CN117249808B - Aircraft based on hydraulic altitude measurement, flight altitude detection method and landing method - Google Patents
Aircraft based on hydraulic altitude measurement, flight altitude detection method and landing method Download PDFInfo
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- CN117249808B CN117249808B CN202311522844.8A CN202311522844A CN117249808B CN 117249808 B CN117249808 B CN 117249808B CN 202311522844 A CN202311522844 A CN 202311522844A CN 117249808 B CN117249808 B CN 117249808B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000005259 measurement Methods 0.000 title claims abstract description 22
- 238000001514 detection method Methods 0.000 title claims abstract description 14
- 239000007788 liquid Substances 0.000 claims abstract description 55
- 230000008054 signal transmission Effects 0.000 claims abstract description 8
- 230000005484 gravity Effects 0.000 claims description 6
- 230000001133 acceleration Effects 0.000 claims description 5
- 238000009499 grossing Methods 0.000 claims description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 4
- QSHDDOUJBYECFT-UHFFFAOYSA-N mercury Chemical compound [Hg] QSHDDOUJBYECFT-UHFFFAOYSA-N 0.000 claims description 3
- 229910052753 mercury Inorganic materials 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U20/00—Constructional aspects of UAVs
- B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U70/00—Launching, take-off or landing arrangements
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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 the technical field of distance measurement, and provides an aircraft based on hydraulic altitude measurement, a flight altitude detection method and a landing method, wherein the aircraft comprises the following components: an aircraft body, a signal processor, a signal transmission line, hoses, a liquid and hydraulic sensor; the signal processor is fixed on the aircraft body; the signal processor is connected with the hydraulic sensor through a signal transmission line and is used for calculating the distance between the aircraft main body and the ground according to the pressure detected by the hydraulic sensor; the hose comprises a first end and a second end, the first end of the hose is fixedly connected with the aircraft main body, the hydraulic sensor is arranged at the second end of the hose, liquid is contained in the hose, and the hydraulic sensor detects the pressure of the liquid; the length of the hose is greater than the flying height of the aircraft. The scheme can accurately calculate the altitude of the aircraft.
Description
Technical Field
The invention relates to the technical field of distance measurement, in particular to an aircraft based on hydraulic altitude measurement, an altitude detection method and a landing method.
Background
When using a drone as a mobile measurement platform, it is necessary to know its own spatial three-dimensional position. The height information of the unmanned aerial vehicle from the ground can be obtained through different methods, for example, a satellite positioning system such as Beidou and the like can be used, or a laser radar and a millimeter wave radar are installed on the unmanned aerial vehicle, the distance is judged by receiving electromagnetic wave information reflected by the ground, a barometer can be installed on the unmanned aerial vehicle, and the height of the unmanned aerial vehicle is judged by the atmospheric pressure.
However, the method for measuring the flying height of the unmanned aerial vehicle has certain condition limitations, and in some cases, the flying height of the unmanned aerial vehicle cannot be obtained or a large measurement error exists.
The satellite positioning system may not calculate the correct position because of weak satellite signals or electromagnetic interference, the laser radar and the millimeter wave radar on the unmanned aerial vehicle calculate the distance through echo information, errors can be generated because of the inclination of the unmanned aerial vehicle and the fluctuation on the ground, and the barometer obtains the altitude information by measuring the atmospheric pressure, so that the measurement errors can be caused because of the difference of the air temperature and the humidity.
Therefore, it is desirable to provide an aircraft, a flight level detection method and a landing method based on hydraulic altitude measurement, which can accurately calculate the flight level of the aircraft.
The above information disclosed in the background section is only for enhancement of understanding of the background of the application and therefore it may contain information that does not form the prior art that is already known to a person of ordinary skill in the art.
Disclosure of Invention
The invention mainly aims to solve the problem of inaccurate flying height measurement of an aircraft, and provides an aircraft based on hydraulic height measurement, a flying height detection method and a landing method, which can accurately calculate the flying height of the aircraft.
To achieve the above object, a first aspect of the present invention provides an aircraft based on hydraulic altitude measurement, comprising: an aircraft body, a signal processor, a signal transmission line, hoses, a liquid and hydraulic sensor;
the signal processor is fixed on the aircraft body;
the signal processor is connected with the hydraulic sensor through a signal transmission line and is used for calculating the distance between the aircraft main body and the ground according to the pressure detected by the hydraulic sensor;
the hose comprises a first end and a second end, the first end of the hose is fixedly connected with the aircraft main body, the hydraulic sensor is arranged at the second end of the hose, liquid is contained in the hose, and the hydraulic sensor detects the pressure of the liquid; the length of the hose is greater than the flying height of the aircraft.
