CN111322984A - Altitude calculation method and device, unmanned aerial vehicle and storage medium - Google Patents
Altitude calculation method and device, unmanned aerial vehicle and storage medium Download PDFInfo
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- CN111322984A CN111322984A CN202010330609.0A CN202010330609A CN111322984A CN 111322984 A CN111322984 A CN 111322984A CN 202010330609 A CN202010330609 A CN 202010330609A CN 111322984 A CN111322984 A CN 111322984A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
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Abstract
The invention discloses a method and a device for calculating altitude, an unmanned aerial vehicle and a storage medium, wherein the method comprises the following steps: step A, collecting a first air pressure value of a flight position where the unmanned aerial vehicle is located; b, calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value; and C, calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data. The invention can obtain more accurate altitude.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicles, in particular to an altitude calculation method and device suitable for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium.
Background
At present, a barometer is arranged in part of unmanned aerial vehicles, and the barometer is used for measuring the air pressure in the external environment where the unmanned aerial vehicle is located, so that the basis for calculating the altitude of the unmanned aerial vehicle is used.
The inventor finds that:
the atmospheric pressure data that the barometer gathered have long-term accurate, short-term inaccurate characteristics, consequently, the altitude that unmanned aerial vehicle calculated according to the atmospheric pressure data that the barometer gathered can have the inaccurate condition.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The invention aims to provide an altitude calculation method and device suitable for an unmanned aerial vehicle, the unmanned aerial vehicle and a storage medium, which can obtain more accurate altitude.
In order to solve the problems, the technical scheme of the invention is as follows:
an altitude calculation method for a drone, the method comprising: step A, collecting a first air pressure value of a flight position where the unmanned aerial vehicle is located; b, calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value; and C, calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
In the above altitude calculation method suitable for an unmanned aerial vehicle, the relationship data between the barometric pressure value and the altitude value includes relationship data between a first reference barometric pressure value of a first barometer of the unmanned aerial vehicle after initialization and an altitude value at an initial position, where the initial position is a position where the first barometer of the unmanned aerial vehicle is located after initialization; prior to the step B, the method further comprises: and acquiring a first reference air pressure value of the first barometer after initialization and an altitude value of the initial position.
In the above altitude calculation method for a drone, before step C, the method further includes: and D, receiving the error data sent by the air pressure measuring equipment.
In the above altitude calculation method suitable for an unmanned aerial vehicle, the error data is obtained by acquiring, by an air pressure measurement device fixed at a fixed position, a second reference air pressure value corresponding to the fixed position after initialization of the air pressure measurement device, measuring the second air pressure value corresponding to the fixed position, and then calculating according to the second air pressure value and the second reference air pressure value, where the fixed position is a position where the air pressure measurement device is set after initialization.
An altitude calculation device suitable for use with a drone, the device comprising: the acquisition module is used for acquiring a first air pressure value of a flight position where the unmanned aerial vehicle is located; and the calculation module is used for calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value, and calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
In the above altitude calculation apparatus suitable for the unmanned aerial vehicle, the relationship data between the air pressure value and the altitude value includes a relationship data between a first reference air pressure value of a first barometer of the unmanned aerial vehicle after initialization and an altitude value at an initial position, where the initial position is a position where the first barometer of the unmanned aerial vehicle is located after initialization; the device further comprises: the acquisition module is used for acquiring a first reference air pressure value of the first barometer after initialization and the altitude value of the initial position.
In the above-mentioned altitude calculation device suitable for unmanned aerial vehicle, the device still includes: and the receiving module is used for receiving the error data sent by the air pressure measuring equipment.
In the above altitude calculation apparatus suitable for an unmanned aerial vehicle, the error data is obtained by acquiring, by the air pressure measurement device fixed at the fixed position, a second reference air pressure value corresponding to the fixed position after initialization of the air pressure measurement device, measuring the second air pressure value corresponding to the fixed position, and calculating according to the second air pressure value and the second reference air pressure value, where the fixed position is a position where the air pressure measurement device is set after initialization.
