CN111811472A - Barometer height dynamic compensation method and device and computer storage medium - Google Patents
Barometer height dynamic compensation method and device and computer storage medium Download PDFInfo
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- CN111811472A CN111811472A CN202010620073.6A CN202010620073A CN111811472A CN 111811472 A CN111811472 A CN 111811472A CN 202010620073 A CN202010620073 A CN 202010620073A CN 111811472 A CN111811472 A CN 111811472A
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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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- 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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Abstract
The invention relates to a barometer altitude dynamic compensation method, a device and a computer storage medium, wherein the method distinguishes different flight states of an aircraft by ground speed; the fusion weight of the GPS height is enhanced in the flat flight state so as to weaken the air pressure height distortion caused by air flow injection; the fusion weight of the atmospheric pressure height is enhanced when the vertical height climbs/descends, and the accuracy of the height of the barometer is fully utilized. Thereby realizing the complementary advantages of the heights of the GPS and the barometer. The device can ensure the height measurement rigidity during horizontal flight and the measurement accuracy during vertical change. The apparatus of the present invention may implement the method, and the computer storage medium includes a program of the method. The invention effectively solves the distortion problem of the barometric altimeter commonly existing in the flight control in the market under the condition of not increasing the hardware cost. The phenomenon of 'falling high' of the airplane concerned by customers in the past is obviously improved.
Description
Technical Field
The invention relates to the field of aircraft height determination, in particular to a method and a device for dynamically compensating the height of a barometer and a computer storage medium.
Background
The digital barometer is a height measuring device which detects the air pressure in real time and calculates the altitude by utilizing the physical relation between the atmospheric pressure and the altitude. The main-stream height observation instrument has the advantages of high resolution precision, good accuracy, high data updating rate and the like, and is applied to the multi-rotor unmanned aerial vehicle. But limited by physical characteristics, the output of the barometric altimeter is susceptible to "fouling" by airspeed. Particularly, when flying at a high speed, high-speed airflow is injected into a measuring channel of the barometer, and the introduction of dynamic pressure of the airflow can obviously interfere with static pressure measurement, thereby seriously influencing the accuracy of height measurement.
Aiming at the problem of dynamic pressure pollution of airspeed, a hardware solution is to install a damping tube in front of an air pressure measuring channel. The air flow is decelerated by the damping tube, so that the airspeed is attenuated as much as possible before entering the measuring channel, and the channeling of dynamic pressure pollution is reduced or prevented. However, the additional installation of the damping tube can reduce the dynamic characteristic of air pressure measurement, delay the measurement, increase the complexity of hardware design and increase the product cost. The software compensation solution has low cost and flexible operation and is more popular in the industry. The general compensation method is to identify a mathematical model between the airspeed and the barometer error off-line, and then correct the airspeed pollution term in real time by using the model to obtain accurate altitude measurement. However, the premise for this compensation to be effective is that the mathematical model is accurate, and a large number of real flight tests are required as the basis for model identification. The structure difference of different models and even the difference of the assembly process between the same models can cause the model obtained by off-line identification to lose universality, which seriously limits the application of the off-line identification method in actual production.
Disclosure of Invention
The invention provides a method for dynamically compensating the height of a barometer, aiming at overcoming the problem of navigation height distortion caused by the influence of air flow when the height estimation is carried out by only relying on the barometer in the prior art.
The method comprises the following steps:
s1: determining the current flight state of the carrier, including horizontal flight and non-horizontal flight;
s2: the weight occupied by the barometric altitude data and the GPS altitude data in data fusion is adjusted according to the current flight state of the carrier, and then the measurement errors of the GPS and the barometer are estimated in real time through the data fusion;
s3: when the carrier flight state is switched, the estimated measurement error is used for correcting the height of the barometer or the GPS so as to realize smooth switching.
Because the GPS navigation equipment commonly used for multi-axis aircrafts generally provides the altitude information, and the GPS altitude observation is not influenced by the dynamic change of the air pressure. The data fusion of the GPS height and the barometer can realize the complementary advantages of the two sensors. The method for dynamically compensating the height of the barometer effectively solves the problem of airspeed dynamic pressure pollution caused by only using the barometer.
Preferably, the determination of the flight state of the carrier is: when the carrier is judged to fly, determining the flying state of the carrier by judging whether the horizontal speed of the carrier is greater than a preset horizontal speed threshold value or not and whether the vertical speed is greater than a vertical speed threshold value or not;
when the horizontal speed of the carrier is greater than a preset horizontal speed threshold and the vertical speed is less than a preset vertical speed threshold, the carrier is considered to be in a horizontal flight state; in other cases, the non-horizontal flight state is considered, including; climbing, descending, hovering, etc.
