe previous moment is Ti-1It is to be understood that T isi-1The time is the time when the earth sensor is not abnormal, namely the normal time Ti-1Corresponding to a normal fusion height Fi-1. That is, when the abnormality of the ground sensor is detected, the normal time T before the abnormality of the ground sensor is acquiredi-1Corresponding normal fusion height Fi-1。
And S224, calculating the difference value between the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain a first ground height correction quantity.
The abnormal time refers to a time interval from when the abnormality occurs in the ground sensor to when the ground sensor returns to normal, for example, the time when the abnormality occurs in the ground sensor is TiThe normal time for the restoration of the ground sensor is Ti+nI.e. the abnormal period is Ti+n-Ti。
The abnormal period Ti+n-TiIncludes N moments, each corresponding to a fusion altitude of the UAV 10. Placing the ground sensor in the abnormal periodInter Ti+n-TiAnd performing difference operation on the fusion height at each moment and the normal fusion height to obtain the first ground height correction quantity.
By way of example, the anomaly time T6-T2Including an abnormal time T3、T4And T5Abnormal time T3Corresponding to a fusion height F3Abnormal time T4Corresponding to a fusion height F4Abnormal time T5Corresponding to a fusion height F5Abnormal time T2Is T1Said T is1Is a normal time, the normal time T1Corresponding normal fusion height F1Then respectively setting the abnormal time T3、T4And T5Corresponding fusion height F3、F4And F5Height F from Normal fusion1Performing difference calculation to obtain the corresponding first ground height correction quantity DeltaF at each abnormal time3、△F4And Δ F5。
And S226, integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction quantity.
Specifically, the abnormal period Ti+n-TiN moments are included, each corresponding to a fusion speed of the unmanned aerial vehicle 10. Subjecting the ground sensor to the abnormality period Ti+n-TiAnd integrating the fusion speed at each moment to obtain the ground height correction quantity.
By way of example, the anomaly time T6-T2Including an abnormal time T3、T4And T5Abnormal time T3Corresponding to a fusion speed V3Abnormal time T4Corresponding to a fusion speed V4Abnormal time T5Corresponding to a fusion speed V5Then respectively setting the abnormal time T3、T4And T5Corresponding fusion velocity V3、V4And V5Then to V3、V4And V5And performing integration processing to obtain the second ground height correction quantity.
And S228, calculating the ground height correction quantity according to the first ground height correction quantity, the second ground height correction quantity and the fusion attitude.
In order to better calculate the ground height correction amount according to the first ground height correction amount, the second ground height correction amount and the fusion attitude, in some embodiments, referring to fig. 6, S228 includes the following steps:
s2281, according to a preset weighting algorithm, weighting the first ground height correction amount and the second ground height correction amount to obtain weighted correction amounts.
Wherein, the preset weighting algorithm may be a weighted average algorithm, a GPA standard weighting algorithm, a binary weighting algorithm, etc.
S2282, converting the weighted correction quantity into a coordinate system of the unmanned aerial vehicle 10 according to the fusion attitude to obtain the ground altitude correction quantity.
In order to correct the ground altitude of the unmanned aerial vehicle 10 effectively in time, when the ground sensor is detected to be abnormal, in some embodiments, please refer to fig. 7, the method further includes:
s40: and acquiring abnormal failure information of the ground sensor during the abnormality.
Specifically, the abnormal failure information may be sensing information acquired by the ground sensor during the abnormality, for example, the sensing information includes information of time, speed, altitude, and the like of the unmanned aerial vehicle 10. Since the sensing information is acquired during the time when the sensor is abnormal, the sensing information is abnormal failure information.
S50: and judging whether the abnormal failure information meets a preset correction triggering condition or not.
Specifically, it is determined whether the sensing information acquired by the ground sensor during the abnormal period satisfies a preset corrected departure condition. For example, it is determined whether or not time sensing information acquired by the ground sensor during the abnormality satisfies a preset correction trigger condition. For another example, it is determined whether or not the speed sensing information acquired by the ground sensor during the abnormality satisfies a preset correction trigger condition.
S60: if yes, the ground altitude of the unmanned aerial vehicle 10 is corrected according to the ground altitude correction quantity and the normal ground altitude.