A drone comprising a processor and a memory, the memory being for storing program code, the drone being operable, when executed, to execute the program code to perform the above altitude calculation method applicable to drones.
A computer-readable storage medium storing program code for causing a computer to execute the above-described altitude calculation method applicable to a drone.
According to the invention, after the altitude initial value of the flight position is calculated, the altitude initial value is corrected according to the received error data, so that the altitude correction value of the flight position where the unmanned aerial vehicle is located is obtained, and therefore, more accurate altitude can be obtained.
Drawings
Fig. 1 is a flowchart of an altitude calculation method suitable for an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 2 is a block diagram of an altitude calculation apparatus suitable for an unmanned aerial vehicle according to an embodiment of the present invention.
Fig. 3 is a schematic view of an operating environment of the altitude calculation method and apparatus suitable for the unmanned aerial vehicle according to the embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In embodiments of the present invention, the term "module" generally refers to: hardware, a combination of hardware and software, and so forth. For example, a module may be a process running on a processor, an object, an executable, a thread of execution, a program, and so on. Both an application running on a processor and the processor can be a module. One or more modules may be located in one computer and/or distributed between two or more computers.
In the embodiment of the present invention, "first", "second", and the like are only used for distinguishing different objects, and should not constitute any limitation to the embodiment of the present invention.
The embodiment of the invention provides an altitude calculation method and device suitable for an unmanned aerial vehicle, the unmanned aerial vehicle and a computer readable storage medium. Specifically, the altitude calculation method and apparatus suitable for the unmanned aerial vehicle provided by the embodiment of the present invention are suitable for (integrated in) the unmanned aerial vehicle.
The altitude calculation method and device suitable for the unmanned aerial vehicle provided by the embodiment of the invention are described below by taking the unmanned aerial vehicle as an example.
According to the invention, barometer data at a fixed position is sent to the unmanned aerial vehicle through an air pressure measuring device (upper computer), and the unmanned aerial vehicle carries out error correction with the barometer data of the unmanned aerial vehicle after receiving the barometer data, so that the error of the barometer of the unmanned aerial vehicle caused by the environment is eliminated, the accuracy of the barometer is improved, and the flight effect of the unmanned aerial vehicle is further improved.
Referring to fig. 1, the altitude calculation method suitable for the unmanned aerial vehicle according to the embodiment of the present invention includes the following steps:
103, calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value. The relation data of the air pressure value and the altitude value comprises relation data of a first reference air pressure value of a first barometer of the unmanned aerial vehicle after initialization and the altitude value of an initial position, wherein the initial position is a position where the first barometer of the unmanned aerial vehicle is located after initialization.
And 104, receiving the error data sent by the air pressure measuring equipment.
The error data is obtained by acquiring a second reference air pressure value corresponding to the fixed position after the air pressure measuring device is initialized, measuring the second air pressure value corresponding to the fixed position, and calculating according to the second air pressure value and the second reference air pressure value, wherein the fixed position is a position where the air pressure measurement is set after the initialization.
That is, the air pressure measuring device fixed to the fixed position is initialized first, then a second reference air pressure value corresponding to the fixed position after the initialization is acquired, the second air pressure value corresponding to the fixed position is measured, and the error data is calculated based on the second reference air pressure value and the second air pressure value.
And 105, calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
The error data includes height error data or barometric error data.
The error data corresponds to a difference between the second barometric pressure value and the second baseline barometric pressure value. In particular, in a case where the error data includes the barometric pressure error data, the error data is equal to a difference between the second barometric pressure value and the second reference barometric pressure value, and in a case where the error data includes the altitude error data, the error data is equal to a difference between an altitude corresponding to the second barometric pressure value and an altitude corresponding to the second reference barometric pressure value.
The method further comprises the steps of:
through the acceleration of gravity data is gathered to acceleration of gravity sensor among the unmanned aerial vehicle, carries out the integral to acceleration of gravity according to the acceleration of gravity data gathered, calculates the current altitude at which unmanned aerial vehicle is located.
In addition, unmanned aerial vehicle still includes temperature sensor, temperature sensor is used for gathering the temperature data of the external environment that unmanned aerial vehicle is located.