According to an exemplary embodiment of the invention, the liquid comprises water or mercury.
As a second aspect of the present invention, the present invention provides a method for detecting the flying height of an aircraft, using the aircraft based on hydraulic height measurement; the method comprises the following steps:
acquiring the pressure of the liquid detected by a hydraulic sensor before taking off, wherein the pressure is the pressure before taking off;
the hydraulic pressure sensor continuously detects the pressure of the liquid in flight, and the pressure is the pressure in flight;
and obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure.
According to an exemplary embodiment of the present invention, the method for continuously detecting the pressure of a liquid by the hydraulic pressure sensor during flight includes: the pressure is detected at every other frame.
According to an exemplary embodiment of the present invention, the method for obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure uses formula 1:
equation 1;
wherein H represents the flying height and the unit is m; h is a 1 The liquid level height before take-off is expressed in m; h is a 2 The liquid level height during flight is expressed in m; g is gravity acceleration, 9.8 is taken, and the unit is N/kg;is liquid density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the P1 represents the pressure before take-off, in Pa; p2 represents the pressure unit Pa at the time of flight.
According to an exemplary embodiment of the present invention, the method further comprises the steps of: and obtaining the accurate height according to the currently obtained flying height and the flying heights obtained for a plurality of times.
According to an exemplary embodiment of the present invention, the method for obtaining an accurate altitude from a currently obtained altitude and a previous obtained altitude further includes: and obtaining the accurate height according to the current obtained flying height and the flying heights obtained for a plurality of times by a smooth noise reduction method.
According to an exemplary embodiment of the present invention, the method for obtaining the accurate altitude according to the current altitude and the previous altitude obtained multiple times by the method of smoothing noise reduction adopts formula 2 or formula 3:
h_out (t) =alpha 0×H (t) +alpha 1×H (t-1) +alpha 2×H (t-2) formula 2;
h_out (t) =alpha 0 XH (t) +alpha 1 XH (t-1) +alpha 2 XH (t-2) +alpha 3 XH (t-3) formula 3;
wherein H_out (t) represents the accurate height, H (t) represents the current flight height, H (t-1) represents the last flight height, H (t-2) represents the last flight height, H (t-3) represents the last flight height, and alpha0, alpha1, alpha2 and alpha3 are all constants.
As a third aspect of the present invention, the present invention provides a landing method of an aircraft, comprising the steps of:
the flying height of the aircraft is detected by adopting the flying height detection method of the aircraft;
the landing speed of the aircraft is adjusted according to the altitude of the aircraft.
According to an example embodiment of the present invention, the method of adjusting a landing speed of an aircraft according to an altitude of the aircraft includes:
when the flying height is greater than the designated height, the aircraft descends according to the designated speed, and the designated speed is greater than 3m/s;
otherwise, the aircraft is reduced to 0-3m/s descent.
The advantage of the invention is that the measuring principle of the invention is similar to that of a barometer, but the height is not calculated by measuring the barometric pressure, but by measuring the liquid pressure.
The pressure is proportional to the density, and the density of the liquid is far greater than that of air, and the pressure difference brought by the liquid is larger than that of the gas under the condition of the same height difference, so that the accuracy of measuring the height by using the hydraulic pressure is higher than that of the air in theory. And the liquid is relatively gas, is not easily influenced by the ambient temperature and humidity, and has better measurement stability.
Drawings
The above and other objects, features and advantages of the present application will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings. The drawings described below are only some embodiments of the present application and other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 schematically shows a block diagram of an aircraft based on hydraulic altitudes.
Fig. 2 schematically shows a step diagram of a method for detecting the altitude of an aircraft.
Fig. 3 schematically shows a flow chart of a method of flying height detection of an aircraft.
Wherein, 1-aircraft main part, 2-signal processor, 3-signal transmission line, 4-hose, 5-hydraulic sensor, 6-liquid.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. However, the exemplary embodiments can be embodied in many forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar parts, and thus a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the present application. One skilled in the relevant art will recognize, however, that the aspects of the application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, etc. In other instances, well-known methods, devices, implementations, or operations are not shown or described in detail to avoid obscuring aspects of the application.
The block diagrams depicted in the figures are merely functional entities and do not necessarily correspond to physically separate entities. That is, the functional entities may be implemented in software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one element from another element. Thus, a first component discussed below could be termed a second component without departing from the teachings of the present application concept. As used herein, the term "and/or" includes any one of the associated listed items and all combinations of one or more.
