KR101232053B1 - Barometric altimeter and self-setting method of the same based on onboard navigation data in flight - Google Patents

Abstract

The barometric altimeter according to the embodiment of the present invention is a barometric altimeter mounted on the aircraft, each receiving unit for receiving at least one or more altitude measurement values and pressure measurement values from the measuring device; A reference value determiner which determines a reference pressure and determines a reference altitude and a reference temperature based on the received altitude measurements, the received pressure measurements and the determined reference pressure; And a setting unit that sets a barometric altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature.

Description

How to set this based on barometric altimeter and self-navigation information {BAROMETRIC ALTIMETER AND SELF-SETTING METHOD OF THE SAME BASED ON ONBOARD NAVIGATION DATA IN FLIGHT}

The present invention relates to a barometric altimeter, and more particularly, to a method for setting it in flight based on the barometer and the self-navigation information.

The barometric altimeter is an apparatus for calculating an altitude based on a change in barometric pressure. The barometric altitude calculated is used for correcting altitude information of an inertial navigation system. The standard air model of the International Aviation Organization, which is commonly used for the altitude calculation method in aircraft, uses the correlation between air pressure and altitude based on the standard air condition (sea level, 1 atm, 15 ° C). However, since the atmospheric condition at sea level varies according to the weather condition, it is necessary to set the barometric altimeter by modifying the reference value to correct the barometric altitude as navigation information.

 Methods of determining reference values at barometric altitudes used by aircraft include: how to use weather information measured at ground control stations in the area of flight, how to use information measured while the aircraft is waiting on the runway before takeoff, and for aircraft such as drones. There is a method of using altitude and atmospheric information received from operational support equipment.

US Pat. No. 6,216,064 (John Patent 6,216,064; Johnson, et al.) Describes how to use data at points where reference values, such as runways, can be provided as an initialization method to improve the accuracy of barometric altimeters, and measured altitude, pressure and A method of using temperature as a reference value is presented.

US Pat. No. 6,266,583 (Tazartes, et al.) Uses altitude, pressure, and temperature measured from air navigation and atmospheric systems to correct errors in barometric altitude calculated using standard atmospheric models. A sequential correction method is presented.

US Patent No. 7,353,129 (U.S. Patent 7,353,129; Lerch, et al.) Proposed a method of improving the accuracy of barometric altimeter by determining a temperature reference value by correcting the temperature difference between the standard atmosphere and the actual atmosphere.

However, when the information necessary for setting the reference value for the barometric altitude correction of the barometric altimeter is provided from the outside of the aircraft equipped with the barometer, the barometer has to be operated with a separate equipment for providing the reference value information and the barometric altimeter There is a problem in that the operable area of is limited to an area in which the reference value information can be provided.

Accordingly, an object of the present invention is to solve the above problems.

Specifically, an object of the present invention is to calculate the barometric altitude using the barometric altimeter in a vehicle, without using the information measured by the instrument other than the device mounted on the aircraft or from receiving information necessary for setting a reference value from the outside, purely the aircraft It is to present a method of setting the barometric altimeter to magnetic force using only the navigation information measured from its own equipment.

In addition, another object of the present invention is a method that can measure and set the reference value for setting the magnetic force of the barometric altimeter after starting the flight even when the aircraft equipped with the barometer can not measure normal atmospheric information while waiting on the ground To present it.

In addition, another object of the present invention is to be able to determine the reference value to set the barometric altimeter to magnetic force even when there is no temperature measuring equipment in the aircraft equipped with the barometer.

In order to achieve the above object, the present invention comprises: a receiving unit for receiving at least one altitude measurement value and pressure measurement value from the measuring device; A reference value determiner which determines a reference pressure and determines a reference altitude and a reference temperature based on the received altitude measurements, the received pressure measurements and the determined reference pressure; And a setting unit that sets a barometric altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature.

The reference value determiner may determine the reference altitude and the reference temperature based on a method of calculating a coefficient for minimizing an error of an error function.

In addition, the coefficient for minimizing the error may be calculated using a coefficient matrix such that the pressure matrix based on the pressure measurements and the altitude matrix based on the altitude measurements are in a linear relationship.