Specifically, if the abnormal failure information satisfies the preset correction triggering condition, specifically, the ground height correction amount during the abnormal period and the normal ground height before the abnormality of the ground sensor occurs may be summed and/or subjected to a difference calculation to obtain the corrected ground height.
For example, a correction quantity Δ H of the ground height during an abnormality is calculated, and the normal ground height before the abnormality of the ground sensor occurs is HbI.e. corrected height to ground of Hb±△H。
In order to timely determine whether the abnormal failure information satisfies the preset calibration triggering condition, in some embodiments, referring to fig. 8, S50 includes the following steps:
s51, latching the current fusion horizontal speed when the sensor is abnormal;
specifically, when the abnormality of the ground sensor is detected, the current fusion horizontal speed at the time of the abnormality of the ground sensor is acquired. For example, if the time of abnormality occurrence in the ground sensor is TiSaid abnormal time TiCorresponding to a fusion horizontal velocity Vx. The fused horizontal velocity VxNamely the current fusion horizontal speed when the sensor to the ground is abnormal.
And S53, performing difference integral operation on the fusion horizontal velocity of the ground sensor at each moment in the abnormal period and the current fusion horizontal velocity to obtain the horizontal relative distance of the unmanned aerial vehicle 10 in the abnormal period.
The abnormal time refers to a time interval from when the abnormality occurs in the ground sensor to when the ground sensor returns to normal, for example, the time when the abnormality occurs in the ground sensor is TiThe ground sensorThe normal time of recovery is Ti+nI.e. the abnormal period is Ti+n-Ti。
The abnormal period Ti+n-TiN moments are included, each corresponding to a fusion level velocity of the UAV 10. Subjecting the ground sensor to the abnormality period Ti+n-TiAnd performing difference integral operation on the fusion horizontal speed at each moment and the current fusion horizontal speed when the ground sensor is abnormal, so as to obtain the horizontal relative distance of the unmanned aerial vehicle 10 in the abnormal period.
By way of example, the anomaly time T6-T2Including an abnormal time T3、T4And T5Abnormal time T3Corresponding to a fusion horizontal velocity V3xAbnormal time T4Corresponding to a fusion horizontal velocity V4xAbnormal time T5Corresponding to a fusion horizontal velocity V5xAbnormal time T2The time when the ground sensor starts to generate abnormality is the abnormality time T2Corresponding current fusion horizontal velocity V2xThen respectively setting the abnormal time T3、T4And T5Corresponding fusion height V3x、V4xAnd V5xFuse horizontal velocity V with current2xPerforming difference operation to obtain a fusion horizontal velocity difference delta V of each abnormal moment3x、△V4xAnd Δ V5x. Then fusing the horizontal velocity difference value delta V of each abnormal moment3x、△V4xAnd Δ V5xAnd performing integral operation to obtain the horizontal relative distance of the unmanned aerial vehicle 10 in the abnormal period.
And S55, judging whether the horizontal relative distance is smaller than a preset distance threshold value.
Specifically, the horizontal relative distance is compared with a preset distance threshold, and whether the horizontal relative distance is smaller than the preset distance threshold is judged.
In order to timely determine whether the abnormal failure information satisfies the preset calibration triggering condition, in some embodiments, referring to fig. 9, S50 includes the following steps:
and S52, calculating the failure time length of the ground sensor during the abnormal period.
The failure time period refers to a time interval between the time when the abnormality of the ground sensor occurs and the time when the ground sensor returns to a normal state.
For example, the time when the abnormality occurs to the ground sensor is TiThe normal time for the restoration of the ground sensor is Ti+nI.e. the length of the failure of said abnormal period is Ti+nAnd TiThe time interval in between.
And S54, judging whether the failure time length is less than a preset time length threshold value.
Specifically, the failure duration is compared with a preset duration threshold, and whether the failure duration is smaller than the preset duration threshold is judged.
In order to adjust the flight parameters of the unmanned aerial vehicle 10 according to the corrected ground altitude of the unmanned aerial vehicle 10 and implement safe landing, in some embodiments, referring to fig. 10, after the correcting the ground altitude of the unmanned aerial vehicle 10, the method further includes:
s70: and judging whether the corrected ground height is normal or not.