Preferably, S2 is specifically:
when the carrier is in a non-horizontal flight state, the fusion weight W1 of the height of the barometer is strengthened, the weight W1 of the height data of the barometer in data fusion is larger than the weight W2 of the height data of the GPS in data fusion, and then the GPS measurement error is estimated in real time through the data fusion;
when the carrier is in a horizontal flight state, the fusion weight W2 of the GPS height is strengthened, the weight W1 of the height data of the barometer in the data fusion is smaller than the weight W2 of the height data of the GPS in the data fusion, and then the measurement error of the barometer is estimated in real time through the data fusion.
Preferably, W1+ W2 is 1.
Preferably, the data fusion is a kalman filtering fusion calculation.
Preferably, the calculation formula of the GPS measurement error is:
ΔH_gps＝H-H_gps
the calculation formula of the measurement error of the barometer is as follows:
ΔH_baro＝H-H_baro
and the height H _ GPS is the height measured by GPS height measurement error, the height H is the height obtained by Kalman filtering fusion calculation, the height H _ GPS is the original height measured by GPS, the height H _ baro is the height measurement error of the barometer, and the height H _ baro is the original height measured by the barometer.
Preferably, S3 is specifically:
if the carrier flight state is switched from the horizontal flight state to the non-horizontal flight state, the height of the barometer is corrected by using the estimated barometer measurement error so as to realize smooth switching;
and if the carrier flight state is switched from the non-horizontal flight state to the horizontal flight state, the height of the GPS is corrected by using the estimated height error of the GPS so as to realize smooth switching.
The invention also provides a device for dynamically compensating the height of the barometer, which comprises a memory, a processor and a program stored on the memory and capable of running on the processor, wherein the program realizes the steps of the method for dynamically compensating the height of the barometer when being executed by the processor.
The invention also provides a computer storage medium for computer readable storage, the computer storage medium having a barometer altitude dynamic compensation program stored thereon; the barometer dynamic height compensation program, when executed by a processor, implements the steps of the barometer dynamic height compensation method.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
the invention distinguishes different flight states of the aircraft by the ground speed; the fusion weight of the GPS height is enhanced in the flat flight state so as to weaken the air pressure height distortion caused by air flow injection; the fusion weight of the atmospheric pressure height is enhanced when the vertical height climbs/descends, and the accuracy of the height of the barometer is fully utilized. Thereby realizing the complementary advantages of the heights of the GPS and the barometer. The device can ensure the height measurement rigidity during horizontal flight and the measurement accuracy during vertical change.
The invention effectively solves the distortion problem of the barometric altimeter commonly existing in the flight control in the market under the condition of not increasing the hardware cost. The phenomenon of 'falling high' of the airplane concerned by customers is obviously improved in the past. The method has certain universality and can be used for transplanting various machine types conveniently.
Drawings
Fig. 1 is a flow chart of a method for dynamically compensating the height of a barometer according to embodiment 1.
FIG. 2 is a schematic diagram of a process for compensating for barometric altitude dynamics data using GPS information.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent;
for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product;
it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The technical solution of the present invention is further described below with reference to the accompanying drawings and examples.
Example 1:
the present embodiment provides a method for dynamically compensating height of a barometer, as shown in fig. 1-2, the method includes the following steps:
s1: determining the current flight state of the carrier, including horizontal flight and non-horizontal flight;
s2: the weight occupied by the barometric altitude data and the GPS altitude data in data fusion is adjusted according to the current flight state of the carrier, and then the measurement errors of the GPS and the barometer are estimated in real time through the data fusion;
s3: when the carrier flight state is switched, the estimated measurement error is used for correcting the height of the barometer or the GPS so as to realize smooth switching.
The determination of the carrier flight state is as follows: when the carrier is judged to fly, determining the flying state of the carrier by judging whether the horizontal speed of the carrier is greater than a preset horizontal speed threshold value or not and whether the vertical speed is greater than a preset vertical speed threshold value or not;
the horizontal speed threshold and the vertical speed threshold are set according to actual engineering experience in the embodiment.
When the horizontal speed of the carrier is greater than a preset horizontal speed threshold and the vertical speed is less than a preset vertical speed threshold, the carrier is considered to be in a horizontal flight state; in other cases, the non-horizontal flight state is considered, including; climbing, descending, hovering, etc.
The horizontal and vertical speeds of the carrier are provided directly by the GPS module and read by the flight control through the communication protocol.