In addition, the error function may be defined using a Hessian matrix and the coefficient matrix of the pressure matrix.

The reference value determiner may determine the reference pressure as a standard atmospheric pressure.

The reference value determiner may determine the reference pressure based on at least one of the pressure measurement values.

The reference value determiner may determine the reference pressure as an arithmetic mean of the pressure measurement values.

In addition, the measuring device may be mounted on a vehicle equipped with the barometric altimeter.

On the other hand, in order to solve the above problems, the present invention comprises: a receiver for receiving at least one altitude measurement value, pressure measurement values and temperature measurement values from the measuring device; A reference value determination unit determining a reference altitude, a reference pressure, and a reference temperature based on the received altitude measurement values, the received pressure measurement values, and the received temperature measurement values; And a setting unit for setting an air pressure altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature, wherein the reference altitude is determined as an arithmetic mean of the altitude measurement values, and the reference pressure is measured by the pressure. And an arithmetic mean of the values, wherein the reference temperature is determined as the arithmetic mean of the temperature measurements.

Meanwhile, in order to solve the above problems, the present invention includes the steps of: (A) receiving at least one altitude measurement value and pressure measurement value from the measuring device, respectively, in the rising or falling flight state; (B) determining a reference pressure; (C) determining a reference altitude and a reference temperature based on the received altitude measurements, the received pressure measurements and the determined reference pressure; And (D) setting an atmospheric pressure altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature.

On the other hand, to solve the above problems, the present invention comprises the steps of: (A) receiving at least one altitude measurement value, pressure measurement values and temperature measurement values from the measuring device, respectively, in a horizontal flight state; (B) determining a reference altitude, reference pressure and reference temperature based on the received altitude measurements, the received pressure measurements and the received temperature measurements; And (C) setting an air pressure altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature, wherein the reference altitude is determined as an arithmetic mean of the altitude measurements, and the reference pressure is It is determined by the arithmetic mean of the pressure measurements, and the reference temperature is determined by the arithmetic mean of the temperature measurements provides a barometric altimeter setting method.

According to the method for determining the reference value of the barometric altimeter according to the embodiment of the present invention, the barometer does not receive information necessary for determining the reference value from the outside of the vehicle, and determines the reference value using its own navigation information, and uses the determined reference value. Enable to set. Therefore, without the help of a separate equipment that provides reference value information for setting the barometric altimeter, it is possible to simplify the operating equipment or procedures, such as the aircraft equipped with a barometer, and to remove the limitation of the operating area.

In addition, according to the method of determining the reference value of the barometric altimeter according to an embodiment of the present invention, even if the aircraft equipped with the barometric altimeter is stored in a sealed container and the normal atmospheric information cannot be measured while waiting on the ground, The reference value can be measured and set.

In addition, according to the method of determining the reference value of the barometric altimeter according to an embodiment of the present invention, even when there is no temperature measuring equipment in the aircraft equipped with the barometer, the barometer can be initialized, thereby helping to avoid mounting the temperature measuring equipment on the aircraft. Can give

1 is a view showing the structure of a barometric altimeter according to an embodiment of the present invention,
2 is a view showing the operation of the aircraft equipped with a barometric altimeter according to a first embodiment of the present invention,
3 is a flowchart of a barometric altitude determination method in a barometric altimeter according to a first embodiment of the present invention;
4 is a flowchart of a linear optimization method according to a second embodiment of the present invention;
5 is a flowchart of a barometric altitude determination method in a barometric altimeter according to a second embodiment of the present invention;
6 is a view showing a simulation result of the reference value according to the barometric altitude determination method in the barometric altimeter according to the embodiment of the present invention, and
7 is a view showing a simulation result of the error of barometric altitude according to the barometric altitude determination method in the barometric altimeter according to the embodiment of the present invention.

The present invention is applied to the barometric altimeter using the information measured by the aircraft. However, the present invention is not limited thereto, and the present invention may be applied to any method and apparatus for calculating the barometric altitude to which the technical spirit of the present invention may be applied.

