CN116299505A - Unmanned aerial vehicle navigation height measurement method, unmanned aerial vehicle navigation height measurement equipment, storage medium and unmanned aerial vehicle - Google Patents
Unmanned aerial vehicle navigation height measurement method, unmanned aerial vehicle navigation height measurement equipment, storage medium and unmanned aerial vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract
The application discloses unmanned aerial vehicle's aerial height measurement method, equipment, storage medium and unmanned aerial vehicle, but including body angle regulation's first laser rangefinder sensor group, angle regulation's second laser rangefinder sensor group and laser rangefinder sensor, first laser rangefinder sensor group and second laser rangefinder sensor group are used for obtaining the contained angle between each, and laser rangefinder sensor is used for measuring unmanned aerial vehicle and presets the distance between the target. The first laser ranging sensor group and the second laser ranging sensor group can acquire the included angle between each two groups, the laser ranging sensor can measure the distance between the unmanned aerial vehicle and the earth surface attachments in two directions according to a certain interval time, the ground fluctuation condition is analyzed and judged on the basis, and the states of the unmanned aerial vehicle such as plane flight, climbing or descending are identified and pre-judged so as to calculate the aerial height of the unmanned aerial vehicle in different states, and accurate simulated earth photogrammetry operation is realized.
Description
Technical Field
The application relates to the field of computer information processing technology and unmanned aerial vehicles, in particular to a method and equipment for measuring the altitude of an unmanned aerial vehicle, a storage medium and the unmanned aerial vehicle.
Background
The unmanned aerial vehicle photogrammetry can realize high-precision and multi-layer acquisition of point cloud data, can accurately, completely and rapidly acquire the spatial position information and texture characteristics of a shot object, and is widely applied to the related fields of topographic mapping, three-dimensional modeling, geological disaster investigation, emergency rescue and the like. Unmanned aerial vehicle usually adopts fixed-height flight, however, the working area (area) has large fluctuation (such as buildings and mountain intensive), and the flight safety and the acquired data quality are not guaranteed. In this case, it is generally considered to adopt an unmanned aerial vehicle ground-simulating flight method, that is, to set a fixed altitude with a known terrain to generate an unmanned aerial vehicle elevating route, thereby completing photogrammetry operation.
In recent years, a learner has successively proposed a ground-imitation method of unmanned aerial vehicle based on laser radar, in fact: firstly, because the used laser radar sensor has certain penetrability, whether the obtained value is the distance from the unmanned plane to the ground surface or the distance from the unmanned plane to the surface of ground attachment (such as the surface of a building or vegetation) cannot be clearly measured; secondly, the laser radar measures distance by emitting laser beams in a certain angle range, when the laser beam measuring range is in a certain proportion with the flying height, the higher the height is, the larger the measuring range is, the higher the dispersion of the obtained distance is, and the lower the reliability of the measuring result is; thirdly, the laser radar is utilized for scanning and real-time modeling, and the working practice shows that the method has extremely high requirements on the performance of the laser radar processor, extremely strong model hysteresis and no realization possibility.
Disclosure of Invention
In view of the foregoing, the present application has been proposed to provide an image processing method, apparatus, and device. The specific scheme is as follows:
the utility model provides an unmanned aerial vehicle, but including body, angle regulation's first laser rangefinder sensor group, angle regulation's second laser rangefinder sensor group and laser rangefinder sensor, first laser rangefinder sensor group with second laser rangefinder sensor group is used for acquireing the contained angle between each, laser rangefinder sensor is used for measuring distance between unmanned aerial vehicle and the preset target.
Preferably, the first laser ranging sensor group and the second laser ranging sensor group are respectively formed by parallel arrangement and combination of a plurality of first laser ranging elements and a plurality of second laser ranging elements.
Preferably, the aerial photogrammetry device further comprises an aerial photogrammetry device arranged on the body.
Preferably, the aerial photogrammetry device comprises a single lens or a five lens oblique photography system.