The method further comprises the steps of:
collecting the temperature data by the temperature sensor;
and correcting the initial altitude value and/or the altitude correction value according to the temperature data.
In the embodiment of the invention, after the altitude initial value of the flight position is calculated, the altitude initial value is corrected according to the received error data, so that the altitude correction value of the flight position where the unmanned aerial vehicle is located is obtained, and therefore, more accurate altitude can be obtained.
Since the first barometer in the drone needs to measure the air pressure in the external environment when the drone is in motion, the relative motion of the air flow can cause an error to exist in the first air pressure value collected by the first barometer, and therefore, in order to reduce such an error, the following improvement is made.
Unmanned aerial vehicle is still including holding the cavity, first barometer set up in hold in the cavity, it has two at least openings and two at least pipelines to hold the cavity, the opening intercommunication the one end of pipeline with the inner space who holds the cavity, the other end and the external environment intercommunication of pipeline. The two openings are arranged on two opposite sides of the accommodating chamber, so that the air pressure in the accommodating chamber is balanced (consistent) with the air pressure of the external environment. The pipeline is the form of buckling or heliciform, sets up to the form of buckling or heliciform the pipeline is used for making when unmanned aerial vehicle is in the motion state, the consumption enters into the kinetic energy of the air current in the pipeline to it is right to reduce the air current the pressure that first barometer was applyed is favorable to guaranteeing first barometer gathers first barometric pressure value is more accurate. Since the pipe communicates the internal space of the accommodating chamber with the external environment, the pipe can keep the air pressure in the accommodating chamber consistent with the air pressure in the external environment.
The pipeline is also internally provided with a sponge core strip and/or at least two slow flow blades, one ends of the slow flow blades are arranged on the inner wall of the pipeline, the other ends of the slow flow blades are positioned in the pipeline, the slow flow blades are inclined towards one end of the pipeline far away from the opening, the at least two slow flow blades are arranged in the pipeline in a random arrangement mode or a circumferential array mode, and the slow flow blades are used for consuming the kinetic energy of the airflow entering the pipeline; the sponge core strip is nested in the pipeline.
Above-mentioned improvement when unmanned aerial vehicle flies other different atmospheric pressure environment, can make unmanned aerial vehicle still can obtain accurate atmospheric pressure value.
The temperature sensor can be arranged in the accommodating cavity, so that the temperature sensor is prevented from being further cooled by the relatively moving airflow under the condition that the temperature of the external environment is low, and the temperature data acquired by the temperature sensor is prevented from being distorted.
Unmanned aerial vehicle still includes the valve, the valve set up in the pipeline is kept away from open-ended one end department.
The method further comprises the steps of:
judging whether the variation of the first air pressure value in the first predetermined time is larger than a predetermined threshold value every first predetermined time (real-time), wherein the first predetermined time can be 0.1 second, 0.2 second, 0.5 second and the like;
in case the amount of change is larger than the predetermined threshold, the valve is controlled to open and close at a predetermined frequency, which may be, for example, 5 times, 10 times, 15 times, 20 times per second, etc.
Determining whether the variation of the first air pressure value in a second predetermined time is less than or equal to the predetermined threshold, wherein the second predetermined time may be, for example, 0.1 second, 0.2 second, 0.5 second, or the like;
and controlling the valve to be opened when the variation is smaller than or equal to the preset threshold.
By controlling the valve to open and close at a predetermined frequency if the variation is larger than the predetermined threshold, the first barometer can be prevented from being damaged or the measured first barometric pressure value can be prevented from being distorted when the drone suddenly encounters a strong variation in barometric pressure.
In order to better implement the above method, correspondingly, the embodiment of the present invention further provides an altitude calculation device suitable for the unmanned aerial vehicle, which can be integrated in the unmanned aerial vehicle.
Referring to fig. 2, the altitude calculation apparatus suitable for the unmanned aerial vehicle according to the embodiment of the present invention includes an obtaining module 201, an acquiring module 202, a calculating module 203, and a receiving module 204.