Those skilled in the art will appreciate that the drawings are schematic representations of example embodiments, and that the modules or flows in the drawings are not necessarily required to practice the present application, and therefore, should not be taken to limit the scope of the present application.
According to a first embodiment of the present invention, the present invention provides an aircraft based on hydraulic altitude measurement, as shown in fig. 1, fig. 1 is a structural diagram of an aircraft before take-off, the aircraft comprising: an aircraft body 1, a signal processor 2, a signal transmission line 3, a hose 4, a liquid 6 and a hydraulic sensor 5.
The signal processor 2 is fixed to the aircraft body 1. The aircraft body 1 may be an unmanned aerial vehicle.
The signal processor 2 is connected with the hydraulic sensor 5 through a signal transmission line 3 for calculating the distance of the aircraft body 1 from the ground based on the pressure detected by the hydraulic sensor 5.
The hose 4 comprises a first end and a second end, the first end of which is fixedly connected with the aircraft body 1, a hydraulic sensor 5 is arranged at the second end of the hose 4, liquid 6 is contained in the hose 4, and the hydraulic sensor 5 detects the pressure of the liquid 6. The liquid 6 comprises water or mercury, preferably water. The length of the hose 4 is greater than the flying height of the aircraft. Because hose 4 is soft material before taking off, it is the setting of level setting or crooked setting on ground, because the effect of gravity after taking off, hose 4 that is located the upper portion can leave ground along with aircraft main part 1, as long as guarantee that hydraulic sensor 5 does not leave ground can, in the in-process of flight, hose 4 neither is crooked or straight does not influence the detection of pressure.
The scheme is mainly applied to the tethered unmanned aerial vehicle, the tethered unmanned aerial vehicle is connected with the ground through the wire harness, and is used for providing power to ensure long-time flight and transmitting video with high frame rate and observing a fixed area on the ground.
According to a second embodiment of the invention, the invention provides a method for detecting the flying height of an aircraft, and the aircraft based on the hydraulic height measurement according to the first embodiment is adopted.
As shown in fig. 2 and 3, the flying height detection method includes the steps of:
s1: the pressure of the liquid detected by the pre-take-off hydraulic pressure sensor 5 is acquired, which is the pre-take-off pressure.
I.e. the pressure in the hydraulic sensor 5 before take-off is acquired.
S2: the in-flight hydraulic pressure sensor 5 continuously detects the pressure of the liquid, which is in-flight pressure.
I.e. the real-time pressure in the post-takeoff hydraulic pressure sensor 5 is acquired.
When flying, the upper part of the hose 4 moves upwards and part of the liquid moves upwards.
The method for continuously detecting the pressure of the liquid by the hydraulic sensor during flight comprises the following steps: the pressure is detected at every other frame.
One frame is 40 milliseconds long. The frame time length and the shooting frame rate (the height update frequency of the unmanned aerial vehicle) of the scheme are related, the shooting frame rate and the frame time length are used for a camera and a video shot by the camera, the shooting frame rate and the frame time length are inversely proportional, and if the shooting frame rate is 25 (the height update frequency of the unmanned aerial vehicle is 25 times per second), the time length of each frame is 40ms (the update time length interval is 40 ms). The shooting frame rate is 100 (the unmanned aerial vehicle is updated 100 times per second), and the time length per frame is 10ms (the time length interval of updating is 10 ms).
S3: and obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure.
That is, the pressure difference before and after take-off is calculated, and the aircraft (including the unmanned aerial vehicle) altitude is calculated from the pressure difference.
Before take-off, the pressure P1 measured by the hydraulic sensor 5 is the pressure of the liquid plus the atmospheric pressure P0 in the hose:
；
after take-off, the pressure P2 measured by the hydraulic sensor 5 is the atmospheric pressure P0 in the hose plus the then-current liquid pressure:
；
subtracting the two sides, and obtaining the flying height H of the unmanned aerial vehicle:
；
wherein,is liquid density in kg/m 3 G is gravity acceleration, 9.8 is taken, the unit is N/kg, h 1 The liquid level height before take-off is m; h is a 2 The liquid level is the height of the liquid in flight, and the unit is m; p1 is the pressure measured before take-off in Pa; p2 is the pressure measured after take-off in Pa.
That is, the method of obtaining the flying height of the aircraft from the pre-takeoff pressure and the current pressure employs equation 1:
equation 1;
wherein H represents the flying height and the unit is m; h is a 1 The liquid level height before take-off is expressed in m; h is a 2 The liquid level height during flight is expressed in m; g is gravity acceleration, 9.8 is taken, and the unit is N/kg;is liquid density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the P1 represents the pressure before take-off, in Pa; p2 represents the pressure during flight in Pa.