A method for altitude measurement of an unmanned aerial vehicle, the method being based on an unmanned aerial vehicle as described above, the steps comprising:
acquiring an included angle between the first laser ranging sensor group and the second laser ranging sensor group, a first sensor distance and a second sensor distance of the unmanned aerial vehicle, wherein the first sensor distance and the second sensor distance are respectively the minimum distances between the plurality of first laser ranging elements and the plurality of second laser ranging elements;
and determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance.
Preferably, the determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance includes:
the altitude of the unmanned aerial vehicle is calculated by the following formula:
wherein,,
indicating that the unmanned aerial vehicle is at T (n) Time of day, voyage high, jeopardy>
The navigational height of the unmanned aerial vehicle at the moment T (j+H simulated land tan beta/V) is represented, alpha is the gradient, and n represents the climbing stage;
alpha is calculated by the following formula:
preferably, the determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance further includes:
the altitude of the unmanned aerial vehicle is also calculated by the following formula:
the unmanned aerial vehicle has a voyage height at the moment T (j+H simulated land. Tan. Beta./V), omega is the gradient, and q represents the downhill stage;
ω is calculated by the following formula:
preferably, before the determining the altitude of the unmanned aerial vehicle, the method further comprises:
and determining the flying speed, the image overlapping degree and the relative ground height of the unmanned aerial vehicle.
A navigational altitude measurement apparatus of an unmanned aerial vehicle, comprising: a memory and a processor;
the memory is used for storing programs;
the processor is configured to execute the program to implement the steps of the altitude measurement method of the unmanned aerial vehicle as described above.
A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a method of altitude measurement for a drone as described above.
By means of the technical scheme, the unmanned aerial vehicle comprises a body, a first laser ranging sensor group with adjustable angles, a second laser ranging sensor group with adjustable angles and a laser ranging sensor, wherein the laser ranging sensor can measure the distance between the unmanned aerial vehicle and earth surface attachments in two directions according to certain interval time, analyze and judge ground fluctuation conditions on the basis, identify and pre-judge states such as plane flight, climbing or descending of the unmanned aerial vehicle, and the first laser ranging sensor group and the second laser ranging sensor group can acquire included angles among the first laser ranging sensor group and the second laser ranging sensor group so as to calculate the altitude of the unmanned aerial vehicle in different states and realize more accurate simulated earth photogrammetry operation.
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Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the application. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic structural diagram of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a first laser ranging sensor group and a second laser ranging sensor group provided in an embodiment of the present application;
fig. 3 is a schematic flow chart of a method for measuring altitude of an unmanned aerial vehicle according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a measurement process according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an image processing apparatus according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
The application provides a method, equipment, storage medium and unmanned aerial vehicle for measuring the aerial height of the unmanned aerial vehicle, which can measure the distance between the unmanned aerial vehicle and earth surface attachments in two directions according to a certain interval time, analyze and judge ground fluctuation conditions on the basis, identify and pre-judge the states of the unmanned aerial vehicle such as plane flight, climbing or descending, and calculate the aerial height of the unmanned aerial vehicle in different states, so as to realize the simulated earth photogrammetry operation.
Next, to the aerial height measurement method, equipment, storage medium and unmanned aerial vehicle of the present application, please refer to fig. 1, fig. 1 is a schematic structural diagram of an unmanned aerial vehicle provided in the embodiment of the present application, the unmanned aerial vehicle includes a body, a first laser ranging sensor group capable of adjusting angles, a second laser ranging sensor group capable of adjusting angles and a laser ranging sensor, the first laser ranging sensor group with the second laser ranging sensor group is used for obtaining the contained angle between each, the laser ranging sensor is used for measuring the distance between unmanned aerial vehicle and preset target.
Specifically, as shown in fig. 2, the unmanned aerial vehicle photogrammetry system is modified, and two groups of A, B high-precision laser ranging sensors are added, wherein A is a fixed (vertical flying spot ground) laser ranging sensor, and B is an active (variable angle) laser ranging sensor.
Further, the first laser ranging sensor group and the second laser ranging sensor group are formed by parallel arrangement and combination of a plurality of first laser ranging elements (a 1 to a10 in the figure) and a plurality of second laser ranging elements (b 1 to b10 in the figure) respectively. In this embodiment, the two sets of laser ranging sensors are each formed by parallel arrangement and combination of ten laser ranging elements.
