CN111397579A - Air pressure height estimation method based on sectional correction - Google Patents

Air pressure height estimation method based on sectional correction Download PDF

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Publication number
CN111397579A
CN111397579A CN202010268777.1A CN202010268777A CN111397579A CN 111397579 A CN111397579 A CN 111397579A CN 202010268777 A CN202010268777 A CN 202010268777A CN 111397579 A CN111397579 A CN 111397579A
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alt
press
altitude
gps
air pressure
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CN111397579B (en
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陈清阳
鲁亚飞
贾高伟
王玉杰
王鹏
辛宏博
唐钟南
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National University of Defense Technology
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National University of Defense Technology
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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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications

Abstract

The invention provides a subsection correction air pressure height estimation method, which fuses GPS height information obtained by GPS equipment and atmospheric pressure obtained by a gas pressure sensor, and obtains a feed-forward correction formula of real-time air pressure height information by fitting real-time GPS height data and air pressure height data in a subsection interval. On the basis, the corrected air pressure height is calculated according to the correction formula, and then the feedback correction error is calculated according to the GPS height data, so that a complete air pressure height correction formula is obtained. The invention provides accurate air pressure height information for a system moving in a large height range in real time through segmented air pressure height correction.

Description

Air pressure height estimation method based on sectional correction
Technical Field
The invention belongs to the technical field of aircraft control, and particularly relates to a segmented corrected air pressure altitude estimation method.
Background
The basic function of the aircraft control system is to ensure the stable attitude of the aircraft through a certain control algorithm according to a certain index requirement, guide the aircraft to a desired position through a given control strategy and complete a given flight task. Meanwhile, in the flight process, information interaction between the aircraft and the ground control station is realized. In an aircraft control system, one of the primary control objectives is the altitude of the aircraft. To meet the requirements of a specific flight mission and to achieve accurate altitude control, the aircraft control system must first be able to obtain information reflecting the current altitude of the aircraft.
Currently, the aircraft control systems on the market, especially the low-cost control systems, generally include a gas pressure sensor for estimating the altitude of the gas pressure and a low-cost gps (global Positioning system) Positioning module. Based on the gas pressure sensor, the aircraft control system can obtain the atmospheric pressure of the altitude of the aircraft, and then estimate the air pressure altitude information of the aircraft according to the approximate relation between the atmospheric pressure and the altitude. However, if the aircraft moves in a larger altitude range, due to the restriction of factors such as size, weight, cost, etc., the approximate relationship between atmospheric pressure and altitude adopted by the low-cost flight control system generally has a larger error, resulting in a larger error in the estimated barometric altitude. The low-cost GPS positioning module can also provide GPS height information in a larger height range. Along with the change of the altitude, the error range of the GPS altitude information does not change greatly, but because of the influence of various factors, the GPS altitude information has large random error and is difficult to be directly used for controlling the aircraft. How to obtain more accurate air pressure altitude information through a low-cost air pressure sensor and a GPS module in a larger altitude range for controlling an aircraft becomes a difficult technical problem which needs to be solved urgently in the field.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a segmented correction air pressure height estimation method. The invention performs fitting based on the GPS altitude information and the barometric altitude information obtained in real time to obtain a feed-forward correction function of the segmented barometric altitude. On the basis, the feedback correction error is calculated according to the corrected air pressure height calculated by the correction formula and the GPS height information, so that the finally corrected air pressure height is obtained.
In order to achieve the technical purpose, the invention adopts the following specific technical scheme:
a method for estimating barometric altitude by sectional correction is disclosed, which fuses GPS altitude information obtained by a GPS (Global Positioning System) device and atmospheric pressure obtained by a gas pressure sensor, and obtains a feed-forward correction formula of real-time barometric altitude information by fitting real-time GPS altitude data and barometric altitude data in a sectional interval. On the basis, the corrected air pressure height is calculated according to the correction formula, and then the feedback correction error is calculated according to the GPS height data, so that a complete air pressure height correction formula is obtained. The invention provides accurate air pressure height information for a system moving in a large height range in real time through segmented air pressure height correction.
A piecewise corrected barometric altitude estimation method, comprising:
s1, for an aircraft system provided with GPS equipment and a gas pressure sensor, acquiring current GPS height information of the aircraft system through the GPS equipment; meanwhile, the current atmospheric pressure information Press of the aircraft system is obtained through the gas pressure sensor, and the current air pressure altitude Alt of the aircraft system is estimated according to the approximate relation between the atmospheric pressure and the altitudePress。
S2, sequentially dividing the flight altitude range of the aircraft system into a plurality of motion intervals, wherein the specific way of dividing the motion intervals is determined according to different practical application conditions without limitation. For example, every other altitude, as measured from the takeoff altitude of the aircraft system, is defined as a movement interval. When the aircraft system is in the current motion interval HiDuring internal movement, according to the aircraft system, in the upper section of movement interval Hi-1Feedforward correction function f (Alt) obtained during internal motionPress) And feeding back the corrected error by using a correction formula Alt'Press＝f(AltPress)+kpAir pressure height Alt obtained by current estimation of errorPressCorrecting to obtain the air pressure height AltPressCorrected result of Alt'PressAnd outputting the data. If the current motion interval is the initial motion interval, the feedforward correction function f (Alt) corresponding to the initial motion intervalPress)＝AltPressThe feedback correction error corresponding to the initial motion interval is 0. Wherein k ispThe correction coefficient of the error is corrected for feedback. Meanwhile, the current motion interval H of the aircraft system is adjustediGPS altitude Alt during internal movementGPSAnd altitude AltPressSampling to obtain the current motion interval HiInternal GPS altitude information and barometric altitude information data sequence (Alt)GPS_m,AltPress_m)(m＝1,2,...,N)。
S3, when the aircraft system moves beyond the movement interval HiThe covered height interval range delta H reaches the next motion interval Hi+1According to the movement interval HiGPS altitude information and barometric altitude information data sequence (Alt) obtained by internal samplingGPS_m,AltPress_m) (m ═ 1, 2.., N) is fitted to obtain a feedforward correction function f' (Alt) of updated barometric altitude informationPress) And for the current motion interval Hi+1The air pressure height of (2) is corrected.
S4, feedforward correction function f' (Alt) according to updated air pressure height informationPress) And updating the value of the feedback correction error to obtain error ═ AltGPS_N-f'(AltPress_N)；
S5, feedforward correction function f' (Alt) of updated air pressure height informationPress) Instead of the feedforward correction function f (Alt) in the correction formula in S2Press) Replacing the feedback correction error in the correction formula in the S2 with the updated feedback correction error', updating the correction formula, repeating the steps S1-S5, and continuously correcting the gasThe voltage is output at a high level.
In the present invention S2, kpThe correction coefficient for feeding back the correction error is generally a numerical value between 0 and 1; in the present invention S2, the current motion interval H of the aircraft systemiGPS altitude Alt during internal movementGPSAnd altitude AltPressSampling is performed. For the sampling mode, the following steps can be set: the aircraft system motion range is sampled once each time the aircraft system motion range exceeds a set altitude threshold value deltah.
In the present invention S3, according to the movement interval HiGPS altitude information and barometric altitude information data sequence (Alt) obtained by internal samplingGPS_m,AltPress_m) (m 1, 2.., N), fitting is performed using a linear function or a polynomial function.
The present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the above piecewise modified barometric altitude estimation method.
The invention provides computer equipment, which comprises a processor and a memory, wherein the memory stores a computer program, and the processor realizes the steps of the segmented corrected air pressure height estimation method when executing the computer program.
The invention provides an aircraft system, which comprises an aircraft body and an airborne circuit board arranged in the aircraft body, wherein GPS equipment and a gas pressure sensor are arranged on the aircraft body, a processor and a memory are arranged on the airborne circuit board, a computer program is stored in the memory, and the processor executes the computer program to realize the step of the segmented corrected air pressure height estimation method.
