CN112484696B - High-precision relative height measurement method and device - Google Patents
High-precision relative height measurement method and device Download PDFInfo
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- CN112484696B CN112484696B CN202011263274.1A CN202011263274A CN112484696B CN 112484696 B CN112484696 B CN 112484696B CN 202011263274 A CN202011263274 A CN 202011263274A CN 112484696 B CN112484696 B CN 112484696B
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- 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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- 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
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Abstract
The invention relates to a high-precision relative height measuring method, which comprises the steps of placing two testing devices with the same air pressure sensor on two to-be-measured points 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 sensor in the two testing devices by the data platform, and displaying the height difference on a data platform interface in real time, wherein the height difference is the relative height value of the two to-be-measured points. 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 the measuring device is required to be placed at the point to be measured; the obtained data is low in error and high in measurement accuracy through a series of algorithm filtering processing, and the obtained relative height value is higher in accuracy through error elimination processing of two measuring devices, so that the measurement errors caused by factors such as ambient temperature, climate and topography are effectively avoided.
Description
Technical Field
The invention relates to the technical field of height measurement, in particular to a high-precision relative height measurement method and a device.
Background
In daily life and production process, the measurement of the height is an indispensable link. The measurement height is mainly divided into: absolute altitude measurement, relative altitude measurement, etc., wherein measurement of relative altitude, i.e., vertical height at any two points in space, has wide application in construction, daily life, and even military, such as: outdoor exploration, building site height measurement, high-altitude construction operation, unmanned aerial vehicle cruising, ballistic altitude navigation and the like.
At present, the relative height measuring method mainly comprises a traditional mechanical direct measuring method, an infrared laser measuring method, an ultrasonic measuring method, a GPS measuring method and an air pressure measuring height method of an air pressure sensor. The traditional mechanical direct measurement method has the defects of small measuring range, large volume of measurement equipment and difficult carrying; the infrared laser measurement method and the ultrasonic measurement method are both based on the reflection time difference principle, have high measurement precision, are easily affected 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, large volume, large power consumption, high cost and the like depending on GPS satellite signals; if the air pressure sensor air pressure height measuring method adopts a standard or improved air pressure height formula to calculate the height, the air pressure sensor air pressure height measuring method is easily influenced by factors such as ambient temperature, climate, topography and the like to cause larger errors. In addition, even if a more advanced method is adopted, such as calculating a relative height based on a 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 primary aim of the invention is to provide a high-precision relative height measuring method which can effectively avoid measuring errors caused by factors such as ambient temperature, climate, topography and the like, has low cost and realizes centimeter-level high precision.
In order to achieve the above purpose, the present invention adopts the following technical scheme: the high-precision relative height measuring method includes that two testing devices with identical air pressure sensors are placed on two to-be-measured points in the same environment area, the two testing devices upload measured height values to a data platform, and the data platform calculates the height difference of the air pressure sensors in the two testing devices and displays the height difference on a data platform interface in real time, wherein the height difference is the relative height value of the two to-be-measured points.
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 is as follows:
firstly, converting the air pressure value into an altitude value according to a relation formula of altitude and air pressure:
wherein H represents altitude, P 0 Represents the standard atmospheric pressure value, and P represents the final measurement deviceOutputting the real-time air pressure value of the measured measuring position;
the calculation formula of the real-time air pressure value P is as follows:
P＝C 00 +P raw_sc *[C 10 +P raw_sc *(C 20 +P raw_sc *C 30 )]+T raw_sc *C 01 +T raw_sc *P raw_sc *(C 11 +P raw_sc *C 21 )
(2)
wherein, the unit of P is Pa; c (C) 00 、C 10 、C 20 、C 30 、C 01 、C 11 And C 21 The calibration coefficients are a group of 16-bit 2-system numbers, are converted into standard 10-system numbers in the calculation process, and are read out from a calibration register of the air pressure sensor in real time by a main processor; p (P) raw _ sc And T raw _ sc The calculation formulas of the air pressure value and the temperature value are as follows:
P raw_sc ＝P raw /kP (3)
T raw_sc ＝T raw /kT (4)
wherein P is raw And T raw The air pressure value and the temperature value read from the air pressure sensor result register by the main processor are a group of 24-bit 2-mechanism numbers, and the 10-bit numbers are automatically converted in the calculation process; kP and kT are scale factors;
finally, n times of filtering are carried out:
where n is the number of filtering times.