Specifically, the unmanned aerial vehicle further comprises aerial photogrammetry equipment arranged on the body, and the aerial photogrammetry equipment comprises a single-lens or five-lens oblique photography system.
From the above-mentioned technical scheme, it can be seen that the unmanned aerial vehicle that this application embodiment provided, including the body, but angle regulation's first laser rangefinder sensor group, angle regulation's second laser rangefinder sensor group and laser rangefinder sensor, laser rangefinder sensor can be according to the distance between unmanned aerial vehicle and the earth's surface attachment of two directions in certain interval time measurement, analysis and judgement ground fluctuation condition on this basis, discernment and prejudgement unmanned aerial vehicle plane flies, climb or descend state such as, first laser rangefinder sensor group and second laser rangefinder sensor group can acquire the contained angle between each, with calculate unmanned aerial vehicle's aerial height under the different states, realize more accurate imitative ground photogrammetry operation.
It can be understood that the laser ranging technology is integrated into the unmanned aerial vehicle photogrammetry system, and on the premise of avoiding the influence of laser penetrability by setting the measurement return number and the brush selection minimum distance, the laser beam is emitted to measure and analyze the position information of the unmanned aerial vehicle and the surface of the ground attachment in real time, judge the ground fluctuation change condition, guide the unmanned aerial vehicle to adjust the flying height in time, and realize real-time ground-imitating flying. The invention is suitable for various working environments, has low requirement on the data processing performance of the unmanned aerial vehicle photogrammetry system, and can greatly improve the working quality while avoiding repeated operation and improving the working efficiency.
The embodiment of the application also provides a method for measuring the altitude of an unmanned aerial vehicle, please refer to fig. 3, fig. 3 is a schematic structural diagram of the method for measuring the altitude of the unmanned aerial vehicle, which is provided in the embodiment of the application, and the method is realized based on the unmanned aerial vehicle as described above, and the flow of the method is as follows:
step S110, acquiring an included angle between the first laser ranging sensor group and the second laser ranging sensor group, a first sensor distance and a second sensor distance of the unmanned aerial vehicle.
The first sensor distance and the second sensor distance are respectively the minimum distances between the first laser ranging elements and the second laser ranging elements.
Specifically, the remote controller or the ground station of the unmanned aerial vehicle photogrammetry system is provided with A, B two groups of laser ranging sensors for measuring the interval time epsilon Ranging sampling (optional range: 0.1 "-2"), and the angle beta between the group B laser ranging sensor and the group A laser sensor (beta e [5 ], 10 ] when the slope of the building, mountain is large]Beta E [10 DEG, 15 DEG ] when the gradient of the building and mountain is smaller]) The measurement result selection rule is determined as "a n Minimum value between "and" b n Minimum value between, i.e. D A ＝min(a 1 ,…,a 10 )，D B ＝min(b 1 ,…,b 10 ) Wherein n=1, 2,..10.
And step S120, determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance.
Specifically, as shown in fig. 4, before determining the altitude of the unmanned aerial vehicle, the embodiment of the application may first plan the unmanned aerial vehicle photogrammetry route, and develop photogrammetry operations according to the planned route. In the process of executing the task, the unmanned aerial vehicle photogrammetry system adaptively adjusts the flight height according to the following rules, so as to realize ground-imitating flight, and obtains parameters according to the fluctuation condition of the ground so as to determine the altitude of the unmanned aerial vehicle. Can set the flying speed V, the image overlapping degree and the relative ground height H of the unmanned plane Imitation ground 。
Definition D when unmanned aerial vehicle flies on level ground Flat A ＝H Imitation ground ，D Flat B ＝H Imitation ground /cosβ。
Thereafter, the drone height is set to H Navigation system And then carrying out photogrammetry operation according to the planned route. In the process of executing tasks, along with the fluctuation of the ground, the unmanned aerial vehicle photogrammetry system adjusts the flight height in a self-adaptive manner according to the following rules, so that ground-simulated flight is realized.