The obtaining module 201 is configured to obtain a first reference air pressure value of the first barometer after initialization and an altitude value of the initial position.
The acquisition module 202 is configured to acquire a first air pressure value of a flight position where the drone is located. Specifically, the first barometric pressure value is collected through a first barometer in the unmanned aerial vehicle.
The calculation module 203 is configured to calculate an initial altitude value of the flight position according to the relationship data between the first barometric pressure value and the altitude value. The relation data of the air pressure value and the altitude value comprises relation data of a first reference air pressure value of a first barometer of the unmanned aerial vehicle after initialization and the altitude value of an initial position, wherein the initial position is a position where the first barometer of the unmanned aerial vehicle is located after initialization.
The receiving module 204 is configured to receive the error data sent by the air pressure measuring device.
The error data is obtained by acquiring a second reference air pressure value corresponding to the fixed position after the air pressure measuring device is initialized, measuring the second air pressure value corresponding to the fixed position, and calculating according to the second air pressure value and the second reference air pressure value, wherein the fixed position is a position where the air pressure measurement is set after the initialization.
That is, the air pressure measuring device fixed to the fixed position is initialized first, then a second reference air pressure value corresponding to the fixed position after the initialization is acquired, the second air pressure value corresponding to the fixed position is measured, and the error data is calculated based on the second reference air pressure value and the second air pressure value.
The calculating module 203 is further configured to calculate an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
The error data includes height error data or barometric error data.
The error data corresponds to a difference between the second barometric pressure value and the second baseline barometric pressure value. In particular, in a case where the error data includes the barometric pressure error data, the error data is equal to a difference between the second barometric pressure value and the second reference barometric pressure value, and in a case where the error data includes the altitude error data, the error data is equal to a difference between an altitude corresponding to the second barometric pressure value and an altitude corresponding to the second reference barometric pressure value.
The acquisition module 202 is further configured to acquire the acceleration data of gravity through an acceleration sensor in the unmanned aerial vehicle, integrate the acceleration of gravity according to the acquired acceleration data of gravity, and calculate the current altitude of the unmanned aerial vehicle.
In addition, unmanned aerial vehicle still includes temperature sensor, temperature sensor is used for gathering the temperature data of the external environment that unmanned aerial vehicle is located.
The acquisition module 202 is further configured to acquire the temperature data through the temperature sensor.
The calculation module 203 is further configured to correct the initial altitude value and/or the altitude correction value according to the temperature data.
In the embodiment of the invention, after the altitude initial value of the flight position is calculated, the altitude initial value is corrected according to the received error data, so that the altitude correction value of the flight position where the unmanned aerial vehicle is located is obtained, and therefore, more accurate altitude can be obtained.
Since the first barometer in the drone needs to measure the air pressure in the external environment when the drone is in motion, the relative motion of the air flow can cause an error to exist in the first air pressure value collected by the first barometer, and therefore, in order to reduce such an error, the following improvement is made.
Unmanned aerial vehicle is still including holding the cavity, first barometer set up in hold in the cavity, it has two at least openings and two at least pipelines to hold the cavity, the opening intercommunication the one end of pipeline with the inner space who holds the cavity, the other end and the external environment intercommunication of pipeline. The two openings are arranged on two opposite sides of the accommodating chamber, so that the air pressure in the accommodating chamber is balanced (consistent) with the air pressure of the external environment. The pipeline is the form of buckling or heliciform, sets up to the form of buckling or heliciform the pipeline is used for making when unmanned aerial vehicle is in the motion state, the consumption enters into the kinetic energy of the air current in the pipeline to it is right to reduce the air current the pressure that first barometer was applyed is favorable to guaranteeing first barometer gathers first barometric pressure value is more accurate. Since the pipe communicates the internal space of the accommodating chamber with the external environment, the pipe can keep the air pressure in the accommodating chamber consistent with the air pressure in the external environment.
The pipeline is also internally provided with a sponge core strip and/or at least two slow flow blades, one ends of the slow flow blades are arranged on the inner wall of the pipeline, the other ends of the slow flow blades are positioned in the pipeline, the slow flow blades are inclined towards one end of the pipeline far away from the opening, the at least two slow flow blades are arranged in the pipeline in a random arrangement mode or a circumferential array mode, and the slow flow blades are used for consuming the kinetic energy of the airflow entering the pipeline; the sponge core strip is nested in the pipeline.