It is to be noted that the technical terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. It is also to be understood that the technical terms used herein are to be interpreted in a sense generally understood by a person skilled in the art to which the present invention belongs, Should not be construed to mean, or be interpreted in an excessively reduced sense. In addition, when the technical terms used herein are incorrect technical terms that do not accurately express the spirit of the present invention, they should be replaced with technical terms that can be understood correctly by those skilled in the art. In addition, the general terms used in the present invention should be interpreted according to a predefined or prior context, and should not be construed as being excessively reduced.

Also, the singular forms "as used herein include plural referents unless the context clearly dictates otherwise. In the present application, the term "comprising" or "comprising" or the like should not be construed as necessarily including the various elements or steps described in the specification, Or may be further comprised of additional components or steps.

When a component is said to be "connected" or "connected" to another component, it may be directly connected or connected to that other component, but there may be other components in between. On the other hand, when a component is said to be "directly connected" or "directly connected" to another component, it should be understood that no other component exists in the middle.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, and the same or similar components will be given the same reference numerals regardless of the reference numerals, and redundant description thereof will be omitted. In addition, in describing the present invention, when it is determined that the detailed description of the related known technology may obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, it should be noted that the accompanying drawings are only for easily understanding the spirit of the present invention and the spirit of the present invention should not be construed as being limited by the accompanying drawings. The spirit of the invention should be construed to extend to all changes, equivalents, and substitutes in addition to the accompanying drawings.

1 is a diagram showing the structure of a barometric altimeter according to an embodiment of the present invention.

The barometric altimeter 100 according to the embodiment of the present invention provides a method in which the aircraft may set the QNH / QFE setting based on only its own navigation information during the flight. In barometric altimeters, QNH and QFE settings are typically performed. The barometric altimeter by the QNH setting represents the altitude above sea level, and the QFE barometric altimeter represents the absolute altitude. The setting method of the barometric altimeter 100 according to the embodiment of the present invention is based on the actual atmospheric state, instead of the method of determining the reference values for the barometer altimeter using the correlation between the pressure and the altitude of the standard atmospheric model. Use the method of determining the reference values to fit.

The barometric altimeter 100 according to the embodiment of the present invention may be mounted on a vehicle, and the barometer altimeter 110 is configured to include a receiver 110, a reference value determiner 120, and a barometer altimeter setter 130. Can be.

The receiver 110 is connected to a measurement device mounted on the vehicle, and receives measurement values of altitude, temperature, and pressure from the measurement device. The measurement device connected to the receiver 110 may be a self-atmosphere measurement device of a vehicle. In addition, the altitude measurement device of the measuring device may be an altitude measurement equipment mounted on a vehicle such as an inertial navigation device, GPS, radio altimeter.

The reference value determiner 120 determines a reference altitude, a reference temperature, and a reference pressure based on the measured values received by the receiver 110. Since the measured value received from the measuring device through the receiver 110 during flight of the vehicle may include a lot of noise due to vibration or electrical signal characteristics, the reference value determiner 120 measures more than a predetermined number of times. The exact reference value is calculated based on the measured values.

For example, when the altitude of the vehicle is maintained at a constant level, the reference value determiner 120 may determine the reference values using a method of obtaining an arithmetic mean of each of the measured values. The reference value determination unit of the barometric altimeter 100 according to the first embodiment of the present invention uses the arithmetic mean of the measured altitude as the reference altitude, the arithmetic mean of the measured pressure as the reference pressure, and the arithmetic mean of the measured temperature. Is determined as the reference temperature.

In addition, when the altitude of the vehicle changes, for example, the reference value determiner 120 may determine the reference values using a method of minimizing errors by defining a linear system based on the measured values. The reference value determination unit of the barometric altimeter 100 according to the second embodiment of the present invention first determines the reference pressure, and coefficients for minimizing the error of the error function defined based on the pressure measurement values and the altitude measurement values. The reference altitude and reference temperature are determined based on the calculated coefficients and the determined reference pressure.

A method of determining the reference values by the reference value determiner 120 will be described later with reference to FIGS. 2 to 5.

The barometric altimeter setting unit 130 performs QNH / QFE setting of the barometric altimeter based on the reference values determined by the reference value determining unit 120.

