CN112484696A - High-precision relative height measuring method and device - Google Patents
High-precision relative height measuring method and device Download PDFInfo
- Publication number
- CN112484696A CN112484696A CN202011263274.1A CN202011263274A CN112484696A CN 112484696 A CN112484696 A CN 112484696A CN 202011263274 A CN202011263274 A CN 202011263274A CN 112484696 A CN112484696 A CN 112484696A
- Authority
- CN
- China
- Prior art keywords
- air pressure
- value
- raw
- measured
- data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Measuring Fluid Pressure (AREA)
Abstract
The invention relates to a high-precision relative height measuring method, which comprises the steps of placing two testing devices with the same type of air pressure sensors on two points to be measured in the same environment area, uploading the measured height values to a data platform by the two testing devices, calculating the height difference of the air pressure sensors in the two testing devices by the data platform, and displaying the height difference on an interface of the data platform in real time, wherein the height difference is the relative height value of the two points to be measured. The invention also discloses a high-precision relative height measuring device. The measuring device has small volume, low power consumption and convenient carrying, and the measuring method is extremely simple and only needs to be placed at the position of the point to be measured; through a series of algorithm filtering processing, the obtained data error is low, the measurement precision is high, and the two measurement devices are used for carrying out error elimination processing, so that the obtained relative height value has higher precision, and the measurement errors caused by factors such as environment temperature, climate, terrain and the like are effectively avoided.
Description
Technical Field
The invention relates to the technical field of height measurement, in particular to a high-precision relative height measuring method and device.
Background
In daily life and production processes, height measurement is an essential link. The measurement height mainly comprises the following steps: absolute altitude measurement, relative height measurement, etc., wherein the measurement of relative height, i.e., the vertical height of any two points in space, has been widely used in construction, daily life, and even military, for example: the method comprises the following steps of field exploration, building site height measurement, high-altitude construction operation, unmanned aerial vehicle cruising, ballistic height navigation and the like.
At present, the relative height measuring method mainly comprises the traditional mechanical direct measuring method, the infrared laser measuring method, the ultrasonic measuring method, the GPS measuring method and the air pressure height measuring method by an air pressure sensor. The traditional mechanical direct measurement method has the defects of small measuring range, large volume of measurement equipment and difficulty in carrying; the infrared laser measurement method and the ultrasonic measurement method are both based on the reflection time difference principle, have high measurement accuracy, but are easily influenced by non-target obstacles and need to be aligned with a target to be measured, so that the measurement is inconvenient or even impossible; the GPS measurement method has the defects of large measurement error, dependence on GPS satellite signals, large volume, large power consumption, high cost and the like; if the air pressure height measuring method of the air pressure sensor adopts a standard or improved air pressure height formula to calculate the height, the method is easily influenced by factors such as environmental temperature, climate, terrain and the like, and the error is larger. In addition, even if a more advanced method is adopted, such as calculating the relative height based on the BP neural network algorithm, the BP neural network needs a large amount of test and training data, and the portable equipment cannot realize online autonomous learning, so that the algorithm has poor adaptability and reliability and high cost.
Disclosure of Invention
The invention aims to provide a method for measuring the relative height of a centimeter-level high-precision object, which can effectively avoid measurement errors caused by factors such as ambient temperature, climate and terrain, has low cost and realizes centimeter-level high-precision measurement.
In order to achieve the purpose, the invention adopts the following technical scheme: a high-precision relative height measuring method is characterized in that two testing devices with the same type of air pressure sensors are placed on two points to be measured in the same environment area, the two testing devices upload measured height values to a data platform, the data platform calculates height differences of the air pressure sensors in the two testing devices and displays the height differences on an interface of the data platform in real time, and the height differences are relative height values of the two points to be measured.