Compared with the prior art, the method has the advantages and beneficial effects that:
the method provided by the invention can effectively overcome the defects that the GPS height information provided by the existing GPS module has larger random error, and the atmospheric pressure height estimated by a general gas pressure sensor has larger system error along with the change of the height.
According to the invention, through the low-cost gas pressure sensor and the GPS module, more accurate air pressure altitude information in a large altitude range can be obtained, and the use requirements of a corresponding aircraft control system are met.
Drawings
Fig. 1 is a schematic flow chart of a method for correcting a barometric altitude by a sectional correction according to an embodiment of the present invention.
Detailed Description
In order to make the technical scheme and advantages of the present invention more clearly understood, the present invention is further described in 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 invention and are not intended to limit the invention.
As shown in fig. 1, the present embodiment provides a piecewise corrected barometric altitude estimation method, which is based on fusion of GPS altitude information obtained by a GPS device and atmospheric pressure data obtained by a gas pressure sensor, and provides barometric altitude information meeting use requirements when a system equipped with the GPS device and the gas pressure sensor moves in a large altitude range.
Specifically, the present embodiment includes the following steps:
s1, for an aircraft system provided with GPS equipment and a gas pressure sensor, acquiring current GPS altitude information Alt of the aircraft system through the GPS equipmentGPS。
Obtaining the current atmospheric pressure information Press of the aircraft system through the gas pressure sensor, and estimating to obtain the current atmospheric pressure altitude Alt of the aircraft system according to the atmospheric pressure and the altitude modelPress；
And S2, sequentially dividing the flight altitude range of the aircraft system into a plurality of motion intervals. How to divide the motion interval is determined according to different practical application conditions, and is not limited. For example, every other altitude, as measured from the takeoff altitude of the aircraft system, is defined as a movement interval. When the aircraft system is in the current motion interval HiDuring internal movement, according to the aircraft system, in the upper section of movement interval Hi-1Feedforward correction function f (Alt) obtained during internal motionPress) And feedback correction errorDifferential error, versus barometric altitude AltPressCorrecting to obtain the air pressure height AltPressCorrected result of Alt'Press＝f(AltPress)+kpOutputting an error, and if the current motion interval is the initial motion interval, performing a feedforward correction function f (Alt) corresponding to the initial motion intervalPress)＝AltPressThe feedback correction error corresponding to the initial motion interval is 0. k is a radical ofpIn order to feed back the correction coefficient for correcting the error, a value between 0 and 1 is generally adopted.
Meanwhile, the current motion interval H of the aircraft system is adjustediGPS altitude Alt during internal movementGPSAnd altitude AltPressSampling and holding to obtain the current motion interval HiInternal GPS altitude information and barometric altitude information data sequence (Alt)GPS_m,AltPress_m) (m ═ 1, 2.., N). For the sampling mode, it can be set as follows: the aircraft system motion range is sampled once each time the aircraft system motion range exceeds a set altitude threshold value deltah.
S3, when the aircraft system moves beyond the movement interval HiThe covered height interval range delta H reaches the next motion interval Hi+1According to the movement interval HiGPS altitude information and barometric altitude information data sequence (Alt) obtained by internal samplingGPS_m,AltPress_m) (m ═ 1, 2.., N) is fitted to obtain a feedforward correction function f' (Alt) of updated barometric altitude informationPress) And for the current motion interval Hi+1The air pressure height of (2) is corrected.
S4, feedforward correction function f' (Alt) according to updated air pressure height informationPress) And updating the value of the feedback correction error to obtain error ═ AltGPS_N-f'(AltPress_N)；
S5, feedforward correction function f' (Alt) of updated air pressure height informationPress) Instead of the feedforward correction function f (Alt) in the correction formula in S2Press) And replacing the feedback correction error in the correction formula in the S2 with the updated feedback correction error', updating the correction formula, repeating the steps from S1 to S5, and continuously outputting the corrected air pressure height.
In summary, although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made by those skilled in the art without departing from the spirit and scope of the invention.