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 arranged at two points to be measured, the air pressure value and the temperature value of the point to be measured are measured, and the height value is calculated through processing;
the data platform is used for receiving the height data information transmitted back by the two measuring devices, calculating the height difference value of the two positions of the to-be-measured points, namely, the 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, so that real-time communication is realized.
The measuring device includes:
the air pressure sensor is used for measuring the absolute air pressure of the to-be-measured point and calculating the altitude by utilizing the corresponding relation between the air pressure and the altitude;
the wireless communication module is used for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor and obtaining the altitude value of the to-be-measured point;
the air pressure sensor measures the real-time air pressure value of the to-be-measured point and transmits the real-time air pressure value to the main processor, the main processor obtains the altitude value after processing, and then the altitude value is encoded and decoded and uploaded to the data platform through the wireless communication module for measurement data processing, so that the final relative altitude value is obtained.
The data platform comprises:
the network server is used for controlling and coordinating data communication among 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;
and the platform client receives the required data from the network server according to the user wish, 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 the measuring device is required to be placed at the point to be measured; secondly, the measuring device carries out filtering processing through a series of algorithms, so that the obtained data has low error and high measuring precision, and the two measuring devices carry out error elimination processing, so that the obtained relative height value has higher precision, and the measuring errors caused by the factors of environmental temperature, climate, topography and the like are effectively avoided; thirdly, the measuring device can communicate with the data platform in real time, the measuring speed is high, the relative height difference of 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 the method of the present invention;
fig. 2 is a schematic view of the apparatus of the present invention.
Detailed Description
As shown in FIG. 1, in a high-precision relative height measurement method, two test devices with the same type of air pressure sensor are placed on two to-be-measured points in the same environment area, the two test devices upload the measured height values to a data platform, and the data platform calculates the height difference of the air pressure sensor in the two test devices and displays the height difference on the interface of the data platform in real time, wherein the height difference is the relative height value of the two to-be-measured points.
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 is as follows:
firstly, converting the air pressure value into an altitude value according to a relation formula of altitude and air pressure:
wherein H represents altitude, P 0 Representing a standard atmospheric pressure value, wherein P represents a real-time atmospheric pressure value of a measured measuring position finally output by the measuring device;
the calculation formula of the real-time air pressure value P is as follows:
P＝C 00 +P raw_sc *[C 10 +P raw_sc *(C 20 +P raw_sc *C 30 )]+T raw_sc *C 01 +T raw_sc *P raw_sc *(C 11 +P raw_sc *C 21 )
(2)
wherein, the unit of P is Pa; c (C) 00 、C 10 、C 20 、C 30 、C 01 、C 11 And C 21 The calibration coefficients are a group of 16-bit 2-system numbers, are converted into standard 10-system numbers in the calculation process, and are read from a calibration register of the air pressure sensor in real time by a main processor; p (P) raw_sc And T raw_sc The calculation formulas of the air pressure value and the temperature value are as follows:
P raw_sc ＝P raw /kP (3)
T raw_sc ＝T raw /kT (4)
wherein P is raw And T raw The air pressure value and the temperature value read from the air pressure sensor result register by the main processor are a group of 24-bit 2-mechanism numbers, and the 10-bit numbers are automatically converted in the calculation process; kP and kT are scale factors, and are determined according to the magnitude of sampling rate set in an algorithm program, the higher the sampling rate is, the more complex 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 more accurate, n times of filtering are performed:
in the formula, n is the filtering times, the more times, the higher the accuracy, but the longer the corresponding operation time, the filtering times can be changed in the algorithm according to actual conditions.
As shown in fig. 2, the present apparatus includes:
the two measuring devices with the same structure are respectively arranged at two points to be measured, the air pressure value and the temperature value of the point to be measured are measured, and the height value is calculated through processing;
the data platform is used for receiving the height data information transmitted back by the two measuring devices, calculating the height difference value of the two positions of the to-be-measured points, namely, the 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, so that real-time communication is realized.