Specifically, the corrected current fusion altitude of the unmanned aerial vehicle 10 is obtained, the corrected current fusion altitude of the unmanned aerial vehicle 10 and the corrected difference value of the ground altitude are calculated, and if the difference value between the current fusion altitude and the ground altitude is less than or equal to a preset threshold value, it can be determined that the corrected ground altitude is normal. If the difference between the current fusion height and the ground height is greater than a preset threshold, it can be determined that the corrected ground height is abnormal.
S80: if the altitude is normal, the flight parameters of the unmanned aerial vehicle 10 are adjusted according to the corrected altitude to the ground.
Specifically, if the difference between the current fusion altitude and the ground altitude is less than or equal to a preset threshold value, the flight parameters of the unmanned aerial vehicle 10 are adjusted according to the corrected ground altitude.
S90: and if the current fusion height is abnormal, obtaining the current fusion height, and adjusting the flight parameters of the unmanned aerial vehicle 10 according to the current fusion height.
Specifically, if the difference between the current fusion altitude and the ground altitude is greater than a preset threshold, the flight parameters of the unmanned aerial vehicle 10 are adjusted according to the current fusion altitude.
In order to better adjust the flight parameters of the unmanned aerial vehicle 10 according to the corrected ground altitude, in some embodiments, referring to fig. 11, S80 includes the following steps:
s81: and judging whether the corrected ground height is smaller than a preset ground height.
Specifically, the corrected ground height is compared with a preset ground height, and whether the corrected ground height is smaller than the preset ground height is judged. For example, if the corrected height to ground is 1.2m, the preset height to ground is 0.5m, and the corrected height to ground 1.2m is greater than the preset height to ground 0.5m, it may be determined that the corrected height to ground is not less than the preset height to ground. If the corrected ground height is 0.2m and the preset ground height is 0.5m, it can be determined that the corrected ground height is smaller than the preset ground height.
S82: if yes, the flight parameters are adjusted to a first preset parameter range.
Wherein the preset parameters include the flying speed and the stop-grouting threshold value of the unmanned aerial vehicle 10.
Specifically, if the corrected ground height is smaller than a preset ground height, the flying speed is adjusted to be within the range of 1.0-2.0 m/s; and adjusting the slurry stopping threshold value to be within the range of 6.5-7.5 m/s.
To better adjust the flight parameters of the UAV 10 according to the current fusion altitude, in some embodiments, referring to FIG. 12, S90 includes the following steps:
s91: judging whether the current fusion height is within a preset fusion height range;
specifically, the current fusion height is compared with a preset fusion height, and whether the obtained current fusion height is within a preset fusion height range is judged. For example, if the obtained current fusion height is 3m and the preset fusion height range is-2 m, it can be determined that the obtained current fusion height is 3m and is not within-2 m of the preset fusion height range. If the obtained current fusion height is 1.5m and the preset fusion height range is-2 m, the obtained current fusion height is 1.5m and the preset fusion height range is-2 m.
S92: and if so, adjusting the flight parameters to a second preset parameter range.
Wherein the preset parameters include the flying speed and the stop-grouting threshold value of the unmanned aerial vehicle 10.
Specifically, if the current fusion height is within a preset fusion height range, the flight speed is adjusted to be within a range of 0.2-0.3 m/s; adjusting the stop slurry threshold value to be within the range of 2.8-3.2 m/s.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiment of the present application, the embodiment of the present application provides a device for correcting ground altitude, which is applied to an unmanned aerial vehicle 10, where the unmanned aerial vehicle 10 includes a ground sensor for detecting the ground altitude between the unmanned aerial vehicle 10 and a landing site. Referring to fig. 13, the pair of floor height calibration devices 50 includes: a reset module 51, a prediction module 52 and a correction module 53.
The reset module 51 is configured to acquire abnormal failure information of the ground sensor during the abnormal period, and determine whether the abnormal failure information meets a preset correction triggering condition.
The prediction module 52 is configured to calculate a ground height correction amount of the ground sensor during an abnormality when the ground sensor is abnormal.
The correction module 53 is configured to correct the ground altitude of the unmanned aerial vehicle 10 according to the ground altitude correction amount and the normal ground altitude when the abnormal failure information satisfies a preset correction triggering condition.