Hereinafter, a method of determining the barometric altitude in the barometric altimeter according to the first embodiment of the present invention will be described with reference to FIGS. 2 and 3.

2 is a view showing the operation of the aircraft equipped with a barometric altimeter according to a first embodiment of the present invention. Since the atmospheric pressure altimeter 100 has to consider the actual air condition and the pressure characteristic according to the altitude in determining the reference values, the atmospheric pressure altimeter 100 according to the first embodiment of the present invention measures atmospheric information measured at one point. Use information measured over a period of time instead of a flight. The barometric altitude determination method of the barometer altimeter 100 may also be applied to the case in which the vehicle 10 is flying while maintaining the altitude.

To this end, while the aircraft 10 on which the barometer altimeter is mounted is flying, the receiver 110 of the barometer altimeter 100 receives a plurality of measurement values, that is, from a measuring device connected to the barometer altimeter 100. Receiving continuously measured altitude, pressure and temperature, the reference value determination unit 120 of the barometric altimeter 100 calculates the arithmetic mean value of each of the measured altitude, measured pressure and measured temperature obtained through the receiver 110 Perform the average method of calculating and determining the reference altitude, reference pressure, and reference temperature, respectively.

 When the averaging method is applied while the air vehicle 10 on which the air pressure altimeter 100 is mounted maintains altitude and is flying, the air pressure altimeter 100 may be used to determine accurate reference values. The choice of retention altitude and number of data acquisitions is important.

To this end, a maintenance altitude of the vehicle 10 may be selected between a maximum altitude and a minimum altitude. With respect to the number of data acquisitions of the vehicle 10, when many measurements are received and used to determine the reference values, the accuracy of the reference values determined by the barometric altimeter 100 is increased. However, as the area in which the vehicle 10 acquires the measured values increases, the accuracy of atmospheric information such as pressure and temperature may be lowered, so that the barometric altimeter 100 considers the speed of the vehicle 10. The measurement value acquisition area may be within a maximum of several hundred meters and thus the number of the measurement values may determine a time for data acquisition such that at least dozens of data are obtained.

3 is a flowchart of a method for determining an air pressure altitude in a barometric altimeter according to a first embodiment of the present invention.

), 압력(

) 및 온도(

)의 측정값들을 수신한다. 여기서 위 첨자로 병기된 k는 k 번째 측정값을 말하고, 아래 첨자 IN이 병기된 값은 관성항법장치 또는 GPS, 전파고도계 등 비행체에 장착된 고도 측정 장비로부터 획득된 것을 나타낸다.First, the receiver 110 of the barometric altimeter 100 receives measured values of altitude, pressure, and temperature from the measuring device (S110). For example, while the aircraft 10 equipped with the barometric altimeter 100 is flying at a predetermined altitude, the receiver 110 continuously operates at altitude (

), pressure(

) And temperature (

Receive measurements of Here, the superscript k indicates the kth measurement value, and the superscript IN indicates the value obtained from an inertial navigation system or altitude measuring equipment mounted on a vehicle such as a GPS or an altimeter.

Next, the reference value determiner 120 of the barometric altimeter 100 sets reference values, that is, reference altitude, reference pressure, and reference temperature, based on the measured values obtained through the receiver 110 (S120). . The reference value determiner 120 of the barometric altimeter 100 according to the first embodiment of the present invention determines the reference values by using an arithmetic mean value of a plurality of measured values obtained by the receiver 110.

), 압력(

) 및 온도(

)의 측정값들의 산술 평균값을 계산하여 상기 기준값들 즉, 기준 고도(

), 기준 압력(

) 및 기준 온도(

)를 결정한다. 상기 수신부(110)가 상기 측정값들을 수신한 횟수 즉, 정보 측정이 이루어진 횟수가 N번이라 할 때, 상기 기준값들은 <수학식 1>에 따라 계산될 수 있다.For example, the reference value determiner 120 receives the received measured values, that is, altitude (

), pressure(

) And temperature (

The arithmetic mean value of the measured values of

), Reference pressure (

) And reference temperature (

). When the number of times that the receiver 110 receives the measured values, that is, the number of times information measurement is performed, is N, the reference values may be calculated according to Equation 1.