For "level flight" or "non-level flight", it is actually defined from the point of view of the contamination of the barometer. Only in the case of "horizontal velocity > horizontal velocity threshold, and vertical velocity < vertical velocity threshold", the barometer is contaminated to a much greater extent than the GPS measurement error, defining the case as "horizontal flight condition";
there are 4 combinations of results based on the comparison of "horizontal velocity" with "horizontal velocity threshold" and "vertical velocity" with "vertical velocity threshold", but only "horizontal velocity > horizontal velocity threshold, and the combination of vertical velocity < vertical velocity threshold" is defined as "horizontal flight status".
If this is the case: the flight is really a forward horizontal flight, but the horizontal speed is not greater than the horizontal speed threshold value, and the definition condition of the horizontal flight state is not met, and the flight belongs to a non-horizontal flight state, because the barometer is not obviously polluted at the moment.
S2 specifically includes:
when the carrier is in a non-horizontal flight state, the fusion weight W1 of the height of the barometer is strengthened, so that the weight W1 of the height data of the barometer in the data fusion is larger than the weight W2 of the height data of the GPS in the data fusion, namely the barometer takes precedence. Then estimating GPS measurement error in real time through data fusion;
when the carrier is in a horizontal flight state, the fusion weight W2 of the GPS height is strengthened, and the weight W1 of the height data of the barometer in the data fusion is increased to be smaller than the weight W2 of the height data of the GPS in the data fusion, namely the GPS takes precedence; and then estimating the measurement error of the barometer in real time through data fusion.
The GPS measurement error and the barometer measurement error of the carrier are changing during flight and are constantly being updated. For each cycle, the error is calculated using the estimated value and the measured value of the smaller weight. This update does not stop until a handover occurs. At the time of switching, the reference error having the smaller weight for the smoothing operation is the error updated last.
The method adopts real-time estimation of GPS measurement error, calculates the error of the GPS as long as the barometer has priority, and calculates the error of the barometer as long as the GPS has priority. When the switching occurs, the error is stopped to be calculated, and after the switching, the error of the other one is updated according to the weight of the other one.
In this embodiment, W1+ W2 is 1.
The requirement that W1+ W2 is 1 is to ensure that the expected value of the weighted combination is close to the true value while assigning weights, and if W1+ W2 is 0.1, the weighted combination may be only 0.1 times the true value. The choice of W1 and W2 is more based on engineering experience.
In the embodiments of W1 and W2, there are no dynamic fine adjustment, and W1 has only two options, if W1_ a and W1_ b, the barometer is used as W1_ a when priority is given to the barometer (i.e. the barometer altitude data has a larger weight in data fusion), otherwise, the barometer is used as W1_ b, there is no intermediate value, and the two values are set off-line and no dynamic fine adjustment is performed on-line. The nature of W1 and W2, regardless of their values, is to more closely approach the true value. Instead of directly selecting one sensor data, weighting with W1, W2 is a means to retain offline settings. Which combination (W1, W2) is more preferable can be selected according to the actual effect.
The data fusion is Kalman filtering fusion calculation.
The calculation formula of the GPS measurement error is as follows:
ΔH_gps＝H-H_gps
the calculation formula of the measurement error of the barometer is as follows:
ΔH_baro＝H-H_baro
and the height H _ GPS is the height measured by GPS height measurement error, the height H is the height obtained by Kalman filtering fusion calculation, the height H _ GPS is the original height measured by GPS, the height H _ baro is the height measurement error of the barometer, and the height H _ baro is the original height measured by the barometer. H refers to the height calculated by Kalman filtering fusion, and is the height calculated by combining sensors such as barometer/GPS observation, IMU observation and the like in a Kalman filter for dynamic adjustment of weight.
The Kalman filtering fusion calculation needs to be input: inertial information provided by the IMU (Inertial measurement unit), altitude observations provided by barometers/GPS.
The IMU outputs a 3-axis gyroscope and a 3-axis accelerometer to a Kalman filter, which is a concept of integrated navigation, an inertial navigation model is arranged in the filter, the IMU can provide whole attitude/position information through an inertial navigation algorithm, and better attitude/position information can be obtained through fusion with other sensors. This embodiment is mainly a blend in the height direction.
S3 specifically includes:
if the carrier flight state is switched from the horizontal flight state to the non-horizontal flight state, the height of the barometer is corrected by using the estimated barometer measurement error so as to realize smooth switching;
and if the carrier flight state is switched from the non-horizontal flight state to the horizontal flight state, the height of the GPS is corrected by using the estimated height error of the GPS so as to realize smooth switching.
Example 2:
the present embodiment provides a device for dynamically compensating height of a barometer, the device includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the steps of the method for dynamically compensating height of a barometer according to embodiment 1.