The data platform calculates and corrects the air pressure value read by the air pressure sensor and converts the air pressure value into an altitude value, and the specific calculation method comprises the following steps:
firstly, according to a relation formula of altitude and air pressure, converting an air pressure value into a height value:
wherein H represents altitude, P0The pressure value P represents the real-time pressure value of the measured position finally output by the measuring device;
the calculation formula of the real-time air pressure value P is as follows:
P＝C00+Praw_sc*[C10+Praw_sc*(C20+Praw_sc*C30)]+Traw_sc*C01+Traw_sc*Praw_sc*(C11+Praw_sc*C21)
(2)
wherein the unit of P is Pa; c00、C10、C20、C30、C01、C11And C21The calibration coefficient is a group of 16-bit 2-system numbers, is converted into a standard 10-system number in the calculation process, and is read out from a calibration register of the air pressure sensor by a main processor in real time; praw_scAnd Traw_scThe air pressure value and the temperature value are respectively calculated according to the following formula:
Praw_sc＝Praw/kP (3)
Traw_sc＝Traw/kT (4)
in the formula, PrawAnd TrawThe air pressure value and the temperature value read from the result register of the air pressure sensor by the main processor are a group of 24-bit 2-mechanism numbers, and the number is automatically converted into a 10-system number in the calculation process; kP and kT are scaling factors;
finally, n times of filtering are performed:
in the formula, n is the filtering frequency.
Another object of the present invention is to provide a high-precision relative height measuring apparatus, comprising:
the two measuring devices with the same structure are respectively placed at two points to be measured, and the height value is calculated by measuring the air pressure value and the temperature value of the positions to be measured and processing the values;
the data platform is used for receiving the height data information returned by the two measuring devices, calculating a height difference value of the positions of the two points to be measured, namely a relative height value, and displaying the relative height value in real time;
the two measuring devices upload the measured data to the data platform through the mobile 4G network or the WIFI network, and real-time communication is achieved.
The measuring device includes:
the atmospheric pressure sensor is used for measuring the absolute gas pressure of the point to be measured and calculating the altitude by utilizing the corresponding relation between the atmospheric pressure and the altitude;
a wireless communication module for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor to obtain the altitude value of the point to be measured;
the air pressure sensor measures a real-time air pressure value of a point to be measured and transmits the real-time air pressure value to the main processor, the main processor obtains an altitude value after processing, and then the altitude value is uploaded to the data platform through the wireless communication module to be measured and processed, so that a final relative altitude value is obtained.
The data platform comprises:
the network server is used for controlling and coordinating data communication among all devices in the network, responding and processing;
the platform client is in data communication with the network server, processes data required by a user and displays the data in real time;
the network server and the platform client side carry out network communication, and the platform client side receives required data from the network server according to the intention of a user, processes the data and displays the processed data.
According to the technical scheme, the beneficial effects of the invention are as follows: firstly, the measuring device has small volume, low power consumption and convenient carrying, and the measuring method is extremely simple and only needs to be placed at the position of a point to be measured; secondly, the measuring device is subjected to filtering processing by a series of algorithms, the obtained data error is low, the measuring precision is high, the two measuring devices are subjected to error elimination processing, the obtained relative height value is higher in precision, and the measuring error caused by factors such as environment temperature, climate and terrain is effectively avoided; and thirdly, the measuring device can be communicated with the data platform in real time, the measuring speed is high, the relative height difference of the two measuring points can be monitored in real time, and the measuring device can be applied to scenes such as construction sites and the like.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a schematic view of the apparatus of the present invention.
Detailed Description
As shown in figure 1, the high-precision relative height measuring method comprises the steps of placing two testing devices with the same type of air pressure sensors on two points to be measured in the same environment area, uploading the measured height values to a data platform by the two testing devices, calculating the height difference of the air pressure sensors in the two testing devices by the data platform, and displaying the height difference on an interface of the data platform in real time, wherein the height difference is the relative height value of the two points to be measured.