Next, the barometric altimeter setting unit 130 of the barometric altimeter 100 sets the barometric altimeter based on the determined reference values, that is, the determined reference altitude, the determined reference pressure, and the determined reference temperature (S130). When the barometric altimeter 100 is set by the barometer altimeter setting unit 130, the barometer altimeter 100 may indicate the barometric altitude using the determined reference values. For example, a method in which the barometric altimeter 100 expresses the barometric altitude using a standard atmospheric model may be expressed as Equation 2.

Where H is altitude, g is gravitational acceleration, and p is barometric pressure. R is the gas constant for air, T is the air temperature, and β is the air temperature decay rate of the standard atmospheric model.

As such, the barometric altimeter setting unit 130 receives the air vehicle without receiving the information necessary for the barometric altimeter 100 to calculate the barometric altitude from the outside of the vehicle 10 on which the barometer altimeter is mounted. It is possible to perform the setting using only the measured values received from the measuring device mounted on 10).

Hereinafter, a method of determining the barometric altitude in the barometric altimeter according to the second embodiment of the present invention will be described with reference to FIGS. 4 and 5.

4 is a view showing the operation of the aircraft 10 equipped with a barometric altimeter 100 according to a second embodiment of the present invention.

Compared with the first embodiment of the present invention, the barometric altimeter 100 does not receive a temperature measurement from the measuring device, and may determine the reference values using successive measurements of altitude and pressure.

The barometric altimeter 100 performs a linear optimization method for determining reference values using a linear system for accurate barometric altimeter setting. The linear optimization method performed by the barometric altimeter 100 is applied by transforming Equation 2 used in the first embodiment of the present invention to determine a reference value into a linear system. Specifically, in the linear optimization method, an error function is defined based on an altitude matrix using an altitude measurement value and a pressure matrix using a pressure measurement value, and the reference value determination unit 120 of the barometric altimeter 100 performs the pressure matrix. The reference values for setting the barometric altimeter are determined by obtaining a coefficient matrix that minimizes the error of the error function using a Hessian matrix of. Specific steps of the linear optimization method will be described in detail with reference to FIG. 5.

By performing the linear optimization method, the barometric altimeter 100 according to the second embodiment of the present invention can accurately determine the reference values while the aircraft 10 on which the barometer altimeter is mounted changes its altitude while flying. .

When the barometric altimeter 100 applies the linear optimization method, the altitude change of the vehicle should be larger than the accuracy required by the barometer altimeter (eg, several tens or more), and the altitude of the vehicle in consideration of the operating range of the aircraft The interval of change should be chosen taking into account the maximum and minimum altitudes.

In addition, in applying the linear optimization method, there is no mathematical difference between the reference value setting method according to whether the aircraft rises or falls within the initialization section. In consideration of flight stability and accuracy of measurement data, the type and timing of flight may be selected for setting a reference value.

5 is a flowchart illustrating a method for determining the barometric pressure altitude in the barometric altimeter according to the second embodiment of the present invention.

) 및 압력(

)의 측정값들을 수신한다.
First, the receiver 110 of the barometric altimeter 100 receives the measured values of altitude and pressure from the measuring device (S210). For example, as shown in FIG. 4, while the aircraft 10 equipped with the barometric altimeter 100 changes altitude while flying, the receiver 110 continuously maintains the altitude (

) And pressure (

Receive measurements of

Next, the reference value determination unit 120 of the barometric altimeter 100 determines a reference pressure (S220).

The reference value determiner 120 may determine a standard atmospheric pressure, that is, 1 atmosphere as the reference pressure. In addition, the reference value determination unit 120 may determine the pressure measured at any point in time during the flight of the vehicle as the reference pressure. In this case, for example, when the vehicle is waiting on a runway or immediately before or after the start of the reference value determination. Measured pressures can also be used. In addition, the reference value determiner 120 may calculate an arithmetic mean value of the pressure measurement values and determine it as the reference pressure during the initialization of the barometric altimeter.

Next, the reference value determination unit 120 of the barometric altimeter 100 determines a reference altitude and a reference temperature based on the received altitude measurement values, the received pressure measurement values, and the determined reference pressure (S230). ).