Example 3:
the present embodiments provide a computer storage medium for computer readable storage, the computer storage medium having a barometer altitude dynamics compensation program stored thereon; the barometer dynamic height compensation program, when executed by a processor, implements the steps of the barometer dynamic height compensation method of embodiment 1.
The terms describing positional relationships in the drawings are for illustrative purposes only and are not to be construed as limiting the patent;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (9)
1. A method for dynamically compensating for the height of a barometer, the method comprising the steps of:
s1: determining the current flight state of the carrier, including horizontal flight and non-horizontal flight;
s2: the weight occupied by the barometric altitude data and the GPS altitude data in data fusion is adjusted according to the current flight state of the carrier, and then the measurement errors of the GPS and the barometer are estimated in real time through the data fusion;
s3: when the carrier flight state is switched, the estimated measurement error is used for correcting the height of the barometer or the GPS so as to realize smooth switching.
2. The barometer altitude dynamic compensation method of claim 1, wherein the determination of the carrier flight state is: when the carrier is judged to fly, determining the flying state of the carrier by judging whether the horizontal speed of the carrier is greater than a preset horizontal speed threshold value or not and whether the vertical speed is greater than a preset vertical speed threshold value or not;
when the horizontal speed of the carrier is greater than a preset horizontal speed threshold and the vertical speed is less than a preset vertical speed threshold, the carrier is in a horizontal flight state; otherwise, the flight states are all non-horizontal flight states.
3. The barometer altitude dynamic compensation method of claim 1 or 2, wherein S2 specifically is:
when the carrier is in a non-horizontal flight state, the fusion weight W1 of the height of the barometer is strengthened, the weight W1 of the height data of the barometer in data fusion is larger than the weight W2 of the height data of the GPS in data fusion, and then the GPS measurement error is estimated in real time through the data fusion;
when the carrier is in a horizontal flight state, the fusion weight W2 of the GPS height is strengthened, the weight W1 of the height data of the barometer in the data fusion is smaller than the weight W2 of the height data of the GPS in the data fusion, and then the measurement error of the barometer is estimated in real time through the data fusion.
4. The barometer height dynamic compensation method of claim 3, wherein W1+ W2 is 1.
5. The barometer altitude dynamics compensation method of claim 4, wherein the data fusion is a Kalman filter fusion calculation.
6. The method for dynamically compensating height of barometer according to claim 1 or 2 or 4 or 5, wherein the GPS measurement error is calculated by the formula:
ΔH_gps＝H-H_gps
the calculation formula of the measurement error of the barometer is as follows:
ΔH_baro＝H-H_baro
and the height H _ GPS is the height measured by GPS height measurement error, the height H is the height obtained by Kalman filtering fusion calculation, the height H _ GPS is the original height measured by GPS, the height H _ baro is the height measurement error of the barometer, and the height H _ baro is the original height measured by the barometer.
7. The method for dynamically compensating for height of a barometer, as claimed in claim 6, wherein S3 is specifically:
if the carrier flight state is switched from the horizontal flight state to the non-horizontal flight state, the height of the barometer is corrected by using the estimated barometer measurement error so as to realize smooth switching;
and if the carrier flight state is switched from the non-horizontal flight state to the horizontal flight state, the height of the GPS is corrected by using the estimated height error of the GPS so as to realize smooth switching.
8. An apparatus for dynamically compensating height of a barometer, the apparatus comprising a memory, a processor, a program stored on the memory and executable on the processor, the program when executed by the processor implementing the steps of the method of dynamically compensating height of a barometer according to any of claims 1 to 7.
9. A computer storage medium for computer readable storage, wherein said computer storage medium has stored thereon a barometer altitude dynamics compensation program; the barometer dynamics of height compensation program when executed by a processor performs the steps of the barometer dynamics of height compensation method of any of claims 1-7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113624258A (en) * | 2021-08-12 | 2021-11-09 | 武汉齐物科技有限公司 | Riding height calibration method and device |
| CN115900646A (en) * | 2023-03-08 | 2023-04-04 | 北京云圣智能科技有限责任公司 | Height fusion navigation method and device, electronic equipment and storage medium |
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| 傅飞等: "小型无人机空速系统误差分析及校正方法研究", 《教练机》 * |
| 周志久等: "一种小型无人机高度测量方法的研究与实现", 《测控技术》 * |
| 陈曦等: "基于动态权值分配的无人机高度融合估计方法", 《兵工自动化》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113624258A (en) * | 2021-08-12 | 2021-11-09 | 武汉齐物科技有限公司 | Riding height calibration method and device |
| CN115900646A (en) * | 2023-03-08 | 2023-04-04 | 北京云圣智能科技有限责任公司 | Height fusion navigation method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111811472B (en) | 2022-03-29 |
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