S4: and obtaining the accurate height according to the currently obtained flying height and the flying heights obtained for a plurality of times.
I.e. smooth noise reduction of the height.
In order to reduce the influence of factors such as surge, hose movement and the like brought in the movement process of the aircraft on the measurement precision, the calculated flying height needs to be filtered to obtain the precision height.
The method for obtaining the accurate height according to the currently obtained flying height and the flying height obtained by a plurality of times before further comprises the following steps: and obtaining the accurate height according to the current obtained flying height and the flying heights obtained for a plurality of times by a smooth noise reduction method.
Specifically, the method for obtaining the accurate altitude according to the current obtained altitude and the previous obtained altitude by the smooth noise reduction method adopts formula 2 or formula 3:
h_out (t) =alpha 0×H (t) +alpha 1×H (t-1) +alpha 2×H (t-2) formula 2;
h_out (t) =alpha 0 XH (t) +alpha 1 XH (t-1) +alpha 2 XH (t-2) +alpha 3 XH (t-3) formula 3;
wherein H_out (t) represents an accurate height, H (t) represents a current flight height, H (t-1) represents a last flight height, H (t-2) represents a last flight height (i.e., a last flight height of H (t-1)), H (t-3) represents a last flight height (i.e., a last flight height of H (t-2)), and t represents a time corresponding to the current flight height;
in formula 2, alpha0 +alpha 1 +alpha 2 = 1, and alpha0> alpha1> alpha2, alpha0, alpha1, alpha2 are constants;
in formula 3, alpha0 +alpha 1 +alpha 2 +alpha 3 = 1, and alpha0> alpha1> alpha2 > alpha3, alpha0, alpha1, alpha2, alpha3 are constants.
The closer the time to the current fly-height detection (i.e., the closer to the current frame), the greater the coefficient, which has a greater impact on the final result.
Preferably, equation 2 is chosen, with alpha0 of 0.7, alpha1 of 0.2, and alpha2 of 0.1, then h_out (t) =0.7×h (t) +0.2×h (t-1) +0.1×h (t-2).
The smoothing can select 3 frames or 4 frames for calculation, but not too many frames.
The more the number of frames is selected, the earlier aircraft altitude information is represented to participate in the current altitude calculation, but the further the unmanned aerial vehicle is in motion, the more the time is from the current moment, the larger the difference between the previous altitude and the current altitude is, and the larger the error is caused. Therefore, only a few frames in the vicinity are selected for smoothing.
The measurement principle of the present invention is similar to that of barometers, but the height is not calculated by measuring the barometric pressure, but by measuring the liquid pressure.
The pressure is proportional to the density, and the density of the liquid is far greater than that of air, and the pressure difference brought by the liquid is larger than that of the gas under the condition of the same height difference, so that the accuracy of measuring the height by using the hydraulic pressure is higher than that of the air in theory. The pressure is measured by using the liquid, the liquid is not easily influenced by the ambient temperature and humidity, the electromagnetic interference is avoided, the measurement stability is better, the environmental limitation is less, and the measurement accuracy is higher than that of the height by using the barometer.
According to a third embodiment of the invention, the invention provides a landing method for an aircraft, comprising the steps of:
detecting the flying height of the aircraft by adopting the flying height detection method of the second specific embodiment;
the landing speed of the aircraft is adjusted according to the altitude of the aircraft.
The method for adjusting the landing speed of the aircraft according to the altitude of the aircraft comprises the following steps:
when the flying height is greater than the designated height, the aircraft descends according to the designated speed, and the designated speed is greater than 3m/s;
otherwise, the aircraft is reduced to 0-3m/s descent.
The exemplary embodiments of the present invention have been particularly shown and described above. It is to be understood that this invention is not limited to the precise arrangements, instrumentalities and instrumentalities described herein; on the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
Claims (10)
1. An aircraft based on hydraulic altitudes, comprising: an aircraft body, a signal processor, a signal transmission line, hoses, a liquid and hydraulic sensor;
the signal processor is fixed on the aircraft body;
the signal processor is connected with the hydraulic sensor through a signal transmission line and is used for calculating the distance between the aircraft main body and the ground according to the pressure detected by the hydraulic sensor; the signal processor acquires the pressure of the liquid detected by the hydraulic sensor before taking off, wherein the pressure is the pressure before taking off; the hydraulic pressure sensor continuously detects the pressure of the liquid in flight, and the pressure is the pressure in flight; obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure; the method for obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure adopts the formula 1:
equation 1;
wherein H represents the flying height and the unit is m; h is a 1 The liquid level height before take-off is expressed in m; h is a 2 The liquid level height during flight is expressed in m; g is gravity acceleration, 9.8 is taken, and the unit is N/kg; is liquid density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the P1 represents the pressure before take-off, in Pa; p2 represents the pressure during flight, in Pa;
the hose comprises a first end and a second end, the first end of the hose is fixedly connected with the aircraft main body, the hydraulic sensor is arranged at the second end of the hose, liquid is contained in the hose, and the hydraulic sensor detects the pressure of the liquid; the length of the hose is greater than the flying height of the aircraft.