The data platform calculates and corrects the air pressure value read by the air pressure sensor and converts the air pressure value into an altitude value, and the specific calculation method comprises the following steps:
firstly, according to a relation formula of altitude and air pressure, converting an air pressure value into a height value:
wherein H represents altitude, P0The pressure value P represents the real-time pressure value of the measured position finally output by the measuring device;
the calculation formula of the real-time air pressure value P is as follows:
P＝C00+Praw_sc*[C10+Praw_sc*(C20+Praw_sc*C30)]+Traw_sc*C01+Traw_sc*Praw_sc*(C11+Praw_sc*C21)
(2)
wherein the unit of P is Pa; c00、C10、C20、C30、C01、C11And C21The calibration coefficient is a group of 16-bit 2-system numbers, is converted into a standard 10-system number in the calculation process, and is read out from a calibration register of the air pressure sensor by a main processor in real time; praw_scAnd Traw_scThe air pressure value and the temperature value are respectively calculated according to the following formula:
Praw_sc＝Praw/kP (3)
Traw_sc＝Traw/kT (4)
in the formula, PrawAnd TrawThe air pressure value and the temperature value read from the result register of the air pressure sensor by the main processor are a group of 24-bit 2-mechanism numbers, and the number is automatically converted into a 10-system number in the calculation process; kP and kT are scale factors, which are determined according to the magnitude of the sampling rate set in the algorithm program, the higher the sampling rate is, the more complicated the calculation is, the higher the measurement accuracy is, and the lower graph is a corresponding table.
TABLE 1
| Sampling rate | Scaling factor (kP/kT) |
| 1 | 524288 |
| 2 | 1572864 |
| 4 | 3670016 |
| 8 | 7864320 |
| 16 | 253952 |
| 32 | 516096 |
| 64 | 1040384 |
| 128 | 2088960 |
Finally, in order to make the measurement result more accurate, n times of filtering are performed:
in the formula, n is the filtering times, the more the times are, the higher the precision is, but the longer the corresponding operation time is, and the filtering times can be automatically changed in the algorithm according to the actual situation.
As shown in fig. 2, the apparatus includes:
the two measuring devices with the same structure are respectively placed at two points to be measured, and the height value is calculated by measuring the air pressure value and the temperature value of the positions to be measured and processing the values;
the data platform is used for receiving the height data information returned by the two measuring devices, calculating a height difference value of the positions of the two points to be measured, namely a relative height value, and displaying the relative height value in real time;
the two measuring devices upload the measured data to the data platform through the mobile 4G network or the WIFI network, and real-time communication is achieved.
The measuring device includes:
the atmospheric pressure sensor is used for measuring the absolute gas pressure of the point to be measured and calculating the altitude by utilizing the corresponding relation between the atmospheric pressure and the altitude;
a wireless communication module for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor to obtain the altitude value of the point to be measured;
the air pressure sensor measures a real-time air pressure value of a point to be measured and transmits the real-time air pressure value to the main processor, the main processor obtains an altitude value after processing, and then the altitude value is uploaded to the data platform through the wireless communication module to be measured and processed, so that a final relative altitude value is obtained.
The data platform comprises:
the network server is used for controlling and coordinating data communication among all devices in the network, responding and processing;
the platform client is in data communication with the network server, processes data required by a user and displays the data in real time;
the network server and the platform client side carry out network communication, and the platform client side receives required data from the network server according to the intention of a user, processes the data and displays the processed data.
In conclusion, the measuring device has small volume, low power consumption and convenient carrying, the measuring method is extremely simple, and the measuring device is only required to be placed at the position of the point to be measured; the measuring device obtains low data error and high measuring precision through a series of algorithm filtering processing, and obtains higher precision of relative height values through error elimination processing of the two measuring devices, thereby effectively avoiding measuring errors caused by factors such as environmental temperature, climate, terrain and the like; the measuring device can be in real-time communication with a data platform, is high in measuring speed, can monitor the relative height difference of two measuring points in real time, and can be applied to scenes such as construction sites.
Claims (5)
1. A high-precision relative height measuring method is characterized in that: the two testing devices with the same type of air pressure sensors are placed on two points to be tested in the same environment area, the two testing devices upload the measured height values to the data platform, the data platform calculates the height difference of the air pressure sensors in the two testing devices and displays the height difference on the interface of the data platform in real time, and the height difference is the relative height value of the two points to be tested.