Therefore, in the present embodiment, the aircraft ground altitude correction device first obtains the normal ground altitude of the unmanned aircraft 10 before the ground sensor is abnormal, and then corrects the normal ground altitude according to the ground altitude correction amount calculated by the ground sensor during the abnormal period, so as to improve the accuracy of the ground altitude of the unmanned aircraft 10 and improve the landing performance of the aircraft.
In some embodiments, aircraft ground altitude correction device 50 further includes a flight parameter adjustment module 54 for determining whether the corrected ground altitude is normal; if the ground altitude is normal, adjusting flight parameters of the unmanned aerial vehicle 10 according to the corrected ground altitude; and if the current fusion height is abnormal, obtaining the current fusion height, and adjusting the flight parameters of the unmanned aerial vehicle 10 according to the current fusion height.
The flight parameter adjustment module 54 includes a first determination unit and a first flight parameter adjustment unit;
the first judging unit is used for judging whether the corrected ground height is smaller than a preset ground height; the first flight parameter adjusting unit is used for adjusting the flight parameters to a first preset parameter range when the corrected ground height is smaller than a preset ground height. The first flight parameter adjusting unit is specifically used for adjusting the flight speed to be within a range of 1.0-2.0 m/s; adjusting the stop slurry threshold value to be in the range of 6.5-7.5 m/s.
In some embodiments, the flight parameter adjustment module includes a second determination unit and a second flight parameter adjustment unit.
The second judging unit is used for judging whether the fusion height is within a preset fusion height range;
the second flight parameter adjusting unit is used for adjusting the flight parameters to a second preset parameter range when the current fusion height is within a preset fusion height range. The second flight parameter adjusting unit is specifically used for adjusting the flight speed to be within the range of 0.2-0.3 m/s; adjusting the stop slurry threshold value to be within the range of 2.8-3.2 m/s.
The reset module 51 includes a fusion horizontal velocity latch unit, a horizontal relative distance calculation unit, and a first judgment unit.
The fusion horizontal speed latch unit is used for latching the current fusion horizontal speed when the ground sensor is abnormal;
the horizontal relative distance calculation unit is used for performing difference integral operation on the fusion horizontal speed of the ground sensor at each moment in the abnormal period and the current fusion horizontal speed to obtain the horizontal relative distance of the unmanned aerial vehicle 10 in the abnormal period;
the first judging unit is used for judging whether the horizontal relative distance is smaller than a preset distance threshold value.
In some embodiments, the reset module 51 includes a failure duration calculation unit and a second determination unit; the failure duration calculation unit is used for calculating the failure duration of the ground sensor in an abnormal period; the second judging unit is used for judging whether the failure time length is smaller than a preset time length threshold value.
Wherein the prediction module 52 comprises a fusion data acquisition unit and a ground height correction amount unit.
The fused data acquisition unit is used for acquiring fused data of the ground sensor during the abnormal period; the ground height correction amount unit is used for calculating the ground height correction amount according to the fusion data.
The ground height correction amount unit comprises a normal fusion height acquisition subunit, a first ground height correction amount calculation operator unit, a second ground height correction amount calculation operator unit and a ground height correction amount calculation operator unit.
The normal fusion height acquisition subunit is used for latching the normal fusion height of the ground sensor before the abnormality occurs.
The first ground height correction amount calculation sub-unit is used for calculating the difference between the normal fusion height and the fusion height of the ground sensor at each moment in the abnormal period to obtain a first ground height correction amount.
And the second ground height correction amount sub-unit is used for integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction amount.
The ground height correction amount calculation subunit is used for calculating the ground height correction amount according to the first ground height correction amount, the second ground height correction amount and the fusion attitude.
It should be noted that the aircraft ground altitude correction device can execute the aircraft ground altitude correction method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method. Technical details which are not described in detail in the embodiment of the aircraft ground altitude correction device can be referred to the aircraft ground altitude correction method provided by the embodiment of the invention.
Fig. 14 is a block diagram of the structure of the unmanned aerial vehicle 10 according to the embodiment of the present invention. The unmanned aerial vehicle 10 can be used for realizing the functions of all or part of the functional modules in the main control chip. As shown in fig. 14, the unmanned aerial vehicle 10 may include: a processor 110, a memory 120, and a communication module 130. The processor 110, the memory 120 and the communication module 130 establish a communication connection therebetween by means of a bus.