2. The hydraulic altitude-based aircraft of claim 1, wherein the liquid comprises water or mercury.
3. A method for detecting the flying height of an aircraft, characterized in that the aircraft based on the hydraulic height measurement according to any one of claims 1 or 2 is used; the method comprises the following steps:
acquiring the pressure of the liquid detected by a hydraulic sensor before taking off, wherein the pressure is the pressure before taking off;
the hydraulic pressure sensor continuously detects the pressure of the liquid in flight, and the pressure is the pressure in flight;
and obtaining the flying height of the aircraft according to the pressure before taking off and the current pressure.
4. A method of altitude detection for an aircraft according to claim 3, wherein the method of continuously detecting the pressure of the liquid by the in-flight hydraulic pressure sensor comprises: the pressure is detected at every other frame.
5. The method for detecting the flying height of an aircraft according to claim 4, wherein the method for obtaining the flying height of an aircraft according to the pre-takeoff pressure and the current pressure uses formula 1:
equation 1;
wherein H represents the flying height and the unit is m; h is a 1 The liquid level height before take-off is expressed in m; h is a 2 The liquid level height during flight is expressed in m; g is gravity acceleration, 9.8 is taken, and the unit is N/kg; is liquid density in kg/m 3 The method comprises the steps of carrying out a first treatment on the surface of the P1 represents the pressure before take-off, in Pa; p2 represents the pressure during flight in Pa.
6. The method of claim 4, further comprising, after deriving the altitude of the aircraft from the pre-takeoff pressure and the current pressure: and obtaining the accurate height according to the currently obtained flying height and the flying heights obtained for a plurality of times.
7. The method for detecting the flying height of an aircraft according to claim 6, wherein the method for obtaining the accurate height according to the currently obtained flying height and the previous obtained flying height comprises the following steps: and obtaining the accurate height according to the current obtained flying height and the flying heights obtained for a plurality of times by a smooth noise reduction method.
8. The method for detecting the flying height of the aircraft according to claim 7, wherein the method for obtaining the accurate height according to the current flying height and the previous flying height obtained a plurality of times by the method of smoothing noise reduction adopts formula 2 or formula 3:
h_out (t) =alpha 0×H (t) +alpha 1×H (t-1) +alpha 2×H (t-2) formula 2;
h_out (t) =alpha 0 XH (t) +alpha 1 XH (t-1) +alpha 2 XH (t-2) +alpha 3 XH (t-3) formula 3;
wherein H_out (t) represents the accurate height, H (t) represents the current flight height, H (t-1) represents the last flight height, H (t-2) represents the last flight height, H (t-3) represents the last flight height, and alpha0, alpha1, alpha2 and alpha3 are all constants.
9. A method of landing an aircraft, comprising the steps of:
detecting the flying height of the aircraft using the flying height detection method of the aircraft according to any one of claims 3 to 8;
the landing speed of the aircraft is adjusted according to the altitude of the aircraft.
10. The method of landing an aircraft according to claim 9, wherein the method of adjusting the landing speed of the aircraft according to the altitude of the aircraft comprises:
when the flying height is greater than the designated height, the aircraft descends according to the designated speed, and the designated speed is greater than 3m/s;
otherwise, the aircraft is reduced to 0-3m/s descent.
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| CN110963067A (en) * | 2019-12-12 | 2020-04-07 | 北京中航智科技有限公司 | Fuel conveying method of mooring unmanned aerial vehicle system and mooring unmanned aerial vehicle system |
| CN112639399A (en) * | 2020-04-27 | 2021-04-09 | 深圳市大疆创新科技有限公司 | Height detection method, compensation amount determination method and device and unmanned aerial vehicle |
| CN213748403U (en) * | 2020-12-18 | 2021-07-20 | 中铁大桥局第七工程有限公司 | Flexible rule for engineering survey |
| CN114608523A (en) * | 2021-12-30 | 2022-06-10 | 西南科技大学 | High-precision and high-stability air pressure height measuring system |
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