Above-mentioned improvement when unmanned aerial vehicle flies other different atmospheric pressure environment, can make unmanned aerial vehicle still can obtain accurate atmospheric pressure value.
The temperature sensor can be arranged in the accommodating cavity, so that the temperature sensor is prevented from being further cooled by the relatively moving airflow under the condition that the temperature of the external environment is low, and the temperature data acquired by the temperature sensor is prevented from being distorted.
Unmanned aerial vehicle still includes the valve, the valve set up in the pipeline is kept away from open-ended one end department.
The device also comprises a judging module and a control module.
The judging module is configured to judge, every first predetermined time (real-time), whether a variation of the first air pressure value in the first predetermined time is greater than a predetermined threshold, where the first predetermined time may be, for example, 0.1 second, 0.2 second, 0.5 second, or the like;
the control module is used for controlling the valve to open and close at a predetermined frequency when the variation is larger than the predetermined threshold, wherein the predetermined frequency can be, for example, 5 times, 10 times, 15 times, 20 times per second, and the like.
The determining module is further configured to determine whether a variation of the first air pressure value in a second predetermined time is smaller than or equal to the predetermined threshold, where the second predetermined time may be, for example, 0.1 second, 0.2 second, 0.5 second, or the like;
the control module is further used for controlling the valve to be opened under the condition that the variation is smaller than or equal to the preset threshold value.
By controlling the valve to open and close at a predetermined frequency if the variation is larger than the predetermined threshold, the first barometer can be prevented from being damaged or the measured first barometric pressure value can be prevented from being distorted when the drone suddenly encounters a strong variation in barometric pressure.
The altitude calculation device suitable for the unmanned aerial vehicle provided by the embodiment of the present invention may be implemented by hardware, as shown in fig. 3, the hardware may include any combination of a processor 303, a memory 302, a communication circuit 301, a barometer 304, a temperature sensor 305, a gravitational acceleration sensor 306, and the like, where the memory 302, the communication circuit 301, the barometer 304, the temperature sensor 305, and the gravitational acceleration sensor 306 are all electrically connected to the processor 303. Any combination of the processor 303, the memory 302, the communication circuit 301, the barometer 304, the temperature sensor 305, the acceleration of gravity sensor 306, and the like is used to implement the functions and steps of the altitude calculation device suitable for the unmanned aerial vehicle provided by the embodiment of the invention.
The processor 303 may be, for example: a CPU (Central Processing Unit), a GPU, an NPU (Neural network Processing Unit), other general-purpose processors, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., wherein the general-purpose Processor may be a microprocessor or any conventional Processor, etc.
The memory 302 may include both read-only memory and random-access memory for providing program code and data to the processor. The memory may also include non-volatile random access memory. The memory may be either volatile memory or nonvolatile memory, or may include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory.
The altitude calculation device suitable for the unmanned aerial vehicle provided by the embodiment of the invention can also be realized by software, and at the moment, the altitude calculation device suitable for the unmanned aerial vehicle and each module thereof provided by the embodiment of the invention can also be a software module. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product (the carrier of which may, for example, be the computer-readable storage medium of an embodiment of the invention).
The altitude calculation device suitable for the unmanned aerial vehicle provided by the embodiment of the invention can be realized by the combination of software and hardware.
The altitude calculation device suitable for the unmanned aerial vehicle provided by the embodiment of the present invention may be corresponding to the method described in the embodiment of the present invention, and the above and other operations and/or functions of each module in the altitude calculation device suitable for the unmanned aerial vehicle are used to implement the corresponding processes of the altitude calculation method suitable for the unmanned aerial vehicle provided by the embodiment of the present invention.