2. A high accuracy relative height measuring method according to claim 1, wherein: the data platform calculates and corrects the air pressure value read by the air pressure sensor and converts the air pressure value into an altitude value, and the specific calculation method comprises the following steps:
firstly, according to a relation formula of altitude and air pressure, converting an air pressure value into a height value:
wherein H represents altitude, P0The pressure value P represents the real-time pressure value of the measured position finally output by the measuring device;
the calculation formula of the real-time air pressure value P is as follows:
P＝C00+Praw_sc*[C10+Praw_sc*(C20+Praw_sc*C30)]+Traw_sc*C01+Traw_sc*Praw_sc*(C11+Praw_sc*C21) (2)
wherein the unit of P is Pa; c00、C10、C20、C30、C01、C11And C21The calibration coefficient is a group of 16-bit 2-system numbers, is converted into a standard 10-system number in the calculation process, and is read out from a calibration register of the air pressure sensor by a main processor in real time; praw_scAnd Traw_scThe air pressure value and the temperature value are respectively calculated according to the following formula:
Praw_sc＝Praw/kP (3)
Traw_sc＝Traw/kT (4)
in the formula, PrawAnd TrawThe air pressure value and the temperature value read from the result register of the air pressure sensor by the main processor are a group of 24-bit 2-mechanism numbers, and the number is automatically converted into a 10-system number in the calculation process; kP and kT are scaling factors;
finally, n times of filtering are performed:
in the formula, n is the filtering frequency.
3. Apparatus for performing a high accuracy relative height measurement method as claimed in any one of claims 1 to 2, wherein: the method comprises the following steps:
the two measuring devices with the same structure are respectively placed at two points to be measured, and the height value is calculated by measuring the air pressure value and the temperature value of the positions to be measured and processing the values;
the data platform is used for receiving the height data information returned by the two measuring devices, calculating a height difference value of the positions of the two points to be measured, namely a relative height value, and displaying the relative height value in real time;
the two measuring devices upload the measured data to the data platform through the mobile 4G network or the WIFI network, and real-time communication is achieved.
4. The system of claim 3, wherein: the measuring device includes:
the atmospheric pressure sensor is used for measuring the absolute gas pressure of the point to be measured and calculating the altitude by utilizing the corresponding relation between the atmospheric pressure and the altitude;
a wireless communication module for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor to obtain the altitude value of the point to be measured;
the air pressure sensor measures a real-time air pressure value of a point to be measured and transmits the real-time air pressure value to the main processor, the main processor obtains an altitude value after processing, and then the altitude value is uploaded to the data platform through the wireless communication module to be measured and processed, so that a final relative altitude value is obtained.
5. The system of claim 3, wherein: the data platform comprises:
the network server is used for controlling and coordinating data communication among all devices in the network, responding and processing;
the platform client is in data communication with the network server, processes data required by a user and displays the data in real time;
the network server and the platform client side carry out network communication, and the platform client side receives required data from the network server according to the intention of a user, processes the data and displays the processed data.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263274.1A CN112484696B (en) | 2020-11-12 | 2020-11-12 | High-precision relative height measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011263274.1A CN112484696B (en) | 2020-11-12 | 2020-11-12 | High-precision relative height measurement method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112484696A true CN112484696A (en) | 2021-03-12 |
| CN112484696B CN112484696B (en) | 2023-07-18 |
Family
ID=74930194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011263274.1A Active CN112484696B (en) | 2020-11-12 | 2020-11-12 | High-precision relative height measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112484696B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113514013A (en) * | 2021-04-20 | 2021-10-19 | 广西电网有限责任公司南宁供电局 | Sag measuring method, sag measuring device, computer equipment and storage medium |
