CN117590368A - Radio distance measuring method for bird-imitating ornithopter - Google Patents
Radio distance measuring method for bird-imitating ornithopter Download PDFInfo
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- CN117590368A CN117590368A CN202410007151.3A CN202410007151A CN117590368A CN 117590368 A CN117590368 A CN 117590368A CN 202410007151 A CN202410007151 A CN 202410007151A CN 117590368 A CN117590368 A CN 117590368A
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- 238000000034 method Methods 0.000 title claims abstract description 44
- 238000013507 mapping Methods 0.000 claims abstract description 34
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 238000007689 inspection Methods 0.000 claims abstract description 10
- 238000004422 calculation algorithm Methods 0.000 claims description 10
- 230000003068 static effect Effects 0.000 claims description 9
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000002790 cross-validation Methods 0.000 claims description 4
- 238000013524 data verification Methods 0.000 claims 1
- 238000012937 correction Methods 0.000 abstract description 7
- 230000006870 function Effects 0.000 description 16
- 238000004891 communication Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000004088 simulation Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012417 linear regression Methods 0.000 description 2
- 239000004973 liquid crystal related substance Substances 0.000 description 2
- 230000007774 longterm Effects 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 230000005236 sound signal Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C33/00—Ornithopters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/40—Ornithopters
-
- 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
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/08—Systems for measuring distance only
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
Abstract
The invention relates to the technical field of aircrafts, and discloses a radio distance measuring method of an imitation bird ornithopter, which comprises the following steps: outputting the height value from the ground and the real height value when the measurement is recorded through a radio altimeter; establishing a preliminary mapping relation between the measured value and the true value, and then determining a mature mapping relation between the measured value and the true value through further data inspection; then, when the bird-imitating ornithopter actually flies, acquiring the height value of the output of the radio altimeter from the ground, and calculating the real height value according to the mature mapping relation to realize distance measurement; according to the radio distance measuring method for the bird-imitating ornithopter, error compensation or correction is carried out by combining the bird-imitating ornithopter and a small radio altimeter, and a real altitude value is calculated according to a mapping relation, so that the error compensation or correction is completed, and accurate distance measurement is achieved.
Description
Technical Field
The invention belongs to the technical field of aircrafts, and particularly relates to a radio distance measuring method of an avionics ornithopter.
Background
In the prior art, aircraft are generally equipped with special radio altimeters for radio ranging and for determining the altitude of the aircraft from the ground. But in practice different radio altimeters have some error and have some fixed algorithm to compensate for the error. But a bird-like ornithopter is a very small aircraft. The radio altimeter mounted on the aircraft cannot be large, but can be extremely small in size, the error of the device such as a small radio altimeter is large, and some small radio altimeters have no special algorithm for error compensation (even if the error exists in error compensation). This results in the fact that the altitude of the simulated ornithopter is difficult to determine accurately during flight, the general position of the simulated ornithopter fluctuates up and down during flight, and the simulated ornithopter has very little static altitude distance, so that the altitude error output by the radio altimeter can be larger during measurement, but the prior art does not combine the technology of error compensation or correction of the simulated ornithopter and the small radio altimeter.
Disclosure of Invention
In order to solve the technical problems, the invention adopts the basic conception of the technical scheme that:
a radio distance measuring method for a bird-imitating ornithopter comprises the following steps,
firstly, determining the appearance model of the bird-imitating ornithopter, and determining the specific model of a radio altimeter and the fixed position of the bird-imitating ornithopter on the bird-imitating ornithopter; carrying out static height analog measurement for a plurality of times, obtaining measurement data, and outputting a height value from the ground through a radio altimeter and recording a real height value during measurement; establishing a preliminary mapping relation between the measured value and the true value, and then determining a mature mapping relation between the measured value and the true value through further data inspection; and then, acquiring the height value of the output of the radio altimeter from the ground when the bird-imitating ornithopter actually flies, and calculating the real height value according to the mature mapping relation to realize distance measurement.
Further, static altitude analog measurement specifically refers to fixing a radio altimeter on the bird-imitating ornithopter and fixing the bird-imitating ornithopter at a spatial position where the altitude has been measured, specifically outputting the altitude from the ground through the radio altimeter.
Further, the radio altimeter altitude calculation process: the radio altimeter utilizes the antenna to emit radio waves, the radio waves are reflected back to the receiving antenna of the radio altimeter when contacting the ground, and the time difference between the emission and the receiving is calculated to be multiplied by the speed of light and divided by two, namely the height of the output of the radio altimeter from the ground.
Further, a preliminary mapping relationship between the measured value and the true value is established, and specific algorithms include least squares, polynomial fitting, polynomial regression, ridge regression, and lasso regression.
Further, the algorithm for determining the mature mapping between measured and actual values by further data inspection includes: residual analysis, predictive power inspection, cross-validation, graphics method.
Further, the mature mapping relationship between the measured value and the actual value is specifically that y=x×cos (arcsinpx) ×cos (arcsinpx)/((1-px×px) ×1+k), where x is the height value of the radio altimeter output from the ground, y is the actual height value when the measurement is recorded, p is the height value limiting parameter, and k is the error coefficient.
Compared with the prior art, the invention has the following beneficial effects:
according to the radio distance measuring method of the bird-imitating ornithopter, error compensation or correction is carried out by combining the bird-imitating ornithopter and a small radio altimeter, a mature mapping relation between a measured value and a real value is established, the height value of the output of the radio altimeter from the ground is obtained in the distance measuring process, and the real equivalent completion error compensation or correction of the height value is calculated according to the mature mapping relation, so that accurate distance measurement is achieved.
Drawings
FIGS. 1-6 are specific functional diagrams of mature mappings.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention.
The application discloses a radio distance measuring method of a bird-imitating ornithopter, which comprises the steps of firstly determining the appearance model of the bird-imitating ornithopter, determining the specific model of a radio altimeter and the fixed position on the bird-imitating ornithopter; carrying out a plurality of static altitude simulation measurements to obtain measurement data, wherein the static altitude simulation measurements specifically refer to fixing a radio altimeter on the simulated ornithopter and fixing the simulated ornithopter at a space position with measured altitude, and specifically output the altitude from the ground through the radio altimeter, and the radio altimeter altitude calculating process comprises the following steps: the radio altimeter utilizes the antenna to emit radio waves, the radio waves are reflected back to the receiving antenna of the radio altimeter when contacting the ground, the time difference between the emission and the receiving is calculated, and the time difference is multiplied by the speed of light and divided by two, namely the height of the output of the radio altimeter from the ground; outputting the height value from the ground and the real height value when the measurement is recorded through a radio altimeter;
and establishing a preliminary mapping relation between the measured value and the true value, wherein specific algorithms comprise a least square method, polynomial fitting, polynomial regression, ridge regression and lasso regression. Least squares method: is a mathematical optimization technique that finds the best functional match of the data by minimizing the sum of squares of the errors, which is often used for linear regression and curve fitting. Polynomial fitting: the relationship between the data is found by fitting the data to a polynomial function, which is applicable in cases where there is a definite polynomial relationship between the data. Polynomial regression: similar to polynomial fitting, this method also includes the ability to calculate predicted values, that is, it can not only find relationships from existing data, but also predict future data from such relationships. Ridge regression: is a linear regression method that deals with co-linearity by adding a penalty to reduce the complexity of the model, thereby preventing overfitting. Lasso regression: a method of handling collinearity is also provided, but it is implemented by adding an L1 regularization term to the objective function, so that sparse weight vectors can be generated, i.e. only a portion of the features contribute to the objective function.
The mature mapping between measured and true values is then determined by further data inspection, the algorithm comprising:
residual analysis: the differences (residuals) between the actual data and the predicted values of the fitting function are calculated and checked for random and expected distribution. If the fitted functional relationship is incorrect, the residual will typically show some pattern or non-randomness.
Predictive capability test: a portion of the data is used to fit and then another portion of the data (data not involved in the fit) is used to test predictive capability. If the fitted functional relationship is correct, the predicted value should be close to the actual value. Cross-validation: this method evaluates the performance of the model by dividing the data into a plurality of parts and fitting using one part of the data and then using another part of the data (data not involved in the fitting). By repeating this process multiple times, a more accurate assessment of the performance of the model can be obtained. The graphics method comprises the following steps: by plotting the data points and the fitted function graph, the effect of the fit can be visually checked. If the fitted functional relationship is incorrect, then there will typically be an inconsistency between the data points and the functional curve.
For example, in one embodiment, the mature mapping between measured and actual values is specifically,
y=x×cos (arcsinpx)/((1-px×px) (1+k)), where x is the height value of the radio altimeter output from the ground, y is the true height value (i.e., the true height value corresponding to x) at the time of recording measurement, p is the height value limiting parameter, p is the value range of the input value in which changing p value can change the mapping relationship (e.g., the value range of the input value in which the height value limiting parameter p is 0.006 mapping relationship is 0 to 50), k is the error coefficient, the error coefficient can characterize the degree of difference between the measured value and the true value, e.g., in a more specific implementation, the height value limiting parameter p is 0.006, the error coefficient k is 0.0002, and the mature mapping relationship between the measured value and the true value is specifically y=x×cos (arcsin0.006x) ×cos (e.006in0 x) ((1-0.006x) is 0.0060, the greater than the value is the maximum value of the input value is 1+0, so that the difference between the measured value and the true value is greater than the input value is 1.006x.
And then, acquiring the height value of the output of the radio altimeter from the ground when the bird-imitating ornithopter actually flies, and calculating the real height value according to the mature mapping relation to realize distance measurement.
Therefore, the radio distance measuring method of the bird-simulated flapping-wing aircraft provided by the application is specially combined with the bird-simulated flapping-wing aircraft and the small radio altimeter to perform error compensation or correction, and the accurate distance measurement is realized by establishing a mature mapping relation between the measured value and the real value and acquiring the altitude value of the output radio altimeter from the ground in the distance measurement process, and calculating the equivalent completion error compensation or correction of the real altitude value according to the mature mapping relation.
Embodiments of the present application that require protection include:
the radio distance measuring method of the simulated ornithopter comprises the steps of firstly determining the appearance model of the simulated ornithopter, determining the specific model of a radio altimeter and the fixed position on the simulated ornithopter; carrying out static height analog measurement for a plurality of times, obtaining measurement data, and outputting a height value from the ground through a radio altimeter and recording a real height value during measurement; establishing a preliminary mapping relation between the measured value and the true value, and then determining a mature mapping relation between the measured value and the true value through further data inspection; and then, acquiring the height value of the output of the radio altimeter from the ground when the bird-imitating ornithopter actually flies, and calculating the real height value according to the mature mapping relation to realize distance measurement.
Preferably, the static altitude simulation measurement refers in particular to the fixing of a radio altimeter on the bird-imitating ornithopter and the fixing of the bird-imitating ornithopter in a spatial position of the measured altitude, in particular the outputting of the altitude from the ground by means of the radio altimeter.
Preferably, the radio altimeter altitude calculation process: the radio altimeter utilizes the antenna to emit radio waves, the radio waves are reflected back to the receiving antenna of the radio altimeter when contacting the ground, and the time difference between the emission and the receiving is calculated to be multiplied by the speed of light and divided by two, namely the height of the output of the radio altimeter from the ground.
Preferably, a preliminary mapping between measured and actual values is established, and specific algorithms include least squares, polynomial fitting, polynomial regression, ridge regression, and lasso regression.
Preferably, the determining of the mature mapping algorithm between the measured value and the actual value by further data inspection comprises: residual analysis, predictive power inspection, cross-validation, graphics method.
Preferably, the mature mapping relationship between the measured value and the actual value is specifically that y=x×cos (arcsinpx) ×cos (arcsinpx)/((1-px×px) ×1+k), where x is the height value of the radio altimeter output from the ground, y is the actual height value when the measurement is recorded, p is the height value limiting parameter, and k is the error coefficient.
The embodiment of the application also provides computer equipment which can comprise terminal equipment or a server, and a data calculation program of the radio distance measuring method of the bird-imitating ornithopter can be configured in the computer equipment. The computer device is described below.
If the computer device is a terminal device, the embodiment of the present application provides a terminal device, taking the terminal device as a mobile phone as an example:
the mobile phone comprises: radio Frequency (RF) circuitry, memory, input unit, display unit, sensors, audio circuitry, wireless fidelity (Wireless Fidelity, wiFi) module, processor, and power supply.
The RF circuit can be used for receiving and transmitting signals in the process of receiving and transmitting information or communication, particularly, after receiving downlink information of the base station, the downlink information is processed by the processor; in addition, the data of the design uplink is sent to the base station. Typically, RF circuitry includes, but is not limited to, antennas, at least one amplifier, transceivers, couplers, low noise amplifiers (Low NoiseAmplifier, LNA for short), diplexers, and the like. In addition, the RF circuitry may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol, including but not limited to global system for mobile communications (Global System of Mobile communication, GSM for short), general packet radio service (GeneralPacket Radio Service, GPRS for short), code division multiple access (Code Division Multiple Access, CDMA for short), wideband code division multiple access (Wideband Code Division Multiple Access, WCDMA for short), long term evolution (Long Term Evolution, LTE for short), email, short message service (Short Messaging Service, SMS for short), and the like.
The memory may be used to store software programs and modules, and the processor executes the software programs and modules stored in the memory to perform various functional applications and data processing of the handset. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program (such as a sound playing function, an image playing function, etc.) required for at least one function, and the like; the storage data area may store data (such as audio data, phonebook, etc.) created according to the use of the handset, etc. In addition, the memory may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.
The input unit may be used to receive input numeric or character information and to generate key signal inputs related to user settings and function control of the handset. In particular, the input unit may include a touch panel and other input devices. The touch panel, also referred to as a touch screen, may collect touch operations thereon or thereabout by a user (e.g., operations thereon or thereabout by a user using any suitable object or accessory such as a finger, stylus, etc.), and drive the corresponding connection device according to a predetermined program. Alternatively, the touch panel may include two parts, a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts the touch information into touch point coordinates, sends the touch point coordinates to the processor, and can receive and execute commands sent by the processor. In addition, the touch panel may be implemented in various types such as resistive, capacitive, infrared, and surface acoustic wave. The input unit may include other input devices in addition to the touch panel. In particular, other input devices may include, but are not limited to, one or more of a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, mouse, joystick, etc.
The display unit may be used to display information input by a user or information provided to the user and various menus of the mobile phone. The display unit may include a display panel, which may be optionally configured in the form of a liquid crystal display (LiquidCrystal Display, LCD) or an Organic Light-Emitting Diode (OLED) or the like. Further, the touch panel may overlay the display panel, and upon detection of a touch operation thereon or thereabout, the touch panel is transferred to the processor to determine the type of touch event, and the processor then provides a corresponding visual output on the display panel in accordance with the type of touch event. Although in the figures the touch panel and the display panel are shown as two separate components to implement the input and output functions of the cell phone, in some embodiments the touch panel and the display panel may be integrated to implement the input and output functions of the cell phone.
The handset may also include at least one sensor, such as a light sensor, a motion sensor, and other sensors. In particular, the light sensor may include an ambient light sensor that may configure the brightness of the display panel according to the brightness of ambient light, and a proximity sensor that may turn off the display panel and/or backlight when the phone is moved to the ear. As one of the motion sensors, the accelerometer sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and direction when stationary, and can be used for applications of recognizing the gesture of a mobile phone (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that may also be configured with the handset are not described in detail herein.
Audio circuitry, speakers, and microphone may provide an audio interface between the user and the handset. The audio circuit can transmit the received electric signal after the audio data conversion to a loudspeaker, and the loudspeaker converts the electric signal into a sound signal to be output; on the other hand, the microphone converts the collected sound signals into electrical signals, which are received by the audio circuit and converted into audio data, which are processed by the audio data output processor and sent via the RF circuit to, for example, another mobile phone, or which are output to a memory for further processing.
WiFi belongs to a short-distance wireless transmission technology, and a mobile phone can help a user to send and receive an email, browse a webpage, access streaming media and the like through a WiFi module, so that wireless broadband Internet access is provided for the user. Although there is a WiFi module, it is understood that it does not belong to the necessary constitution of the mobile phone, and can be omitted entirely as required within the scope of not changing the essence of the invention.
The processor is a control center of the mobile phone, and is connected with various parts of the whole mobile phone by various interfaces and lines, and executes various functions and processes data of the mobile phone by running or executing software programs and/or modules stored in the memory and calling data stored in the memory, so that the mobile phone is monitored integrally. In the alternative, the processor may include one or more processing units; preferably, the processor may integrate an application processor and a modem processor, wherein the application processor primarily handles operating systems, user interfaces, applications, etc., and the modem processor primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor.
The handset further includes a power source (e.g., a battery) for powering the various components, preferably in logical communication with the processor through a power management system, such that functions such as managing charge, discharge, and power consumption are performed by the power management system.
The mobile phone may further include a camera, a bluetooth module, etc., which will not be described in detail herein.
In this embodiment, the processor included in the terminal device further has the following functions:
executing a data calculation program of a radio distance measuring method of the bird-imitating ornithopter.
If the computer device is a server, the embodiments of the present application further provide a server, where the server may generate a relatively large difference due to different configurations or performances, and may include one or more central processing units (Central Processing Units, abbreviated as CPUs) (e.g., one or more processors) and a memory, one or more storage media (e.g., one or more mass storage devices) storing application programs or data. The memory and storage medium may be transitory or persistent. The program stored on the storage medium may include one or more modules, each of which may include a series of instruction operations on the server. Still further, the central processor may be configured to communicate with a storage medium and execute a series of instruction operations on the storage medium on a server.
The server may also include one or more power supplies, one or more wired or wireless network interfaces, one or more input/output interfaces, and/or one or more operating systems, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, etc.
In addition, the embodiment of the application also provides a storage medium for storing a computer program for executing the method provided by the embodiment.
The present embodiments also provide a computer program product comprising instructions which, when run on a computer, cause the computer to perform the method provided by the above embodiments.
Those of ordinary skill in the art will appreciate that: all or part of the steps for implementing the above method embodiments may be implemented by hardware related to program instructions, where the above program may be stored in a computer readable storage medium, and when the program is executed, the program performs steps including the above method embodiments; and the aforementioned storage medium may be at least one of the following media: read-only Memory (ROM), RAM, magnetic disk or optical disk, etc.
The present application also discloses a bird-imitating ornithopter radio ranging system comprising a computer program product of instructions which, when run on a computer, cause the computer to perform a bird-imitating ornithopter radio ranging method as described above.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment is mainly described in a different point from other embodiments. In particular, for the apparatus and system embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, with reference to the description of the method embodiments in part. The apparatus and system embodiments described above are merely illustrative, in which elements illustrated as separate elements may or may not be physically separate, and elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
The foregoing is merely one specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and any changes or substitutions easily conceivable by those skilled in the art within the technical scope of the present application should be covered in the protection scope of the present application.
Claims (6)
1. The radio distance measuring method of the bird-imitating ornithopter is characterized by comprising the steps of firstly determining the appearance model of the bird-imitating ornithopter and determining the specific model of a radio altimeter and the fixed position on the bird-imitating ornithopter; carrying out static height analog measurement for a plurality of times, obtaining measurement data, and outputting a height value from the ground through a radio altimeter and recording a real height value during measurement; establishing a preliminary mapping relation between the measured value and the true value, and then determining a mature mapping relation between the measured value and the true value through further data inspection; and then, acquiring the height value of the output of the radio altimeter from the ground when the bird-imitating ornithopter actually flies, and calculating the real height value according to the mature mapping relation to realize distance measurement.
2. A method for radio-ranging a bird-imitating ornithopter according to claim 1, characterized in that the static altitude analog measurement refers in particular to the fixing of a radio altimeter on the bird-imitating ornithopter and the fixing of the bird-imitating ornithopter in a spatial position where the altitude has been measured, in particular the outputting of the altitude from the ground by means of the radio altimeter.
3. The method for radio ranging of a bird-imitating ornithopter according to claim 1, wherein the radio altimeter altitude calculating process comprises the steps of: the radio altimeter utilizes the antenna to emit radio waves, the radio waves are reflected back to the receiving antenna of the radio altimeter when contacting the ground, and the time difference between the emission and the receiving is calculated to be multiplied by the speed of light and divided by two, namely the height of the output of the radio altimeter from the ground.
4. The method for radio ranging of a bird-flapping-wing-imitating aircraft according to claim 1, wherein the preliminary mapping relationship between the measured value and the true value is established, and the specific algorithm comprises least square method, polynomial fitting, polynomial regression, ridge regression and lasso regression.
5. A method of radio ranging a bird-flapping-imitating aircraft as recited in claim 1, wherein determining the mature mapping algorithm between measured and actual values by further data verification comprises: residual analysis, predictive power inspection, cross-validation, graphics method.
6. The method of claim 1, wherein the mature mapping between the measured value and the actual value is specifically y=x×cos (arcsinpx) ×cos (arcsinpx)/((1-px) ×1+k)), where x is the altitude value of the output of the radio altimeter from the ground, y is the actual altitude value when the measurement is recorded, p is the altitude value limiting parameter, and k is the error coefficient.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410007151.3A CN117590368A (en) | 2024-01-03 | 2024-01-03 | Radio distance measuring method for bird-imitating ornithopter |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410007151.3A CN117590368A (en) | 2024-01-03 | 2024-01-03 | Radio distance measuring method for bird-imitating ornithopter |
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| CN117590368A true CN117590368A (en) | 2024-02-23 |
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| CN202410007151.3A Withdrawn CN117590368A (en) | 2024-01-03 | 2024-01-03 | Radio distance measuring method for bird-imitating ornithopter |
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- 2024-01-03 CN CN202410007151.3A patent/CN117590368A/en not_active Withdrawn
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Application publication date: 20240223 |