At the moment of the photographing operation T (i), when
And->
When the ground surface is judged to have no fluctuation, the unmanned plane flies on the flat ground, and the altitude is increased>
Wherein (1)>
D at time T (i) A ，/>
D at time T (i+1) A ，/>
D at time T (j) B ，/>
D at time T (j+1) B The following analogy can be made.
At the moment of the photographing operation T (j), when
And->
When judging that a mountain is in front, the unmanned aerial vehicle predicts that the mountain is in front of the time +.>
Climbing, starting up the elevating photogrammetry operation, before>
In photographic operation
Moment of time when->
And is also provided with
When the unmanned aerial vehicle arrives at the toe to climb, the altitude at the moment can be calculated through the following formula at the stage:
wherein,,
indicating that the unmanned aerial vehicle is at T (n) Time of day, voyage high, jeopardy>
The navigational height of the unmanned aerial vehicle at the moment T (j+H simulated land tan beta/V) is represented, alpha is the gradient, and n represents the climbing stage;
alpha is calculated by the following formula:
at the moment of the photographing operation T (k), when
And->
When the unmanned aerial vehicle is at the moment +.>
Reaching the top of the slope before +.>
In photographic operation
Moment of time when->
And is also provided with
When the unmanned aerial vehicle arrives at the slope top, the unmanned aerial vehicle is judged to arrive at the slope top
At the moment of the photographing operation T (m), when
And->
When the unmanned aerial vehicle is at the moment +.>
Reaching the top of the slope before +.>
In photographic operation
Moment of time when->
And is also provided with
When the unmanned aerial vehicle is judged to be ready to descend, the altitude of the unmanned aerial vehicle is calculated according to the following formula:
wherein,,
indicating that the unmanned aerial vehicle is at T (n) Time of day, voyage high, jeopardy>
Indicating that the unmanned aerial vehicle is at T (j+H) Imitation ground Moment tan beta/V), omega being the gradient, q representingA downhill stage;
ω is calculated by the following formula:
at the moment of the photographing operation T (x), when
And->
When the unmanned aerial vehicle is at the moment +.>
Reaching the bottom of the slope at this time, and calculating the altitude of the unmanned aerial vehicle by the following formula:
wherein, all parameters are explained above and are not repeated here.
In photographic operation
Moment of time when->
And is also provided with
When the unmanned aerial vehicle arrives at the slope top, the unmanned aerial vehicle is judged to arrive at the slope top
According to the technical scheme, the aerial height measurement method of the unmanned aerial vehicle is characterized in that the laser ranging technology is integrated into an unmanned aerial vehicle photogrammetry system, and on the premise that the influence of laser penetrability is avoided by setting the measurement echo number and brushing the minimum distance, the laser beam is emitted to measure and analyze the position information of the unmanned aerial vehicle and the surface of the ground attachment in real time, the ground fluctuation change condition is judged, and the unmanned aerial vehicle is guided to adjust the flight height in time, so that real-time ground imitation flight is realized. The embodiment of the application is suitable for various operation environments, has low requirement on the data processing performance of the unmanned aerial vehicle photogrammetry system, and can greatly improve the working quality while avoiding repeated operation and improving the working efficiency.
Furthermore, the scheme provided by the embodiment of the application not only greatly improves safe flight, but also greatly improves the operation efficiency and the acquired data quality, and has great significance for developing photogrammetry operation in mountain forests, dense buildings, large ground surface fall, emergency rescue and other complex environments.
The embodiment of the application can be applied to aerial height measurement equipment of an unmanned aerial vehicle, such as a terminal: a mobile phone, a computer, a vehicle-mounted intelligent terminal and the like. Alternatively, fig. 5 shows a block diagram of a hardware structure of the image processing apparatus, and referring to fig. 5, the hardware structure of the image processing apparatus may include: at least one processor 1, at least one communication interface 2, at least one memory 3 and at least one communication bus 4;
in the embodiment of the application, the number of the processor 1, the communication interface 2, the memory 3 and the communication bus 4 is at least one, and the processor 1, the communication interface 2 and the memory 3 complete communication with each other through the communication bus 4;
processor 1 may be a central processing unit CPU, or a specific integrated circuit ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement embodiments of the present invention, etc.;
the memory 3 may comprise a high-speed RAM memory, and may further comprise a non-volatile memory (non-volatile memory) or the like, such as at least one magnetic disk memory;
wherein the memory stores a program, the processor is operable to invoke the program stored in the memory, the program operable to:
acquiring an included angle between the first laser ranging sensor group and the second laser ranging sensor group, a first sensor distance and a second sensor distance of the unmanned aerial vehicle, wherein the first sensor distance and the second sensor distance are respectively the minimum distances between the plurality of first laser ranging elements and the plurality of second laser ranging elements;
and determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance.