To this end, the barometric altimeter 100 defines an error function indicating an altitude error based on the measured values and calculates a coefficient for minimizing the error of the error function to determine the reference altitude and the reference temperature. do.

The barometric altimeter 100 uses the reference pressure determined in the previous step in addition to the received altitude measurements and the received pressure measurements to determine a reference altitude and reference temperature. Thus, even if based on the same measured values, a plurality of different reference value combinations may be determined by the determined difference in barometric pressure.

For example, using the equation below, the barometric altimeter 100 will be described how to determine the reference altitude and the reference temperature.

The error function may be defined using a pressure matrix based on the pressure measurements, an altitude matrix based on the altitude measurements, and a Hessian matrix of the pressure matrix. In addition, the coefficient for minimizing the error may be calculated using a coefficient matrix such that the pressure matrix and the altitude matrix are in a linear relationship.

), 고도 행렬(

), 계수 행렬(

) 및 헤시안 행렬(

)은 <수학식3>과 같이 표현될 수 있다.For example, the pressure matrix (

), Elevation matrix (

), A coefficient matrix (

) And Hessian matrix (

) Can be expressed as in Equation 3.

,

,

,

,

,

,

,

,

), 기준 압력(

) 및 기준 온도(

)을 의미한다. Where H is altitude, g is gravitational acceleration, and p is barometric pressure. Also, R is the gas constant for air, T is the temperature, β is the temperature decay rate of the standard atmospheric model, and the variables with subscript REF are reference values, i.e.

), Reference pressure (

) And reference temperature (

).

), 상기 고도 측정값들에 기초한 고도 행렬(

) 및 상기 압력 행렬의 헤시안 행렬(

)을 이용하여 정의될 수 있으며, 이는 다음과 같이 표현될 수 있다.At this time, the error function is a pressure matrix based on the pressure measurements (

), An altitude matrix based on the altitude measurements (

) And the Hessian matrix of the pressure matrix (

), Which can be expressed as follows.

,

,

)에 대한 함수로서, 상기 계수 행렬은 상기 압력 행렬(

)과 상기 고도 행렬(

)이 선형관계에 있도록 하는 계수에 해당한다. 따라서, 상기 오차 함수에 의한 오차를 최소화 시켜주는 계수를 찾기 위하여 아래와 같이 상기 오차 함수에 대한 1차 미분식을 이용할 수 있다.The error function of Equation 4 is the coefficient matrix (

As a function of, the coefficient matrix is the pressure matrix (

) And the elevation matrix (

) Corresponds to the coefficient that makes the linear relationship. Therefore, in order to find a coefficient that minimizes the error caused by the error function, the first order differential equation for the error function may be used as follows.

The inverse of the Hessian matrix is obtained as shown below (see Equation 4), and accordingly, the coefficient matrix which minimizes the error of the error function can be obtained.

) 및 상기 계산된 계수행렬을 기초로 시간 평균에 해당하는 항을 간략하게 표현함으로써 <수학식 7>과 같은 기준 고도(

) 및 기준 온도(

)를 결정하기 위한 행렬을 얻을 수 있다.The determined reference pressure (

) And the term corresponding to the temporal mean based on the calculated coefficient matrix in a simplified manner.

) And reference temperature (

We can get a matrix to determine

,

,

), 상기 압력 측정값들 및 상기 고도 측정값들을 기초로 <수학식 7>을 이용하여 기준 고도(

) 및 기준 온도(

)를 결정할 수 있다.
Therefore, the reference value determiner 120 of the barometric altimeter 100 determines the determined reference pressure (

), Based on the pressure measurement values and the altitude measurement values, a reference altitude (Equation 7)

) And reference temperature (

) Can be determined.

Next, the barometric altimeter setting unit 130 of the barometer altimeter 100 sets the barometric altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature (S240).

As described above, the barometric altimeter setting unit 130 includes reference values necessary for calculating the barometric altitude of the barometer altitude 100 from the outside of the vehicle 10 in which the barometer altimeter 10 is mounted, that is, the reference altitude and the reference pressure. Alternatively, the setting may be performed using only the measured values received from the measuring device mounted on the vehicle 10 without receiving the reference temperature.