The measuring device includes:
the air pressure sensor is used for measuring the absolute air pressure of the to-be-measured point and calculating the altitude by utilizing the corresponding relation between the air pressure and the altitude;
the wireless communication module is used for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor and obtaining the altitude value of the to-be-measured point;
the air pressure sensor measures the real-time air pressure value of the to-be-measured point and transmits the real-time air pressure value to the main processor, the main processor obtains the altitude value after processing, and then the altitude value is encoded and decoded and uploaded to the data platform through the wireless communication module for measurement data processing, so that the final relative altitude value is obtained.
The data platform comprises:
the network server is used for controlling and coordinating data communication among 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;
and the platform client receives the required data from the network server according to the user wish, processes the data and displays the processed data.
In summary, the measuring device has small volume, low power consumption and convenient carrying, and the measuring method is extremely simple, and only the measuring device is required to be placed at the point to be measured; the measuring device has the advantages that the obtained data is low in error and high in measuring precision through a series of algorithm filtering processing, and the obtained relative height value is higher in precision through error elimination processing of the two measuring devices, so that measuring errors caused by factors such as ambient temperature, climate and topography are effectively avoided; the measuring device can be communicated with the data platform in real time, has high 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 and the like.
Claims (2)
1. A high-precision relative height measurement method is characterized in that: placing two testing devices with the same type of air pressure sensor on two to-be-tested points 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 a data platform interface in real time, wherein the height difference is the relative height value of the two to-be-tested points;
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 is as follows:
firstly, converting the air pressure value into an altitude value according to a relation formula of altitude and air pressure:
；
wherein H represents altitude, P 0 Representing a standard atmospheric pressure value, wherein P represents a real-time atmospheric pressure value of a measured measuring position finally output by the measuring device;
the calculation formula of the real-time air pressure value P is as follows:
P=C 00 +P raw_sc *[C 10 +P raw_sc *(C 20 +P raw_sc *C 30 )]+T raw_sc *C 01 +T raw_sc *P raw_sc *(C 11 +P raw_sc *C 21 ) (2)；
wherein, the unit of P is Pa; c (C) 00 、C 10 、C 20 、C 30 、C 01 、C 11 And C 21 The calibration coefficients are respectively a group of 16-bit 2-system numbers, and are converted into standard 10-system numbers in the calculation process, and the standard 10-system numbers are read out from a calibration register of the air pressure sensor in real time by a main processor; p (P) raw _ sc And T raw _ sc The calculation formulas of the air pressure value and the temperature value are as follows:
P raw_sc ＝P raw /kP (3)；
T raw_sc ＝T raw /kT (4)；
wherein P is raw And T raw The air pressure value and the temperature value read from the air pressure sensor result register by the main processor are a group of 24-bit 2-mechanism numbers, and the 10-bit numbers are automatically converted in the calculation process; kP and kT are scale factorsDetermining according to the sampling rate;
finally, n times of filtering are carried out:
；
where n is the number of filtering times.
2. An apparatus for performing the high accuracy relative height measurement method of claim 1, wherein: comprising the following steps:
the two measuring devices with the same structure are respectively arranged at two points to be measured, the air pressure value and the temperature value of the point to be measured are measured, and the height value is calculated through processing;
the data platform is used for receiving the height data information transmitted back by the two measuring devices, calculating the height difference value of the two positions of the to-be-measured points, namely, the 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 a mobile 4G network or a WIFI network, so that real-time communication is realized;
the measuring device includes:
the air pressure sensor is used for measuring the absolute air pressure of the to-be-measured point and calculating the altitude by utilizing the corresponding relation between the air pressure and the altitude;
the wireless communication module is used for transmitting or receiving information;
the main processor is used for actively acquiring the air pressure value measured by the air pressure sensor and obtaining the altitude value of the to-be-measured point;
the air pressure sensor measures the real-time air pressure value of the to-be-measured point and transmits the real-time air pressure value to the main processor, the main processor obtains the altitude value after processing, and then the altitude value is uploaded to the data platform for measuring data processing through the wireless communication module to obtain the final relative altitude value;
the data platform comprises:
the network server is used for controlling and coordinating data communication among 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;
and the platform client receives the required data from the network server according to the user wish, processes the data and displays the processed data.
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| 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 |
| 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 |
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| EP2064567B1 (en) * | 2006-09-19 | 2012-01-11 | Nokia Corporation | Relative positioning |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
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