Claims (10)

1. A piecewise corrected barometric altitude estimation method, comprising:
s1, for an aircraft system provided with GPS equipment and a gas pressure sensor, acquiring current GPS height information of the aircraft system through the GPS equipment; meanwhile, the current atmospheric pressure information Press of the aircraft system is obtained through the gas pressure sensor, and the current air pressure altitude Alt of the aircraft system is estimated according to the approximate relation between the atmospheric pressure and the altitudePress；
S2, sequentially dividing the flight altitude range of the aircraft system into a plurality of motion intervals, and when the aircraft system is in the current motion interval HiDuring internal movement, according to the aircraft system, in the upper section of movement interval Hi-1Feedforward correction function f (Alt) obtained during internal motionPress) And feeding back the corrected error by using a correction formula Alt'Press＝f(AltPress)+kpAir pressure height Alt obtained by current estimation of errorPressCorrecting to obtain the air pressure height AltPressCorrected result of Alt'PressOutputting; wherein k ispA correction factor for correcting the error for feedback;
meanwhile, the current motion interval H of the aircraft system is adjustediGPS altitude Alt during internal movementGPSAnd altitude AltPressSampling to obtain the current motion interval HiInternal GPS altitude information and barometric altitude information data sequence (Alt)GPS_m,AltPress_m)(m＝1,2,...,N)；
S3, when the aircraft system moves beyond the movement interval HiThe covered height interval range delta H reaches the next motion interval Hi+1According to the movement interval HiGPS altitude information and barometric altitude information data sequence (Alt) obtained by internal samplingGPS_m,AltPress_m) (m ═ 1, 2.., N) is fitted to obtain a feedforward correction function f' (Alt) of updated barometric altitude informationPress) And for the current motion interval Hi+1Correcting the air pressure height;
s4, feedforward correction function f' (Alt) according to updated air pressure height informationPress) And updating the value of the feedback correction error to obtain error ═ AltGPS_N-f'(AltPress_N)；
S5, feedforward correction function f' (Alt) of updated air pressure height informationPress) Instead of the feedforward correction function f (Alt) in the correction formula in S2Press) And replacing the feedback correction error in the correction formula in the S2 with the updated feedback correction error', updating the correction formula, repeating the steps from S1 to S5, and continuously outputting the corrected air pressure height.
2. The piecewise-corrected barometric altitude estimation method of claim 1, wherein every other altitude is defined as a movement interval from a takeoff altitude of the aircraft system in S2.
3. The piecewise-corrected barometric altitude estimation method of claim 1, wherein k in S2pTaking a value between 0 and 1.
4. The piecewise modified barometric altitude estimation method according to claim 1, wherein if the current motion interval is the initial motion interval in S2, the feedforward modification function f (Alt) corresponding to the initial motion interval is usedPress)＝AltPress。
5. The piecewise-corrected air pressure height estimation method according to claim 1, wherein if the current motion interval is the initial motion interval in S2, the feedback correction error corresponding to the initial motion interval is 0.
6. The piecewise-corrected barometric altitude estimation method of claim 1, wherein the sampling in S2 is performed by: the aircraft system motion range is sampled once each time the aircraft system motion range exceeds a set altitude threshold value deltah.
7. The piecewise modified barometric altitude estimation method of claim 1, wherein in S3, the motion is based on the motion range HiGPS altitude information and barometric altitude information data sequence (Alt) obtained by internal samplingGPS_m,AltPress_m) (m 1, 2.., N), fitting is performed using a linear function or a polynomial function.
8. A storage medium having a computer program stored thereon, characterized in that: the computer program, when executed by a processor, performs the steps of the piecewise-modified barometric pressure estimation method of any one of claims 1 to 7.
9. A computer device comprising a processor and a memory, wherein: the memory stores a computer program which when executed by the processor implements the steps of the piecewise-modified barometric pressure altitude estimation method of any one of claims 1 to 7.
10. The utility model provides an aircraft system, includes the organism and establishes the airborne circuit board in the organism, install GPS equipment and gas pressure sensor on the organism, be equipped with treater and memory on the airborne circuit board, its characterized in that: the memory stores a computer program which when executed by the processor implements the steps of the piecewise-modified barometric pressure altitude estimation method of any one of claims 1 to 7.
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CN112133134A (en) * 2020-08-03 2020-12-25 中国民用航空中南地区空中交通管理局 Method, electronic device, medium, and system for preventing setting of wrong QNH value of aircraft
CN113239030A (en) * 2021-05-20 2021-08-10 国网山东省电力公司潍坊供电公司 Smart power grid monitoring data storage method based on discrete data curve fitting

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JP2013210235A (en) * 2012-03-30 2013-10-10 Seiko Epson Corp Barometric altimeter, position measuring system, program and recording medium
US20160259062A1 (en) * 2009-09-10 2016-09-08 Nextnav, Llc Cell organization and transmission schemes in a wide area positioning system (waps)

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Publication number Priority date Publication date Assignee Title
US20160259062A1 (en) * 2009-09-10 2016-09-08 Nextnav, Llc Cell organization and transmission schemes in a wide area positioning system (waps)
CN102620716A (en) * 2012-03-12 2012-08-01 无锡泽太微电子有限公司 Height measuring method, three-dimensional positioning method, height measuring equipment and mobile terminal
JP2013210235A (en) * 2012-03-30 2013-10-10 Seiko Epson Corp Barometric altimeter, position measuring system, program and recording medium

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112133134A (en) * 2020-08-03 2020-12-25 中国民用航空中南地区空中交通管理局 Method, electronic device, medium, and system for preventing setting of wrong QNH value of aircraft
CN113239030A (en) * 2021-05-20 2021-08-10 国网山东省电力公司潍坊供电公司 Smart power grid monitoring data storage method based on discrete data curve fitting
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