The embodiment of the application also provides a storage medium, which may store a program adapted to be executed by a processor, the program being configured to:
acquiring an included angle between the first laser ranging sensor group and the second laser ranging sensor group, a first sensor distance and a second sensor distance of the unmanned aerial vehicle, wherein the first sensor distance and the second sensor distance are respectively the minimum distances between the plurality of first laser ranging elements and the plurality of second laser ranging elements;
and determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
In the present specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and may be combined according to needs, and the same similar parts may be referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The utility model provides an unmanned aerial vehicle, its characterized in that, but including body, angle regulation's first laser rangefinder sensor group, angle regulation's second laser rangefinder sensor group and laser rangefinder sensor, first laser rangefinder sensor group with second laser rangefinder sensor group is used for acquireing the contained angle between each, laser rangefinder sensor is used for measuring the distance between unmanned aerial vehicle and the target of predetermineeing.
2. The unmanned aerial vehicle of claim 1, wherein the first and second laser ranging sensor groups are formed by parallel arrangement and combination of a plurality of first and second laser ranging elements, respectively.
3. The unmanned aerial vehicle of claim 1, further comprising an aerial photogrammetry device disposed on the body.
4. A drone as claimed in claim 3, wherein the aerial photogrammetry device comprises a single lens or five lens oblique photography system.
5. A method of altitude measurement of an unmanned aerial vehicle, wherein the method is based on an unmanned aerial vehicle according to any one of claims 1 to 4, comprising the steps of:
acquiring an included angle between the first laser ranging sensor group and the second laser ranging sensor group, a first sensor distance and a second sensor distance of the unmanned aerial vehicle, wherein the first sensor distance and the second sensor distance are respectively the minimum distances between the plurality of first laser ranging elements and the plurality of second laser ranging elements;
and determining the altitude of the unmanned aerial vehicle according to the included angle between the first laser ranging sensor group and the second laser ranging sensor group, the first sensor distance and the second sensor distance.
6. The method of claim 5, wherein the determining the altitude of the drone based on the angle between the first and second laser ranging sensor sets, the first and second sensor distances, comprises:
the altitude of the unmanned aerial vehicle is calculated by the following formula:
wherein,,
indicating that the unmanned aerial vehicle is at T (n) Time of day, voyage high, jeopardy>
Indicating that the unmanned aerial vehicle is at T (j+H) Imitation ground Tan beta/V) moment, alpha being the gradient, n representing the climbing phase;
alpha is calculated by the following formula:
7. the method of claim 5, wherein a said determining the altitude of the drone based on the angle between the first and second laser ranging sensor sets, the first and second sensor distances, further comprises:
the altitude of the unmanned aerial vehicle is also calculated by the following formula:
the unmanned aerial vehicle has a voyage height at the moment T (j+H simulated land. Tan. Beta./V), omega is the gradient, and q represents the downhill stage;
ω is calculated by the following formula:
8. the method of claim 5, further comprising, prior to said determining the altitude of the drone: arc (arc)
And determining the flying speed, the image overlapping degree and the relative ground height of the unmanned aerial vehicle.
9. A navigational aids for an unmanned aerial vehicle, comprising: a memory and a processor;
the memory is used for storing programs;
the processor for executing the program for carrying out the steps of the method for altitude measurement of an unmanned aerial vehicle according to any one of claims 5 to 8.
10. A storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method of altitude measurement of a drone according to any one of claims 5 to 8.
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