The processor 110 may be of any type, including a processor 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120, as a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the aircraft-to-ground altitude correction method in the embodiment of the present invention (e.g., the reset module 51, the prediction module 52, the correction module 53, and the flight parameter adjustment module 54 shown in fig. 13). The processor 110 executes various functional applications and data processing of the aircraft-to-ground altitude correction apparatus 50 by executing non-transitory software programs, instructions and modules stored in the memory 120, that is, implements the aircraft-to-ground altitude correction method in any of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created from the use of the ground-height correction device 50 by the aircraft, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from processor 110, which may be connected to the terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one processor 110; the at least one processor 110 is configured to execute the instructions to implement the aircraft height-to-ground correction method in any of the above-described method embodiments, for example, to perform the above-described method steps 10, 20, 30, etc., to implement the functions of blocks 51-54 in fig. 13.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc. The communication module 130 is used for communication connection with the unmanned aerial vehicle 10.
Further, embodiments of the present invention also provide a non-transitory terminal-readable storage medium storing terminal-executable instructions, which are executed by one or more processors 110, for example, by one processor 110 in fig. 14, and may cause the one or more processors 110 to execute the aircraft height-to-ground correction method in any of the above method embodiments, for example, execute the above described method steps 10, 20, 30, and so on, to implement the functions of the modules 51 to 54 in fig. 13.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the aircraft ground altitude correction method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the aircraft ground altitude correction method. Technical details which are not described in detail in the embodiment can be referred to the aircraft ground altitude correction method provided by the embodiment of the invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (19)

1. A method for correcting ground altitude, applied to an unmanned aerial vehicle comprising a ground sensor for detecting the ground altitude between the unmanned aerial vehicle and a landing site, characterized in that the method comprises:
acquiring the normal ground height of the ground sensor before abnormality occurs;
acquiring fusion data of the ground sensor during the abnormal period, wherein the fusion data comprises fusion height, fusion speed and fusion attitude;
calculating the correction quantity of the ground height of the ground sensor during the abnormal period according to the fusion data;
and correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude.
2. The method of claim 1, wherein calculating a ground height correction based on the fused data comprises:
latching the normal fusion height of the ground sensor before the abnormality occurs;
and performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain the ground height correction quantity.
3. The method of claim 1, wherein calculating a ground height correction based on the fused data comprises:
and integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain the ground height correction quantity.
4. The method of claim 1, wherein calculating a ground height correction based on the fused data comprises:
latching the normal fusion height of the ground sensor before the abnormality occurs;
performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain a first ground height correction quantity;
integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction quantity;
and calculating the ground height correction quantity according to the first ground height correction quantity, the second ground height correction quantity and the fusion attitude.
5. The method of claim 4, wherein calculating a ground height correction based on the first ground height correction, the second ground height correction, and the fusion attitude comprises:
according to a preset weighting algorithm, performing weighting processing on the first ground height correction quantity and the second ground height correction quantity to obtain weighted correction quantities;
and converting the weighted correction quantity into a coordinate system of the unmanned aerial vehicle according to the fusion attitude to obtain the ground altitude correction quantity.
6. The method of claim 1, further comprising:
acquiring abnormal failure information of the ground sensor during the abnormal period;
judging whether the abnormal failure information meets a preset correction triggering condition or not;
if yes, correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude.
7. The method according to claim 6, wherein the determining whether the abnormal failure information satisfies a preset correction triggering condition includes:
latching the current fusion horizontal speed when the ground sensor is abnormal;
performing difference integral operation on the fusion horizontal speed of the ground sensor at each moment in the abnormal period and the current fusion horizontal speed to obtain the horizontal relative distance of the unmanned aerial vehicle in the abnormal period;
and judging whether the horizontal relative distance is smaller than a preset distance threshold value.
8. The method according to claim 6, wherein the determining whether the abnormal failure information satisfies a preset correction triggering condition includes:
calculating the failure duration of the ground sensor during the abnormal period;
and judging whether the failure time length is less than a preset time length threshold value or not.