| CN115388854A (en) * | 2022-08-26 | 2022-11-25 | 南京高华科技股份有限公司 | Air pressure height sensor |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100049469A1 (en) * | 2006-09-19 | 2010-02-25 | Lauri Wirola | Relative positioning |
| JP5490207B1 (en) * | 2012-11-15 | 2014-05-14 | 三菱電機株式会社 | Electronic control device and control characteristic adjustment method thereof |
| CN106767693A (en) * | 2016-12-30 | 2017-05-31 | 天津市天安兴导航技术有限公司 | A kind of Novel pressure meter and its height measurement method |
| CN109758703A (en) * | 2019-01-14 | 2019-05-17 | 南京正泽科技股份有限公司 | A kind of error correction systems and method for fire-fighting scene of a fire pressure-altitude sensor |
| CN110146215A (en) * | 2019-05-19 | 2019-08-20 | 瑞立集团瑞安汽车零部件有限公司 | A kind of baroceptor with temperature-compensating Yu parameter tuning measure |
-
2020
- 2020-11-12 CN CN202011263274.1A patent/CN112484696B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100049469A1 (en) * | 2006-09-19 | 2010-02-25 | Lauri Wirola | Relative positioning |
| JP5490207B1 (en) * | 2012-11-15 | 2014-05-14 | 三菱電機株式会社 | Electronic control device and control characteristic adjustment method thereof |
| CN106767693A (en) * | 2016-12-30 | 2017-05-31 | 天津市天安兴导航技术有限公司 | A kind of Novel pressure meter and its height measurement method |
| CN109758703A (en) * | 2019-01-14 | 2019-05-17 | 南京正泽科技股份有限公司 | A kind of error correction systems and method for fire-fighting scene of a fire pressure-altitude sensor |
| CN110146215A (en) * | 2019-05-19 | 2019-08-20 | 瑞立集团瑞安汽车零部件有限公司 | A kind of baroceptor with temperature-compensating Yu parameter tuning measure |
Non-Patent Citations (2)
| Title |
|---|
| 王晓雷等: "气压高度测量系统的设计与实现", 《自动化仪表》 * |
| 王晓雷等: "气压高度测量系统的设计与实现", 《自动化仪表》, no. 08, 20 August 2017 (2017-08-20) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113514013A (en) * | 2021-04-20 | 2021-10-19 | 广西电网有限责任公司南宁供电局 | Sag measuring method, sag measuring device, computer equipment and storage medium |
| CN115388854A (en) * | 2022-08-26 | 2022-11-25 | 南京高华科技股份有限公司 | Air pressure height sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112484696B (en) | 2023-07-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112484696B (en) | High-precision relative height measurement method and device | |
| CN111258334B (en) | Automatic environmental pollution source searching method | |
| CN105547366A (en) | Miniaturized unmanned aerial vehicle crop information obtaining and fertilization irrigation guiding apparatus | |
| CN110081905B (en) | Light wave atmospheric refraction error calculation method based on single-station photoelectric theodolite | |
| CN104502926A (en) | Correction method for absolute antenna phase center of outdoor GNSS (Global Navigation Satellite System) receiver based on precision mechanical arm | |
| CN112305163B (en) | Atmospheric pollution monitoring system based on fixed-wing unmanned aerial vehicle and data processing method | |
| CN111551964B (en) | Water vapor observation method based on navigation satellite system | |
| CN115629164B (en) | Unmanned aerial vehicle carbon flux monitoring data acquisition equipment and processing method | |
| CN114324226B (en) | Unmanned aerial vehicle-mounted hyperspectral telemetry system for three-dimensional distribution of atmospheric pollutants | |
| CN113375723A (en) | Atmospheric pollution three-dimensional monitoring and data processing method based on fixed-wing unmanned aerial vehicle | |
| CN107727061A (en) | A kind of electro-optical distance measurement system and method for autonomous atmospheric correction | |
| US10989837B2 (en) | Method in connection with a radiosonde and system | |
| CN113534194B (en) | Troposphere temperature and humidity profile inversion method combining GNSS and wind lidar | |
| CN115219662A (en) | Multi-channel comprehensive monitoring method for carbon emission | |
| CN112329334B (en) | MWHTS and MWTS-II fusion inversion sea surface air pressure method based on simulated bright temperature | |
| CN108332898B (en) | Composite range air pressure sensor and high-precision air pressure detecting and measuring device | |
| CN114485658A (en) | Device and method for precision evaluation of roadside sensing system | |
| CN113029394A (en) | Temperature calibration method and system for temperature measurement module | |
| CN112345151A (en) | Sensitivity test method of MWTS-II to sea surface air pressure based on natural atmosphere | |
| CN109758703B (en) | Error correction system and method for fire fighting scene barometric altitude sensor | |
| CN201344976Y (en) | Meteorological parameter measuring instrument for modifying troposphere mold in satellite positioning and distance measuring | |
| RU162914U1 (en) | ATMOSPHERIC PARAMETERS | |
| CN116299366B (en) | Online calibration method for temperature Raman laser radar | |
| Wiyagi et al. | High Altitude Balloon Payload Design for Atmospheric Observations | |
| CN115795781B (en) | Atmospheric water vapor content estimation method and system based on ground infrared radiometer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |