CN118310475A - Aircraft flight height measuring method, device and system - Google Patents

Abstract

The application provides a method, equipment and a system for measuring the flying height of an aircraft. The method comprises the following steps: responding to the aircraft in a flight state, obtaining the longitude and latitude of a local position corresponding to the current moment, and determining the local elevation based on the longitude and latitude of the local position; receiving height measurement data sent by at least one height measurement device at the current moment; obtaining height measurement data to be fused based on at least one of the height measurement data and the local elevation; and carrying out fusion calculation on the height measurement data to be fused to obtain the fusion flying height at the current moment. The measuring device can receive a plurality of height measurement data, the height measurement data are from a plurality of height measurement devices, and fusion calculation is carried out based on at least one height measurement data, so that the fusion flying height is considered from multiple aspects, the limitation and the singleness of the fusion flying height are reduced, the fusion flying height can reflect the actual flying height of the aircraft more closely, and the effectiveness of the fusion flying height is improved.

Description

Aircraft flight height measuring method, device and system

Technical Field

The present application relates to aviation technology, and in particular, to a method, an apparatus, and a system for measuring the flying height of an aircraft.

Background

With the continuous development of aviation technology, the degree of automation of flight control of aircrafts is increasing. The accuracy of the flight altitude parameter measurement can affect the control and safety of the aircraft flight. Especially, the measurement of the flying height is important when the aircraft is in the processes of taking off, landing and avoiding the terrain.

The altitude measurement of the aircraft in the prior art is mainly realized by a height measurement device. The measuring equipment receives the height measurement data sent by the height measurement equipment, and determines the altitude and the relative height of the aircraft from the height measurement data.

However, at present, an aircraft is only provided with one type of height measurement equipment, once the fault or the out-of-tolerance precision of the height measurement equipment occurs, the aircraft cannot obtain real and effective height information, even if two types of height measurement equipment are simultaneously provided for solving the limitation of single equipment, the height measurement data of one type of height measurement equipment is taken as the main part, the height measurement data of the other type of height measurement equipment is taken as the backup for use, and the height measurement data output by the two types of height measurement equipment cannot be effectively and fully used. Therefore, the requirements of high-precision aircraft flying height measurement from low altitude to high altitude, no influence from external environment, strong anti-interference capability and certain fault tolerance can not be met, and the altitude obtained by the aircraft is low in relative altitude effectiveness and accuracy.

Disclosure of Invention

The application provides a method, equipment and a system for measuring the flying height of an aircraft, which are used for solving the problems that the height measuring equipment carried by the aircraft is easy to fail in the flying process, and the height measuring data measured by one height measuring equipment are single, so that the limitation exists, and the altitude obtained by the aircraft and the relative altitude are low in effectiveness and accuracy.

In a first aspect, the application provides a method for measuring the flying height of an aircraft, characterized in that it comprises:

Responding to the aircraft in a flight state, obtaining the longitude and latitude of a local position corresponding to the current moment, and determining the local elevation based on the longitude and latitude of the local position;

Receiving height measurement data sent by at least one height measurement device at the current moment;

Obtaining height measurement data to be fused based on at least one of the height measurement data and the local elevation;

And carrying out fusion calculation on the height measurement data to be fused to obtain the fusion flying height at the current moment.

In one manner, the determining the local elevation based on the local location longitude and latitude includes:

acquiring a map elevation map; the map elevation map comprises longitude and latitude of each preset position and corresponding preset elevation;

Inquiring the longitude and latitude of a preset position consistent with the longitude and latitude of the local position in the map elevation chart;

and determining the preset elevation corresponding to the longitude and latitude of the consistent preset position as the local elevation.

In one mode, the at least one height measurement device is at least one of an atmospheric height measurement device, a satellite positioning height measurement device and a radio measurement device; the altimetric data includes at least one of atmospheric altimetric data, satellite altimetric data, and wireless altimetric data.

In one mode, the atmospheric altitude data comprises an atmospheric altitude; the satellite height measurement data comprises satellite altitude; the radio elevation data includes radio relative elevation; the height measurement data to be fused comprise altitude to be fused and relative altitude to be fused; the altitude to be fused comprises at least one of the atmospheric altitude, the satellite altitude, and the radio altitude; the relative altitude to be fused includes at least one of the atmospheric relative altitude, the satellite relative altitude, and the radio relative altitude;

The obtaining height measurement data to be fused based on at least one of the height measurement data and the local elevation includes:

If the plurality of altimetric data includes atmospheric altimetric data, calculating an atmospheric altitude based on the atmospheric altitude and a local altitude;

If the plurality of altimetric data comprise satellite altimetric data, calculating satellite relative altitude based on the satellite altitude and a local altitude;

If the plurality of altimetric data includes radio altitude data, a radio altitude is calculated based on the radio relative altitude and a local altitude.

In one form, the calculating the atmospheric altitude based on the atmospheric altitude and the local altitude includes:

Calculating a difference between the atmospheric altitude and the local elevation to obtain an atmospheric relative altitude;

the calculating the satellite relative altitude based on the satellite altitude and the local altitude comprises:

calculating the difference between the satellite altitude and the local elevation to obtain the satellite relative altitude;

The calculating a radio altitude based on the radio relative altitude and a local altitude, comprising:

a sum of the radio relative altitude and the local altitude is calculated to obtain a radio altitude.

In one mode, the performing fusion calculation on the height measurement data to be fused to obtain a fusion flight height at the current moment includes:

Performing fusion calculation based on the altitude to be fused to obtain the fusion flying altitude at the current moment;

And carrying out fusion calculation based on the relative heights to be fused so as to obtain the fusion flying relative heights at the current moment.

In one mode, the altitude included in the altitude to be fused is the current moment altitude;

the fusion calculation is performed based on the altitude to be fused to obtain a fused flying altitude, comprising:

effectively judging the altitude to be fused;

And in response to at least one current moment altitude in the altitudes to be fused being effective, inputting all effective current moment altitudes into a preset fusion altitude algorithm, and calculating and outputting the fusion flight altitude at the current moment by adopting the preset fusion altitude algorithm.

In one mode, the effectively judging the altitude to be fused includes:

acquiring the altitude at the last moment corresponding to at least one current moment in the altitudes to be fused;

For each current moment altitude, if the altitude difference between the current moment altitude and the corresponding last moment altitude is within a preset altitude difference range, determining that the current moment altitude is valid;

And aiming at the current moment of altitude, if the altitude difference between the current moment of altitude and the corresponding last moment of altitude is not in the preset altitude difference range, determining that the current moment of altitude is invalid.

In one mode, the relative height included in the relative height to be fused is the relative height at the current moment;

the fusion calculation is performed based on the relative height to be fused to obtain the fused flying relative height, which comprises the following steps:

effectively judging the relative height to be fused;

and in response to the fact that at least one current moment relative height in the relative heights to be fused is effective, inputting all effective current moment relative heights into a preset fusion relative height algorithm, and calculating and outputting the fusion flying relative height at the current moment by adopting the preset fusion relative height algorithm.

In one form, the method further comprises:

Acquiring a confidence coefficient corresponding to the fusion flying height at the current moment calculated by a preset fusion height algorithm; the preset fusion height algorithm comprises a preset fusion altitude algorithm and a preset fusion relative height algorithm;

and displaying the fusion flight height at the current moment and the confidence corresponding to the fusion flight height, all effective current moment altitudes and all effective current moment relative heights.

In a second aspect, the application provides an aircraft flight altitude measurement apparatus comprising: the device comprises a collector, a fusion processor and a secondary power panel;

the collector is connected with the fusion processor;

The secondary power panel is connected with the collector and the fusion processor respectively;

The collector is used for responding to the aircraft in a flight state, obtaining the longitude and latitude of the local position corresponding to the current moment, and receiving the height measurement data sent by at least one height measurement device at the current moment;

The fusion processor is used for determining a local elevation based on the longitude and latitude of the local position, obtaining height measurement data to be fused based on at least one piece of height measurement data and the local elevation, and carrying out fusion calculation on the height measurement data to be fused to obtain a fusion flight height at the current moment;

The secondary power panel is used for supplying power to the collector and the fusion processor so that the collector and the fusion processor work normally.

In a third aspect, the present application provides a measurement system for aircraft flying height, comprising: the aircraft flying height measuring device, the external integrated power supply and the height measuring device according to the second aspect;

the aircraft flying height measuring equipment is connected with the height measuring equipment and an external comprehensive power supply respectively;

the height measurement equipment is used for sending height measurement data;

and the external integrated power supply is used for providing power for the aircraft flying height measuring equipment so as to enable the aircraft flying height measuring equipment to work normally.

The application provides a method, equipment and a system for measuring the flying height of an aircraft, wherein the measuring equipment of the flying height of the aircraft (hereinafter referred to as measuring equipment) responds to the flying state of the aircraft, so that the local position longitude and latitude corresponding to the current moment are obtained, the local elevation is further determined based on the local position longitude and latitude, then the height measurement data sent by at least one height measurement equipment at the current moment are received, the measuring equipment obtains the height measurement data to be fused based on the at least one height measurement data and the local elevation, fusion calculation is carried out on the height measurement data to be fused, so that the fusion flying height is obtained.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

FIG. 1 is an application scenario diagram of a method for measuring aircraft flying height provided by the application;

fig. 2 is a schematic flow chart of a method for measuring the flying height of an aircraft according to the first embodiment;

fig. 3 is a flow chart of a method for measuring the flying height of an aircraft according to a second embodiment;

Fig. 4 is a flow chart of a method for measuring the flying height of an aircraft according to a fourth embodiment;

Fig. 5 is a flow chart of a method for measuring the flying height of an aircraft according to a sixth embodiment;

fig. 6 is a schematic flow chart of a method for measuring the flying height of an aircraft according to an eighth embodiment;

FIG. 7 is a schematic illustration of an interaction provided in accordance with a tenth embodiment;

FIG. 8 is a schematic view of an apparatus for measuring aircraft flying height according to an eleventh embodiment;

FIG. 9 is a schematic view of a further aircraft altitude measurement apparatus according to an eleventh embodiment;

FIG. 10 is a schematic diagram of a fusion processor according to an eleventh embodiment;

Fig. 11 is a schematic structural diagram of a collector according to an eleventh embodiment;

Fig. 12 is a schematic structural diagram of a display according to an eleventh embodiment;

fig. 13 is a schematic structural diagram of a secondary power panel according to an eleventh embodiment;

fig. 14 is a schematic diagram of an aircraft flight level measurement system according to a twelfth embodiment.

Specific embodiments of the present application have been shown by way of the above drawings and will be described in more detail below. The drawings and the written description are not intended to limit the scope of the inventive concepts in any way, but rather to illustrate the inventive concepts to those skilled in the art by reference to the specific embodiments.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

The altitude measurement of the aircraft in the prior art is mainly realized by a height measurement device. The measuring equipment receives the height measurement data sent by the height measurement equipment, and determines the altitude and the relative height of the aircraft from the height measurement data.

If the altitude measurement device is an atmospheric altitude measurement device, the altitude measurement data sent by the atmospheric altitude measurement device includes an atmospheric altitude, and the atmospheric relative altitude is calculated based on the atmospheric altitude, so that the atmospheric altitude and the atmospheric relative altitude of the aircraft are determined by the measurement device.

However, the altitude measurement device mounted on the aircraft is prone to malfunction in flight, and the altitude measurement data measured by one altitude measurement device is single, and thus has limitations, resulting in low altitude and relative altitude availability and accuracy.

In order to solve the defects of the prior art, the inventor of the scheme designs a new scheme through creative research. The method comprises the steps of obtaining local position longitude and latitude corresponding to the current moment in response to the aircraft in a flight state, determining the local altitude based on the local position longitude and latitude, receiving altitude measurement data sent by at least one altitude measurement device at the current moment by the measuring device, receiving a plurality of altitude measurement data by the measuring device, further obtaining altitude measurement data to be fused based on at least one altitude measurement data and the local altitude, and carrying out fusion calculation on the altitude measurement data to be fused, wherein the altitude measurement data to be fused is obtained based on at least one altitude measurement data and the local altitude, so that the altitude measurement can be fused from multiple aspects, the single and the limitation of the fused altitude in the scheme are reduced, and the fused altitude can be more practical to reflect the actual altitude of the aircraft at the current moment, so that the fused altitude is improved. Meanwhile, at least one height measuring device is deployed in the scheme, so that when one of the height measuring devices fails, height measurement data sent by other height measuring devices can be used for carrying out height fusion calculation, and accurate fusion flying height can be continuously output.

The application provides a method, equipment and a system for measuring the flight altitude of an aircraft.

Fig. 1 is an application scenario diagram of a method for measuring the flying height of an aircraft provided by the application. As shown in fig. 1, the application scenario diagram includes an aircraft 101.

The aircraft 101 may be any machine that flies in the air, such as, for example, unmanned aerial vehicles, aeroplanes, and airships, without limitation herein.

Wherein the aircraft 101 comprises a measuring device 102 and at least one altimeter device 103.

In this scenario, the aircraft 101 flies in the air, at least one altitude measurement device 103 collects altitude measurement data at the current moment and sends the acquired altitude measurement data to the measurement device 102, the measurement device 102 obtains local position longitude and latitude, determines a local altitude based on the local longitude and latitude, and then obtains altitude measurement data to be fused based on the at least one altitude measurement data and the local altitude, so as to perform fusion calculation, and obtain the fusion flight altitude at the current moment.

It should be noted that, when the height measurement device includes a plurality of height measurement devices, once a fault occurs in one height measurement device, the rest height measurement devices can send height measurement data to the aircraft flight height measurement device, so as to facilitate the aircraft to obtain more real and effective height information. The present application solves the problem of the limited height measuring equipment.

It should be noted that, the present application utilizes at least one piece of received altimetric data, and adopts a preset fusion height algorithm to fuse at least one piece of altimetric data, so that the present application has high utilization rate of the altimetric data, and the related altimetric data are utilized.

In the application, the altitude to be fused and the relative altitude to be fused are effectively judged, so that the fusion flying altitude at the current moment and the fusion flying relative altitude at the current moment which are finally obtained by the application have high accuracy, and the anti-interference capability is improved because the effective judgment can be realized.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or fully authorized by each party, and the collection, use and processing of the related data need to comply with related laws and regulations and standards, and provide corresponding operation entries for the user to select authorization or rejection.

The application provides a method for measuring the flying height of an aircraft, which aims to solve the technical problems in the prior art.

The following describes the technical scheme of the present application and how the technical scheme of the present application solves the above technical problems in detail with specific embodiments. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. Embodiments of the present application will be described below with reference to the accompanying drawings.

Example 1

The first to tenth embodiments of the present application provide an apparatus for measuring the flying height of an aircraft.

Fig. 2 is a flow chart of a method for measuring the flying height of an aircraft according to a first embodiment. As shown in fig. 2, the specific steps are as follows.

S201, responding to the aircraft in a flight state, obtaining the longitude and latitude of the local position corresponding to the current moment, and determining the local elevation based on the longitude and latitude of the local position.

The flying state refers to a state that the aircraft flies in the air and is in flying work.

The longitude and latitude of the local position refers to the longitude and latitude of the current position of the aircraft on a map.

The local elevation refers to the terrain elevation of the aircraft.

In one mode, a navigation system is carried in the aircraft, and the navigation system can be used for measuring and resolving the instant longitude and latitude of the aircraft at the current moment and sending the instant longitude and latitude to the measuring equipment, so that the measuring equipment takes the received longitude and latitude as the longitude and latitude of the local position, and the longitude and latitude of the local position are obtained.

S202, receiving height measurement data sent by at least one height measurement device at the current moment.

The at least one height measuring device can be at least one height measuring device of the same type or at least one height measuring device of a different type. Wherein, there can be a plurality of height measuring devices of each type.

In one mode, at least one height measurement device is mounted in an aircraft, the at least one height measurement device collects height measurement raw data in real time, calculates the height measurement raw data to obtain height measurement data, and further sends the height measurement data to the measurement device, so that the measurement device can receive the height measurement data sent by the at least one height measurement device at the current moment. The height measurement raw data are basic data which are collected by height measurement equipment and are related to the height measurement data.

Wherein, the height measurement data refers to any data related to the height calculated by the height measurement device based on the collected height measurement raw data.

And S203, obtaining height measurement data to be fused based on at least one height measurement data and the local elevation.

The height measurement data to be fused refers to height measurement data further used for fusion calculation.

In one mode, if one altimetric data includes an atmospheric altitude, the altimetric data to be fused is obtained based on the atmospheric altitude and the local altitude.

S204, fusion calculation is carried out on the height measurement data to be fused so as to obtain the fusion flying height at the current moment.

The fused flying height refers to the flying height of the fused aircraft. Including fusion of altitude and fusion of relative altitude.

When fusion calculation is carried out on the height measurement data to be fused, a preset fusion height algorithm is adopted. The preset fusion height algorithm may be a dynamic weighted fault tolerant height filtering algorithm, or other, which is not limited herein.

It should be noted that, the preset fusion height algorithm may perform fault tolerance processing on the height measurement data to be fused, and perform dynamic weight distribution according to the error characteristics of the height measurement data to be fused, so as to perform fusion height filtering calculation, thereby calculating the fusion flight height at the current moment. Therefore, the application can improve the fault tolerance.

The embodiment provides a method for measuring the flying height of an aircraft, wherein a measuring device for the flying height of the aircraft (hereinafter referred to as measuring device) responds to the flying state of the aircraft, so as to obtain the longitude and latitude of a local position corresponding to the current moment, further determine the local height based on the longitude and latitude of the local position, then receive the height measurement data sent by at least one height measurement device at the current moment, obtain the height measurement data to be fused based on the at least one height measurement data and the local height, and perform fusion calculation on the height measurement data to be fused, so as to obtain the fusion flying height at the current moment.

Example two

This embodiment is a further refinement of the first embodiment described above, in which this embodiment is an alternative way of determining the local elevation based on the longitude and latitude of the local location.

Fig. 3 is a flow chart of a method for measuring the flying height of an aircraft according to a second embodiment. As shown in fig. 3, the specific steps are as follows.

S301, acquiring a map elevation map; the map elevation map comprises longitude and latitude of each preset position and corresponding preset elevation.

The map elevation map refers to a map which is stored in a preset mode and is related to the longitude and latitude of a preset position and the corresponding preset elevation.

The longitude and latitude of the preset position refers to the longitude and latitude of the preset position. It should be noted that, each preset position longitude and latitude corresponds to a preset elevation.

The preset elevation refers to a terrain elevation corresponding to longitude and latitude of a preset position.

In one approach, the measurement device obtains the map elevation map locally.

S302, inquiring the longitude and latitude of the preset position consistent with the longitude and latitude of the local position in the map elevation chart.

For example, assume that the map elevation map includes three preset position longitudes and latitudes and corresponding preset elevations, which are respectively a first preset position longitude and latitude and corresponding first preset elevation, a second preset position longitude and latitude and corresponding second preset elevation, and a third preset position longitude and latitude and corresponding third preset elevation.

Assuming that the longitude and latitude of the local position are consistent with those of the first preset position, in this step, the measuring device queries that the longitude and latitude of the preset position consistent with the longitude and latitude of the local position is the longitude and latitude of the first preset position from the plurality of preset position longitudes and latitudes.

S303, determining a preset elevation corresponding to the longitude and latitude of the consistent preset position as a local elevation.

Further, the measurement device determines a first preset altitude Cheng Ji corresponding to the longitude and latitude of the first preset position as the local altitude.

In one mode, if the preset position longitude and latitude consistent with the local position longitude and latitude is not queried in the map elevation chart, determining the local position longitude and latitude as invalid longitude and latitude.

The embodiment provides a method for measuring the flying height of an aircraft, which can accurately determine the local elevation of the longitude and latitude of the local position based on a map elevation chart comprising the longitude and latitude of each preset position and the corresponding preset elevation.

Example III

The embodiment is a further refinement of any one of the embodiments, where at least one altimeter is at least one of an atmospheric altimeter, a satellite positioning altimeter, and a radio altimeter; the altimetric data includes at least one of atmospheric altimetric data, satellite altimetric data, and wireless altimetric data.

Example IV

The embodiment is a further refinement of any of the embodiments above, in which the atmospheric altitude data includes an atmospheric altitude; satellite altimetry data includes satellite altitudes; the radio elevation data includes radio relative elevation; the height measurement data to be fused comprises altitude to be fused and relative altitude to be fused; the altitude to be fused comprises at least one of an atmospheric altitude, a satellite altitude, and a radio altitude; the relative altitude to be fused includes at least one of an atmospheric relative altitude, a satellite relative altitude, and a radio relative altitude.

In this embodiment, it should be noted that, if at least one of the height measurement devices includes an atmospheric height measurement device, atmospheric height measurement data sent by the atmospheric height measurement device at the current time is received; if the at least one height measuring device comprises satellite positioning height measuring equipment, receiving satellite height measuring data sent by the satellite positioning height measuring equipment at the current moment; and if the at least one height measuring device comprises a radio height measuring device, receiving radio height measuring data sent by the radio height measuring device at the current moment.

The atmospheric altimeter is equipment for acquiring atmospheric altimeter raw data based on atmospheric pressure and calculating to obtain altimeter data based on the atmospheric altimeter raw data.

The satellite positioning height measurement equipment is equipment for acquiring satellite height measurement raw data based on satellite positioning and obtaining height measurement data based on satellite height measurement raw data through calculation.

The radio altimeter is equipment for acquiring radio altimeter raw data based on radio and calculating to obtain altimeter data based on the radio altimeter raw data.

This embodiment is an alternative way of obtaining altimetric data to be fused based on at least one altimetric data and local elevation.

Fig. 4 is a flow chart of a method for measuring the flying height of an aircraft according to a fourth embodiment. As shown in fig. 4, the specific steps are as follows.

S401, if the plurality of altimetric data comprises atmospheric altimetric data, calculating the atmospheric altitude based on the atmospheric altitude and the local altitude.

The altitude refers to the vertical distance between the position of the aircraft in flight and the sea level.

The relative altitude refers to the difference between the absolute altitude of two positions, namely, a certain designated reference plane is selected as a datum plane, and the vertical distance between the position where the aircraft flies and the designated reference plane is set. In this embodiment, the highest mountain in the terrain may be used as the designated reference plane.

The atmospheric altitude refers to altitude acquired based on atmospheric pressure.

The atmospheric relative height refers to a relative height corresponding to the atmospheric pressure.

S402, if the plurality of altimetric data comprises satellite altimetric data, calculating a satellite relative altitude based on the satellite altitude and the local altitude.

The satellite altitude refers to the altitude acquired based on satellite positioning.

The satellite relative altitude refers to a relative altitude related to satellite positioning.

S403, if the plurality of altimetric data includes radio altitude data, calculating a radio altitude based on the radio relative altitude and the local altitude.

Where radio relative height refers to a relative height based on radio acquisition.

Where radio altitude refers to the altitude associated with the radio.

The embodiment provides a method for measuring aircraft flying height, which specifically calculates corresponding relative heights according to different types of altimetric data included in altimetric data, wherein the altimetric data to be fused in the embodiment includes altitude to be fused and relative height to be fused, and the altitude to be fused includes at least one of atmospheric altitude, satellite altitude and radio altitude; the relative altitude to be fused includes at least one of an atmospheric relative altitude, a satellite relative altitude, and a radio relative altitude, so the present embodiment can differentially calculate the altitude to be fused and the relative altitude to be fused.

Example five

This embodiment is a further refinement of any of the embodiments described above in that the embodiment is an alternative way of calculating the atmospheric altitude based on the atmospheric altitude and the local altitude.

The difference between the altitude of the atmosphere and the local elevation is calculated to obtain the altitude of the atmosphere.

This embodiment also includes an alternative way of calculating the relative altitude of the satellites based on the satellite altitude and the local altitude.

The difference between the satellite altitude and the local altitude is calculated to obtain the satellite relative altitude.

The present embodiment also includes an alternative way of calculating the radio altitude based on the radio relative altitude and the local altitude.

The sum of the radio relative altitude and the local altitude is calculated to obtain the radio altitude.

The present embodiment provides a method for measuring aircraft flying height, and specifically in the present embodiment, the atmospheric air altitude, the satellite air altitude, and the radio altitude are calculated in a targeted manner according to local altitudes.

Example six

The embodiment is a further refinement of any of the above embodiments, where the embodiment is an optional way to perform fusion calculation on the height measurement data to be fused to obtain a fused fly height at the current moment.

Fig. 5 is a flowchart of a method for measuring the flying height of an aircraft according to a sixth embodiment. As shown in fig. 5, the specific steps are as follows.

S501, fusion calculation is carried out based on the altitude to be fused so as to obtain the fusion flying altitude at the current moment.

S502, fusion calculation is carried out based on the relative heights to be fused, so that the fusion flying relative heights at the current moment are obtained.

The embodiment provides a method for measuring the flying height of an aircraft, which is characterized in that the fusion flying altitude and the fusion flying relative height are calculated in a targeted and differentiated manner according to different height measurement data to be fused.

Example seven

The present embodiment is a further refinement of any of the above embodiments, where the altitude included in the altitude to be fused in the present embodiment is the current moment altitude.

The altitude to be fused includes at least one of an atmospheric altitude, a satellite altitude, and a radio altitude, and in this embodiment, the altitude included in the altitude to be fused is the current-time altitude, which means that the atmospheric altitude, the satellite altitude, and the radio altitude are the current-time altitudes.

The embodiment is an alternative way to perform fusion calculation based on the altitude to be fused to obtain the fused flying altitude.

And effectively judging the altitude to be fused.

The effective judgment refers to jump judgment, namely judging whether the altitude to be fused is effective data or not.

And in response to at least one current moment altitude in the altitudes to be fused being effective, inputting all effective current moment altitudes into a preset fusion altitude algorithm, and calculating and outputting the fusion flight altitude at the current moment by adopting the preset fusion altitude algorithm.

The altitude to be fused is assumed to include three altitudes, i.e., an atmospheric altitude, a satellite altitude, and a radio altitude, and in this embodiment, the three altitudes are current-moment altitudes, and jump judgment is performed on the three current-moment altitudes.

Further, in one mode, if two current moment altitudes are valid, inputting the valid two current moment altitudes into a preset fusion altitude algorithm, and calculating and outputting the fusion flight altitude at the current moment by adopting the preset fusion altitude algorithm.

Wherein the preset fusion altitude algorithm belongs to the preset fusion altitude algorithm.

The preset fusion altitude algorithm is preset, and can take the effective altitude at the current moment into consideration, so that the calculation algorithm is fused.

In another mode, if three current moment altitudes are valid, the valid three current moment altitudes are input into a preset fusion altitude algorithm.

In one mode, if only one current moment of the altitude to be fused is valid, the current moment of the altitude is input into a preset fused altitude algorithm.

In one manner, if none of the current time altitudes of the altitude to be fused is valid, all the invalid current time altitudes are ignored or deleted, or a preset invalidation strategy is adopted to obtain the aircraft flight altitude, for example, the sum of the last time fusion altitude and the sky speed of the aircraft at the last time is used as the fusion altitude at the current time.

The embodiment provides a method for measuring the flying height of an aircraft, in the embodiment, firstly, effective judgment is carried out, and only at least one effective current moment of the flying height can be input into a preset fusion flying height algorithm, so that the embodiment firstly carries out preliminary screening on the to-be-fused flying height, and therefore, the fusion flying height calculated based on the screened effective current moment of the flying height is more fit with reality.

Example eight

The present embodiment is a further refinement of any of the above embodiments, where the present embodiment is an alternative way of effectively determining the altitude to be fused.

Fig. 6 is a flow chart of a method for measuring the flying height of an aircraft according to an eighth embodiment. As shown in fig. 6, the specific steps are as follows.

S601, acquiring the altitude at the last moment corresponding to at least one current moment in the altitudes to be fused.

For example, assuming that the altitude to be fused includes an atmospheric altitude and a satellite altitude, the measurement device acquires the last-time altitude corresponding to the atmospheric altitude, that is, the last-time atmospheric altitude, and acquires the last-time altitude corresponding to the satellite altitude, that is, the last-time satellite altitude.

The atmospheric altitude and the satellite altitude are the current moment altitude, namely the current moment atmospheric altitude and the current moment satellite altitude respectively.

S602, for each current moment altitude, if the altitude difference between the current moment altitude and the corresponding last moment altitude is within a preset altitude difference range, determining that the current moment altitude is valid.

Further, taking the current time atmospheric altitude as an example, if the altitude difference between the current time atmospheric altitude and the corresponding last time atmospheric altitude is within the preset altitude difference range, determining that the current time atmospheric altitude is valid, that is, the atmospheric altitude in the altitude to be fused is valid.

The preset altitude difference range is a preset tolerable altitude difference range. The altitude difference range of the aircraft in normal flight from the previous time to the current time is used. For example, when the aircraft flies normally from the previous time to the current time, the normal range of the altitude difference from the previous time position to the current time position is (-X, X), and if the actual altitude difference is smaller than-X or larger than X, it is indicated that the aircraft may not fly normally. Wherein, the normal altitude difference range (-X, X) is the preset altitude difference range.

S603, for each current moment altitude, if the altitude difference between the current moment altitude and the corresponding last moment altitude is not in the preset altitude difference range, determining that the current moment altitude is invalid.

For example, if the altitude difference between the current time altitude and the corresponding previous time altitude is no longer within the preset altitude difference range, i.e., the altitude difference normal range (-X, X), it is determined that the current time altitude is invalid.

In the present application, numerical values and the like in the exemplary examples are merely for explanation of the embodiments and are not representative of actual conditions.

The embodiment provides a method for measuring the flying height of an aircraft, in the embodiment, a preset altitude difference range is adopted, and the altitude difference between the current moment altitude and the corresponding last moment altitude is used for determining whether the current moment altitude is valid or invalid, specifically, if the altitude difference between the current moment altitude and the corresponding last moment altitude is in the preset altitude difference range, the current moment altitude is valid because the current moment altitude is in normal flying from the last moment to the current moment; if the altitude difference between the current time altitude and the corresponding previous time altitude is not in the preset altitude difference range, the current time altitude is invalid because the altitude difference between the current time altitude and the current time is abnormal flight.

Example nine

The embodiment is a further refinement of any of the embodiments described above, where the relative height included in the relative height to be fused in the embodiment is the current time relative height.

The embodiment is an alternative way to perform fusion calculation based on the relative altitude to be fused to obtain the fused flying relative altitude.

The relative height to be fused is effectively judged; and in response to at least one current moment relative height in the relative heights to be fused being effective, inputting all effective current moment relative heights into a preset fusion relative height algorithm, and calculating and outputting the fusion flying relative height at the current moment by adopting the preset fusion relative height algorithm.

The implementation manner of this embodiment is identical to that of the seventh embodiment, and will not be described here in detail.

Wherein the preset fusion relative height algorithm belongs to the preset fusion height algorithm.

The embodiment provides a method for measuring the flying height of an aircraft, in the embodiment, firstly, effective judgment is carried out, and at least one effective current moment relative height can only be input into a preset fusion relative height algorithm, so that the embodiment firstly carries out preliminary screening on the relative height to be fused, and therefore the fusion flying relative height calculated based on the screened effective current moment relative height is more fit with reality.

In one mode, the method for effectively judging the relative height to be fused specifically includes:

Acquiring the relative height of at least one current moment in the relative heights to be fused at the last moment;

For the relative heights of the current time, if the height difference between the relative height of the current time and the corresponding relative height of the previous time is within a preset relative height difference range, determining that the relative height of the current time is effective;

For the relative heights of the current time, if the height difference between the relative height of the current time and the corresponding relative height of the previous time is not in the preset relative height difference range, determining that the relative height of the current time is invalid.

Examples ten

This embodiment is a further refinement of any of the embodiments above, comprising:

Acquiring a confidence coefficient corresponding to the fusion flying height at the current moment calculated by a preset fusion height algorithm; the preset fusion height algorithm comprises a preset fusion altitude algorithm and a preset fusion relative height algorithm; and displaying the fusion flight height at the current moment and the confidence corresponding to the fusion flight height, all effective current moment altitudes and all effective current moment relative heights.

The current time fusion flying height comprises a current time fusion flying altitude and a current time fusion flying relative height. The method is characterized in that the fusion flight altitude at the current moment has a corresponding confidence level, and the fusion flight relative altitude at the current moment has a corresponding confidence level.

When the fusion altitude at the current moment is calculated by adopting a preset fusion altitude algorithm, the confidence level corresponding to the fusion altitude at the current moment is output by adopting the preset fusion altitude algorithm; when the fusion relative height algorithm is adopted to calculate the fusion relative height at the current moment, the fusion relative height algorithm is also adopted to output the confidence coefficient corresponding to the fusion relative height at the current moment.

In this embodiment, the current time fusion flight altitude and its corresponding confidence level will be displayed, along with all valid current time altitude and all valid current time relative altitude.

The fusion flying altitude at the current moment is called fusion flying altitude for short, and the fusion flying relative altitude at the current moment is called fusion flying relative altitude for short.

The embodiment provides a method for measuring the flight altitude of an aircraft, which comprises the steps of calculating the confidence corresponding to the fusion flight altitude at the current moment by adopting a preset confidence algorithm, and then displaying the fusion flight altitude at the current moment and the corresponding confidence thereof, all effective current moment altitudes and all effective current moment relative heights, so that the method is favorable for viewing.

Fig. 7 is a schematic diagram of interaction provided in embodiment ten. As shown in fig. 7, the device includes a measuring device and three altimeter devices, and in this embodiment, it is assumed that the altimeter data includes atmospheric altimeter data, satellite altimeter data and wireless altimeter data, and the method specifically includes the following steps:

s701, the measuring equipment responds to the aircraft in a flight state to obtain the longitude and latitude of the local position corresponding to the current moment.

S702, the measuring equipment determines a local elevation based on the longitude and latitude of the current position.

S703, three height measurement devices collect corresponding height measurement data.

And S704, the three height measurement devices send corresponding height measurement data to the measurement devices. The altimetric data includes atmospheric altimetric data, satellite altimetric data, and wireless altimetric data.

S705, the measuring device calculates a difference between the atmospheric altitude and the local altitude to obtain the atmospheric altitude.

S706, the measuring device calculates the difference between the satellite altitude and the local elevation to obtain the satellite relative altitude.

S707, the measurement device calculates the sum of the radio relative altitude and the local altitude to obtain the radio altitude. The relative altitudes to be fused include the relative altitude of the atmosphere, the relative altitude of the satellites, and the relative altitude of the radios.

S708, the measuring equipment effectively judges the atmospheric altitude, the satellite altitude and the radio altitude, and if the atmospheric altitude, the satellite altitude and the radio altitude are effective, S709 is executed; if not, S710 is performed.

S709, the measuring equipment responds to the fact that at least one current moment altitude is effective, all effective current moment altitudes are input into a preset fusion altitude algorithm, and the preset fusion altitude algorithm is adopted to calculate and output the current moment fusion flight altitude and the corresponding confidence level.

S710, the measuring device further stores invalid data.

S711, the measuring device effectively judges the relative altitude of the atmosphere, the relative altitude of the satellite and the relative altitude of the radio, and if so, S712 is executed; if not, S710 is performed.

S712, the measuring equipment responds that at least one current moment relative height is effective, all effective current moment relative heights are input into a preset fusion relative height algorithm, and the fusion relative height algorithm is adopted to calculate and output the fusion flight relative height at the current moment and the corresponding confidence level.

Example eleven

The present embodiment provides an aircraft flight height measurement device, and fig. 8 is a schematic diagram of an aircraft flight height measurement device provided in embodiment eleven.

As shown in fig. 8, the aircraft flying height measuring apparatus 800 specifically includes: collector 801, fusion processor 802, and secondary power board 803.

The collector 801 is connected with the fusion processor 802;

the secondary power panel 803 is respectively connected with the collector 801 and the fusion processor 802;

the collector 801 is configured to obtain a local position longitude and latitude corresponding to a current moment in response to the aircraft being in a flight state, and receive altimetry data sent by at least one altimeter at the current moment;

a fusion processor 802, configured to determine a local elevation based on the longitude and latitude of the local location, obtain height measurement data to be fused based on at least one height measurement data and the local elevation, and perform fusion calculation on the height measurement data to be fused to obtain a fusion flying height at the current moment;

The secondary power panel 803 is configured to supply power to the collector and the fusion processor, so that the collector and the fusion processor work normally.

It should be noted that, the fusion processor 802 carries a preset fusion height algorithm.

In one form, fig. 9 is a schematic view of yet another aircraft flight level measurement apparatus according to an eleventh embodiment. As shown in fig. 9, the aircraft flight altitude measurement device may further include: a first plug-in 901, a second plug-in 902, and a display 903.

The first plug-in 901 is connected to the secondary power supply board 803 and the external integrated power supply 904.

Wherein the second plug-in 902 is connected to the collector 801 and the height measurement device 905.

The display 903 is connected to the fusion processor 802 and the secondary power supply board 803.

In one manner, fig. 10 is a schematic structural diagram of a fusion processor according to an eleventh embodiment. As shown in fig. 10, an embedded architecture digital signal processor (DIGITAL SIGNAL Processing, abbreviated as DSP) 1001+programmable logic gate array (FieldProgrammableGateArray, abbreviated as FPGA) 1002 scheme is adopted, where DSP 1001 is a Q6713 type, is a heterogeneous multi-core DSP digital signal processor, and is composed of four high-performance DSP cores, and has a single core main frequency of 500MHz and a power consumption of less than 8W. the power supply circuit 1003 connected thereto receives externally input +5v and +15v power supplies to supply power to the unit. The clock circuit 1004 provides an external clock to the DSP and takes a noise reduction and suppression design to eliminate noise interference to the logic circuit portion. The reset circuit 1005 resets and restarts the DSP 1001 to restore the normal operation state when the DSP 1001 is abnormally operated. A synchronous dynamic random access memory (Synchronous Dynamic Random Access Memory, abbreviated as SDRAM) 1006 is used to store various cache data during system operation, and a FLASH memory (FLASH) 1007 is used to store system running programs. The DSP 1001 performs data instruction transmission with the FPGA 1002 circuit module through the internal data bus, control bus, and address bus, and the FPGA 1002 circuit module implements functions such as decoding of each module, sampling of discrete amounts, control logic of the 12-transmit 8-receive ARINC429 conversion circuit 1008, control logic of the 8-way RS422 conversion circuit 1009, and control logic of the 1-way RS232 level conversion circuit 1011. The collector 801 sends 429 input signals to the FPGA 1002 through the ARINC429 conversion circuit 1008 and 422 input signals to the RS422 conversion circuit 1009, so that the fusion processor 802 receives a plurality of altimetry data sent by the collector 801. For the ±5v and ±15v power supply detection signals output by the secondary power supply board 803, the signals are sequentially input to the FPGA1002 after passing through the conditioning circuit 1014, the multiple switches 1015, the AD samples 1016 and the power supply board level conversion 1017, so as to obtain the working state of the power supply. The FPGA1002 sends the current time fusion fly height and its corresponding confidence level, all valid current time altitude, and all valid current time relative heights to the display 903 via the ARINC429 driver circuit 1009. And can also transmit a time stamp signal externally through the output level shifter circuit 1010. the system is connected with external monitoring equipment through an RS232 level conversion circuit 1011, and the complete working state of the system can be monitored through the external equipment. Pulse information is input through the input level conversion circuit 1012. The data such as the current time fusion flight altitude and the confidence level thereof are transmitted to the display 903 through the 429 driving circuit 1013.

In one manner, fig. 11 is a schematic structural diagram of a collector according to an eleventh embodiment. As shown in fig. 11, the collector 801 mainly includes a communication circuit 1101 and a collection circuit 1102. The communication circuit 1101 includes an ARINC429 interface circuit 1103 and its peripheral drive/power supply circuit, an RS422 interface circuit 1104 and its peripheral drive/power supply circuit, and an RS232 interface circuit 1105 and its peripheral drive/power supply circuit. At least one altimeter is connected through a second plug-in 901, wherein the ARINC429 interface circuit 1103 is used for receiving altimeter data sent by the atmospheric altimeter and the satellite positioning altimeter, sending data in 12 paths, receiving data in 8 paths, and the RS422 interface circuit 1104 is used for receiving altimeter data of the radio altimeter, and receiving data in 8 paths. The RS232 interface circuit 1105 is configured to receive an external monitor command of the collector, and send status information of the collector to the outside, so as to send and receive data in 1 path. The ARINC429 interface circuit 1103 is also configured to send the calculated current time fusion fly-height. The DI conditioning circuit 1106 in the acquisition circuit 1102 conditions the externally acquired discrete magnitude +28v/ground and power down signals into digital signals, and the digital signals are converted by the DI/O interface circuit 1107 and sent to the fusion processor 802 through the first bus interface 1108. The DO conditioning circuit 1109 converts the internal digital signal received by the first bus interface 1108 line through the DI/O interface circuit 1107, conditions the internal digital signal through the DO conditioning circuit 1109, converts the internal digital signal into a 28V/ground and power-down signal, and then sends the signal to the outside. Analog input circuit 1110 conditions the externally collected analog signals, and then the signals are converted into digital signals by a/D conversion circuit 1111 and then sent to fusion processor 802 through first bus interface 1108.

In one manner, fig. 12 is a schematic structural diagram of a display according to an eleventh embodiment. As shown in fig. 12, the display 903 mainly includes a height information integrated display circuit 1201 and an instruction data transmission circuit 1202, which implement a height information integrated display function and a screen parameter setting function, respectively. The instruction data transmission circuit 1202 is provided with a 1-path ARINC429 interface circuit 1203, and is mainly in data communication with the fusion processor 802, and is used for receiving the fusion flight height at the current moment and the corresponding confidence coefficient, all valid current moment altitude heights and all valid current moment relative heights calculated by the fusion processor 802, and sending the fusion flight height and the corresponding confidence coefficient to the altitude information comprehensive display area 1204 in the altitude information comprehensive display circuit 1201 for display, wherein the instruction data transmission circuit 1202 further comprises a DI/O conditioning circuit 1206 and a DI/O interface circuit 1207. The height information integrated display circuit 1201 is composed of a height information integrated display area 1204 and a screen setting button 1205. The user changes the DI state by operating the parameter setting button beside the screen, and the corresponding DI signal is sent to the fusion processor 802 by the second bus interface 1208 after being transformed by the DI/O conditioning circuit 1206 and the DI/O interface circuit 1207, and then the corresponding command for modifying the screen parameter is sent by the display 903, and the screen parameter is changed after being transformed by the I/O conditioning circuit 1206 and the DI/O interface circuit 1207. The function can set display parameters such as resolution, brightness, contrast, system time and the like of the display. The I/O conditioning circuit 1206 and the screen setting button 1205 are transmitted as 4 signals.

In one manner, fig. 13 is a schematic structural diagram of a secondary power panel according to an eleventh embodiment. As shown in fig. 13, a secondary power board 803 is connected to a 28V DC main power supply 1301 and a 24V DC standby power supply 1302 on an aircraft through a first plug-in unit 901, and the two power supplies enter a switching circuit 1303 after being processed by a power supply reverse connection preventing circuit, so as to realize a power supply switching function. The power of the external integrated power supply 904 passes through a surge power supply protection circuit 1304, a power supply voltage stabilizing filter 1305, a power-down protection circuit 1306, an energy storage capacitor 1307, a 28V DC main power supply 1301 and a 24V DC standby power supply 1302, then passes through the 28VDC main power supply 1301 and the 24VDC standby power supply 1302 to a first buffer 1306 and a second buffer 1307, outputs an output power of +15v from the first buffer 1306, outputs an output power of +5v from the second buffer 1307, or outputs an output power of-15V and-5V directly from the 28VDC main power supply 1301 and the 24VDC standby power supply 1302. Thereby powering the fusion processor 802, collector 801 and display 903. The first conditioning detector 1308 and the second conditioning detector 1309 have an output power supply detection function, where the first conditioning detector 1308 performs isolation detection on the +15v output power supply, and outputs the conditioned signal to the fusion processor 802 in a discrete amount (i.e., a +15v detection signal). The second conditioning detector 1309 conditions the ±5v output power source, outputs the conditioned signal (i.e., the +5v detection signal) to the fusion processor 802, and performs a/D acquisition and real-time detection. If the 28VDC main power supply 1301 fails accidentally, the power down protection circuit provides 60ms power down protection, automatically switches to the 24VDC standby power supply 1302, and simultaneously sends out a +28v power down detection signal. The output on the secondary power supply board 803 is controlled by a "start signal", and after receiving the "start" dispersion, the power delay circuit 1310 performs anti-jitter design for the jump of the "start signal", isolates the "start signal" by using an optocoupler, and conditions the "start signal" into a switching transistor-transistor logic level (i.e., TTL level) for output, and uses a schmitt inverter for shaping in order to ensure good waveform edges.

Example twelve

The embodiment provides a measurement system for the flying height of an aircraft.

Fig. 14 is a schematic diagram of an aircraft flight level measurement system according to a twelfth embodiment. As shown in fig. 14, the aircraft flying height measurement system 1400 includes: an aircraft flight level measurement device 800 according to embodiment eleven, an external integrated power supply 904, and an altimeter device 905. Among them, the altitude measurement device 905 includes an atmospheric altitude measurement device 1401, a satellite positioning altitude measurement device 1402, and a radio altitude measurement device 1403.

The aircraft flying height measuring device 800 is respectively connected with a height measuring device 905 and an external integrated power supply 904;

A height measurement device 905 for transmitting height measurement data;

an external integrated power supply 904 for providing power to the aircraft altitude measurement apparatus to enable the aircraft altitude measurement apparatus to function properly.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims (12)

1. A method of measuring aircraft flying height, the method comprising:

Responding to the aircraft in a flight state, obtaining the longitude and latitude of a local position corresponding to the current moment, and determining the local elevation based on the longitude and latitude of the local position;

Receiving height measurement data sent by at least one height measurement device at the current moment;

Obtaining height measurement data to be fused based on at least one of the height measurement data and the local elevation;

And carrying out fusion calculation on the height measurement data to be fused to obtain the fusion flying height at the current moment.

2. The method of claim 1, wherein the determining a local elevation based on the local location longitude and latitude comprises:

acquiring a map elevation map; the map elevation map comprises longitude and latitude of each preset position and corresponding preset elevation;

Inquiring the longitude and latitude of a preset position consistent with the longitude and latitude of the local position in the map elevation chart;

and determining the preset elevation corresponding to the longitude and latitude of the consistent preset position as the local elevation.

3. The method of claim 1, wherein the at least one altimeter is at least one of an atmospheric altimeter, a satellite positioning altimeter, and a radio altimeter; the altimetric data includes at least one of atmospheric altimetric data, satellite altimetric data, and wireless altimetric data.

4. A method according to claim 3, wherein the atmospheric altitudes data comprises atmospheric altitudes; the satellite height measurement data comprises satellite altitude; the radio elevation data includes radio relative elevation; the height measurement data to be fused comprise altitude to be fused and relative altitude to be fused; the altitude to be fused comprises at least one of the atmospheric altitude, the satellite altitude, and the radio altitude; the relative altitude to be fused includes at least one of the atmospheric relative altitude, the satellite relative altitude, and the radio relative altitude;

The obtaining height measurement data to be fused based on at least one of the height measurement data and the local elevation includes:

If the plurality of altimetric data includes atmospheric altimetric data, calculating an atmospheric altitude based on the atmospheric altitude and a local altitude;

If the plurality of altimetric data comprise satellite altimetric data, calculating satellite relative altitude based on the satellite altitude and a local altitude;

If the plurality of altimetric data includes radio altitude data, a radio altitude is calculated based on the radio relative altitude and a local altitude.

5. The method of claim 4, wherein said calculating an atmospheric altitude based on said atmospheric altitude and a local altitude comprises:

Calculating a difference between the atmospheric altitude and the local elevation to obtain an atmospheric relative altitude;

the calculating the satellite relative altitude based on the satellite altitude and the local altitude comprises:

calculating the difference between the satellite altitude and the local elevation to obtain the satellite relative altitude;

The calculating a radio altitude based on the radio relative altitude and a local altitude, comprising:

a sum of the radio relative altitude and the local altitude is calculated to obtain a radio altitude.

6. The method of claim 4, wherein the performing a fusion calculation on the altimetric data to be fused to obtain a current time fusion fly height comprises:

Performing fusion calculation based on the altitude to be fused to obtain the fusion flying altitude at the current moment;

And carrying out fusion calculation based on the relative heights to be fused so as to obtain the fusion flying relative heights at the current moment.

7. The method according to claim 6, wherein the altitude included in the altitude to be fused is the current moment altitude;

the fusion calculation is performed based on the altitude to be fused to obtain a fused flying altitude, comprising:

effectively judging the altitude to be fused;

And in response to at least one current moment altitude in the altitudes to be fused being effective, inputting all effective current moment altitudes into a preset fusion altitude algorithm, and calculating and outputting the fusion flight altitude at the current moment by adopting the preset fusion altitude algorithm.

8. The method of claim 7, wherein the effectively determining the altitude to be fused comprises:

acquiring the altitude at the last moment corresponding to at least one current moment in the altitudes to be fused;

For each current moment altitude, if the altitude difference between the current moment altitude and the corresponding last moment altitude is within a preset altitude difference range, determining that the current moment altitude is valid;

And aiming at the current moment of altitude, if the altitude difference between the current moment of altitude and the corresponding last moment of altitude is not in the preset altitude difference range, determining that the current moment of altitude is invalid.

9. The method of claim 6, wherein the relative height included in the relative height to be fused is a current time relative height;

the fusion calculation is performed based on the relative height to be fused to obtain the fused flying relative height, which comprises the following steps:

effectively judging the relative height to be fused;

and in response to the fact that at least one current moment relative height in the relative heights to be fused is effective, inputting all effective current moment relative heights into a preset fusion relative height algorithm, and calculating and outputting the fusion flying relative height at the current moment by adopting the preset fusion relative height algorithm.

10. The method according to any one of claims 1-9, wherein the method further comprises:

Acquiring a confidence coefficient corresponding to the fusion flying height at the current moment calculated by a preset fusion height algorithm; the preset fusion height algorithm comprises a preset fusion altitude algorithm and a preset fusion relative height algorithm;

and displaying the fusion flight height at the current moment and the confidence corresponding to the fusion flight height, all effective current moment altitudes and all effective current moment relative heights.

11. An aircraft flight level measurement device comprising: the device comprises a collector, a fusion processor and a secondary power panel;

the collector is connected with the fusion processor;

The secondary power panel is connected with the collector and the fusion processor respectively;

The collector is used for responding to the aircraft in a flight state, obtaining the longitude and latitude of the local position corresponding to the current moment, and receiving the height measurement data sent by at least one height measurement device at the current moment;

The fusion processor is used for determining a local elevation based on the longitude and latitude of the local position, obtaining height measurement data to be fused based on at least one piece of height measurement data and the local elevation, and carrying out fusion calculation on the height measurement data to be fused to obtain a fusion flight height at the current moment;

The secondary power panel is used for supplying power to the collector and the fusion processor so that the collector and the fusion processor work normally.

12. A system for measuring the flying height of an aircraft, comprising: the aircraft flight level measurement device, external integrated power supply, and altimeter device of claim 11;

the aircraft flying height measuring equipment is connected with the height measuring equipment and an external comprehensive power supply respectively;

the height measurement equipment is used for sending height measurement data;

and the external integrated power supply is used for providing power for the aircraft flying height measuring equipment so as to enable the aircraft flying height measuring equipment to work normally.