9. The method of claim 1, wherein after correcting the altitude to ground of the UAV, the method further comprises:
judging whether the corrected ground height is normal or not;
if the ground altitude is normal, adjusting flight parameters of the unmanned aerial vehicle according to the corrected ground altitude;
and if the current fusion height is abnormal, obtaining the current fusion height, and adjusting the flight parameters of the unmanned aerial vehicle according to the current fusion height.
10. The method of claim 9, wherein said adjusting flight parameters of the UAV based on the corrected groundheight comprises:
judging whether the corrected ground height is smaller than a preset ground height;
if yes, the flight parameters are adjusted to a first preset parameter range.
11. The method of claim 10, wherein the preset parameters include airspeed and a stall threshold;
the adjusting the flight parameter to a first preset parameter range includes:
adjusting the flying speed to be within the range of 1.0-2.0 m/s;
and adjusting the slurry stopping threshold value to be within the range of 6.5-7.5 m/s.
12. The method of claim 9, wherein said adjusting flight parameters of the UAV based on the current fusion altitude comprises:
judging whether the current fusion height is within a preset fusion height range or not;
and if so, adjusting the flight parameters to a second preset parameter range.
13. The method of claim 12, wherein the second preset parameters include airspeed and a stall threshold;
the adjusting the flight parameter to a second preset parameter range includes:
adjusting the flying speed to be within the range of 0.2-0.3 m/s;
and adjusting the slurry stopping threshold value to be within the range of 2.8-3.2 m/s.
14. A correction device for ground altitude, which is applied to an unmanned aerial vehicle including a ground sensor for detecting the ground altitude between the unmanned aerial vehicle and a landing site, characterized by comprising:
the reset module is used for acquiring abnormal failure information of the ground sensor in an abnormal period and judging whether the abnormal failure information meets a preset correction triggering condition;
the prediction module is used for calculating the ground height correction quantity of the ground sensor during the abnormality when the ground sensor is abnormal;
and the correction module is used for correcting the ground altitude of the unmanned aerial vehicle according to the ground altitude correction quantity and the normal ground altitude when the abnormal failure information meets a preset correction triggering condition.
15. The ground height correction apparatus according to claim 14,
the reset module comprises a fusion horizontal speed latch unit, a horizontal relative distance calculation unit and a first judgment unit;
the fusion horizontal speed latch unit is used for latching the current fusion horizontal speed when the ground sensor is abnormal;
the horizontal relative distance calculation unit is used for performing difference integral operation on the fusion horizontal speed of the ground sensor at each moment in an abnormal period and the current fusion horizontal speed to obtain the horizontal relative distance of the unmanned aerial vehicle in the abnormal period;
the first judging unit is used for judging whether the horizontal relative distance is smaller than a preset distance threshold value.
16. The ground height correction apparatus according to claim 14,
the reset module comprises a failure duration calculation unit and a second judgment unit;
the failure duration calculation unit is used for calculating the failure duration of the ground sensor during the abnormal period;
the second judging unit is used for judging whether the failure time length is smaller than a preset time length threshold value.
17. The ground height correction apparatus according to claim 14,
the prediction module comprises a fusion data acquisition unit and a ground height correction quantity unit;
the fused data acquisition unit is used for acquiring fused data of the ground sensor during the abnormal period;
the ground height correction amount unit is used for calculating the ground height correction amount according to the fusion data.
18. The ground height correction device according to claim 17, wherein the fusion data includes a fusion height, a fusion speed, and a fusion attitude;
the ground height correction amount unit comprises a normal fusion height acquisition subunit, a first ground height correction amount operator unit, a second ground height correction amount operator unit and a ground height correction amount operator unit;
the normal fusion height acquisition subunit is used for latching the normal fusion height of the ground sensor before abnormality occurs;
the first ground height correction amount calculation sub-unit is used for performing difference operation on the fusion height of the ground sensor at each moment in the abnormal period and the normal fusion height to obtain a first ground height correction amount;
the second ground height correction amount sub-unit is used for integrating the fusion speed of the ground sensor at each moment in the abnormal period to obtain a second ground height correction amount;
the ground height correction amount calculation subunit is used for calculating the ground height correction amount according to the first ground height correction amount, the second ground height correction amount and the fusion attitude.
19. An unmanned aerial vehicle, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the aircraft height-to-ground correction method of any one of claims 1-13.
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