6 is a view showing a simulation result of the reference value according to the barometric altitude determination method in the barometric altimeter according to an embodiment of the present invention, Figure 7 is a barometric altitude of the barometric altitude according to the barometric altitude determination method according to an embodiment of the present invention It is a figure which shows the simulation result of an error.

FIG. 6 illustrates that a reference value is calculated by applying a mean value method and a linear optimization method to the same flight section according to embodiments of the present invention. The result 210 according to the mean method is to calculate a reference value by averaging the altitude, pressure, and temperature measured while the aircraft maintains an altitude of about 300 m after the ascent, and the result 220 according to the linear optimization method is 100 m. During the ascent to 300m, the reference value was calculated using altitude and pressure data.

FIG. 7 illustrates an error of barometric altitude determined according to an embodiment of the present invention based on altitude information measured through GPS, that is, an error 310 of the barometric altitude according to the average value method and an error 320 of the linear optimization method. It is shown. In order to compare the accuracy of the barometric altitude determination method of the present invention, the error 330 of the barometric altitude set using atmospheric information measured on the runway is also shown. For the simulation, since the actual flight of the vehicle was made away from the runway, it was found that the errors according to the two initialization methods were higher in accuracy than the air pressure altitude error 330 using atmospheric information measured on the runway. Can be.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. will be. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (19)

A receiving unit for receiving at least one altitude measurement value and a pressure measurement value from a measuring device, respectively;
A reference value determiner which determines a reference pressure and determines a reference altitude and a reference temperature based on the received altitude measurements, the received pressure measurements and the determined reference pressure; And
A setting unit configured to set an air pressure altimeter based on the determined reference altitude, the determined reference pressure, and the determined reference temperature,
The reference value determination unit
And the reference altitude and the reference temperature are determined based on a method of calculating a coefficient for minimizing an error of an error function. delete The method of claim 1, wherein the coefficient of minimizing the error is
A barometric altimeter, calculated using a coefficient matrix such that a pressure matrix based on pressure measurements and an altitude matrix based on elevation measurements are in a linear relationship. The method of claim 3,
And the error function is defined using a Hessian matrix and the coefficient matrix of the pressure matrix. delete delete delete delete delete As a method of setting the barometric altimeter mounted on the aircraft,
(A) receiving at least one altitude measurement and pressure measurement from the measuring device, respectively;
(B) determining a reference pressure;
(C) determining a reference altitude and a reference temperature based on the received altitude measurements, the received pressure measurements and the determined reference pressure; And
(D) setting an air pressure altimeter based on said determined reference altitude, said determined reference pressure and said determined reference temperature,
In the step (C) the determination of the reference altitude and reference temperature
A barometric altimeter setting method, characterized in that based on the method for calculating the coefficient of minimizing the error of the error function. delete The method of claim 10, wherein the coefficient to minimize the error is
A pressure altimeter setting method, characterized in that the calculation is performed using a coefficient matrix such that a pressure matrix based on pressure measurements and an altitude matrix based on elevation measurements are in a linear relationship. delete delete delete The method of claim 10, wherein the reference pressure is
A barometric altimeter setting method, characterized in that determined by the standard atmospheric pressure. The method of claim 10, wherein the reference pressure is
And determine the barometric pressure altimeter based on at least one of the pressure measurements. The method of claim 10, wherein the reference pressure is
The barometric altimeter setting method, characterized in that determined by the arithmetic mean of the pressure measurements. As a method of setting the barometric altimeter mounted on the aircraft,
(A) receiving at least one altitude measurement, pressure measurement and temperature measurement from the measuring device, respectively;
(B) determining a reference altitude, reference pressure and reference temperature based on the received altitude measurements, the received pressure measurements and the received temperature measurements; And
(C) setting an air pressure altimeter based on said determined reference altitude, said determined reference pressure and said determined reference temperature,
The reference altitude is determined by the arithmetic mean of the altitude measurements, the reference pressure is determined by the arithmetic mean of the pressure measurements, and the reference temperature is determined by the arithmetic mean of the temperature measurements. How to set up.

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