The unmanned aerial vehicle provided by the embodiment of the invention comprises a processor and a memory, wherein the processor and the memory are communicated through a bus. The memory is used for storing program codes, and when the unmanned aerial vehicle runs, the processor executes the program codes to execute the altitude calculation method suitable for the unmanned aerial vehicle provided by the embodiment of the invention. For example, the program code may perform the steps of:
acquiring a first air pressure value of a flight position where the unmanned aerial vehicle is located; calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value; and calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
The computer-readable storage medium of the embodiment of the present invention stores a program code for causing a computer to execute the altitude calculation method applicable to the unmanned aerial vehicle provided by the embodiment of the present invention. For example, the program code may perform the steps of:
acquiring a first air pressure value of a flight position where the unmanned aerial vehicle is located; calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value; and calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more collections of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a Solid State Drive (SSD).
The instructions of the program code may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the instructions of the program code may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wire (e.g., coaxial cable, fiber optic, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.) means.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application.
In summary, although the present invention has been described with reference to the preferred embodiments, the above-described preferred embodiments are not intended to limit the present invention, and those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, therefore, the scope of the present invention shall be determined by the appended claims.
Claims (10)
1. An altitude calculation method suitable for an unmanned aerial vehicle, the method comprising:
step A, collecting a first air pressure value of a flight position where the unmanned aerial vehicle is located;
b, calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value;
and C, calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
2. The altitude calculation method for unmanned aerial vehicle according to claim 1, wherein the relation data of the barometric pressure value and the altitude value includes relation data of a first reference barometric pressure value of a first barometer of the unmanned aerial vehicle after initialization and an altitude value of an initial position, wherein the initial position is a position where the first barometer of the unmanned aerial vehicle is located after initialization;
prior to the step B, the method further comprises:
and acquiring a first reference air pressure value of the first barometer after initialization and an altitude value of the initial position.
3. The altitude calculation method for unmanned aerial vehicles according to claim 1, wherein before step C, the method further comprises:
and D, receiving the error data sent by the air pressure measuring equipment.
4. The altitude calculation method according to claim 3, wherein the error data is calculated by the air pressure measurement device fixed in a fixed position by obtaining a second reference air pressure value corresponding to the fixed position after initialization of the air pressure measurement device, measuring the second air pressure value corresponding to the fixed position, and calculating the second air pressure value according to the second air pressure value and the second reference air pressure value, wherein the fixed position is a position where the air pressure measurement device is set after initialization.
5. An altitude calculation device suitable for use with a drone, the device comprising:
the acquisition module is used for acquiring a first air pressure value of a flight position where the unmanned aerial vehicle is located;
and the calculation module is used for calculating an altitude initial value of the flight position according to the relation data of the first air pressure value and the air pressure value with the altitude value, and calculating an altitude correction value of the flight position where the unmanned aerial vehicle is located according to the altitude initial value and the received error data.
6. The altitude calculation device suitable for drones according to claim 5, wherein the data relating the barometric pressure value to the altitude value comprises data relating a first reference barometric pressure value of a first barometer of the drone after initialization to an altitude value of an initial position, wherein the initial position is a position where the first barometer of the drone is located after initialization;
the device further comprises:
the acquisition module is used for acquiring a first reference air pressure value of the first barometer after initialization and the altitude value of the initial position.
7. The altitude calculation device suitable for unmanned aerial vehicles according to claim 5, wherein the device further comprises:
and the receiving module is used for receiving the error data sent by the air pressure measuring equipment.
8. The altitude calculation apparatus suitable for unmanned aerial vehicle according to claim 7, wherein the error data is obtained by acquiring, by the air pressure measurement device fixed at the fixed position, a second reference air pressure value corresponding to the fixed position after initialization of the air pressure measurement device, measuring the second air pressure value corresponding to the fixed position, and calculating the error data according to the second air pressure value and the second reference air pressure value, wherein the fixed position is a position where the air pressure measurement device is set after initialization.
9. A drone, characterized in that it comprises a processor and a memory for storing program code, the drone being operable, when running, to execute the program code to perform the altitude calculation method applicable to drones of any one of claims 1 to 4.
10. A computer-readable storage medium storing program code for causing a computer to execute the altitude calculation method for a drone according to any one of claims 1 to 4.
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