WO2017191810A1

WO2017191810A1 - Flight altitude correction system and method for unmanned air vehicle

Info

Publication number: WO2017191810A1
Application number: PCT/JP2017/016895
Authority: WO
Inventors: 和雄市原
Original assignee: 株式会社プロドローン
Priority date: 2016-05-06
Filing date: 2017-04-28
Publication date: 2017-11-09
Also published as: JP2017200803A

Abstract

The present invention addresses the problem of providing a flight altitude correction system and a flight altitude correction method with which turbulence in the flight altitude of an unmanned air vehicle due to air pressure changes can be minimized when the unmanned air vehicle controls the flight altitude on the basis of an output value of an air pressure sensor. This problem is solved by an unmanned air vehicle provided with an air pressure sensor, a flight altitude correction system for said unmanned air vehicle, and a method in which said flight altitude correction system is used, said flight altitude correction system being characterized by being provided with: a reference device; a reference value storage means that stores reference values including, e.g., an air pressure value of the reference device; an increasing/decreasing value acquisition means that compares the reference value during takeoff of the unmanned air vehicle and the current reference value, and calculates an increasing/decreasing value; a correction value acquisition means that calculates a correction value that accounts for the increasing/decreasing value and that is applied to, e.g., the air pressure value of the unmanned air vehicle; and a flight altitude regulation means that controls the flight altitude of the unmanned air vehicle on the basis of the correction value.

Description

Flight altitude correction system and method for unmanned aerial vehicles

The present invention relates to a flight altitude correction system and method for an unmanned aerial vehicle.

Conventionally, small unmanned aerial vehicles represented by industrial unmanned helicopters have been expensive and difficult to obtain and require skill to operate in order to fly stably. However, recent improvements in sensors and software used for attitude control and autonomous flight of unmanned aerial vehicles have greatly improved the operability of unmanned aerial vehicles and made it possible to obtain high-performance aircraft at low cost. became. From such a background, the application of a small multi-copter to various missions in a wide range of fields is now being tried, not only for hobby purposes.

JP 2014-021036 A JP 2011-210148 A JP 2011-117818 A JP 2013-212832 A

In such unmanned aerial vehicles, a barometric sensor is generally used to detect the flight altitude. The unmanned aircraft converts the output value of the barometric sensor into a barometric altitude, and controls the flight altitude of the aircraft based on it. As other altitude detection means, for example, distance sensors using lasers, infrared rays, or ultrasonic waves can be used, but these distance sensors measure the relative distance between the ground surface and the aircraft, and are uneven on the ground surface. If there is, it is easily affected. For this reason, in order to fly the sky above the uneven ground surface while maintaining a certain altitude on an unmanned aircraft using these distance sensors, it is necessary to separately provide a mechanism for offsetting the disturbance in the measured altitude due to the unevenness of the ground surface.

On the other hand, even when a barometric sensor is used, the atmospheric pressure detected by the barometric sensor is not always constant with respect to altitude, and changes due to changes in weather conditions, topography, or atmospheric tides. Although the effect is small in a relatively short time flight or a visual flight by manual control, the error in flight altitude due to the change in atmospheric pressure becomes more prominent as the flight distance and flight time become longer.

In view of the above problems, the problem to be solved by the present invention is that when an unmanned aerial vehicle controls its flight altitude based on the output value of a barometric pressure sensor, a flight capable of suppressing a disturbance in the flight altitude of the unmanned aircraft due to a change in atmospheric pressure. An altitude correction system and a flight altitude correction method are provided.

In order to solve the above problems, an unmanned aerial vehicle flight altitude correction system according to the present invention includes an unmanned aerial vehicle including a rotor blade and a barometric pressure sensor, a reference unit including a barometric pressure sensor and installed at a fixed position, and a barometric pressure sensor of the reference unit The reference value storage means for storing the atmospheric pressure value or the atmospheric pressure altitude calculated from the atmospheric pressure value as the reference value, and the initial value that is the reference value at the time of takeoff of the unmanned aircraft is acquired from the reference value storage means, An increase / decrease value acquisition means for calculating an increase / decrease value that is a difference between the current value and the current reference value, and a barometric pressure value of the unmanned aircraft pressure sensor or a barometric altitude calculated from the barometric pressure value Based on the correction value, a correction value acquisition means for calculating a correction value that is a value obtained by adding the increase / decrease value calculated by the increase / decrease value acquisition means to the actual machine value. A flight altitude adjusting means for controlling the serial flight altitude unmanned aircraft, characterized in that it comprises a.

Separate from unmanned aerial vehicles, a reference device for detecting changes in atmospheric pressure is installed in the landing port of the unmanned aircraft and in the flight area to detect changes (increase / decrease) in atmospheric pressure since the unmanned aircraft took off. It becomes possible to do. By adjusting the pressure value and pressure altitude (actual aircraft value) recognized by the unmanned aircraft based on this increase / decrease value, the increase / decrease in the actual aircraft value at the same altitude can be offset and the flight altitude of the unmanned aircraft can be kept constant. It becomes possible.

In addition, a plurality of the reference devices are installed at a distance from each other, and the reference value storage means includes the reference value, the acquisition time of the reference value, and the reference device that has acquired the reference value. Individual identification information is stored, the increase / decrease value acquisition unit further calculates an adjustment increase / decrease value that is a value obtained by leveling the increase / decrease value of each reference device, and the correction value acquisition unit, The correction value may be calculated in consideration of the adjustment increase / decrease value calculated by the increase / decrease value acquisition unit.

The conditions for changing atmospheric pressure are different between the takeoff point of an unmanned aerial vehicle and a location far away from it. Therefore, as the unmanned aircraft moves away from the reference device, the difference between the atmospheric pressure increase / decrease value of the area where the unmanned aircraft actually flies and the atmospheric pressure increase / decrease value of the area where the reference device is installed are different. The flight altitude may be disturbed. Therefore, multiple reference units are installed at appropriate intervals, and an adjusted increase / decrease value obtained by averaging the increase / decrease values of the atmospheric pressure in each reference unit (for example, based on the simple average of these increase / decrease values or the distance between the unmanned aircraft and each reference unit) By adjusting to the actual value of the unmanned aircraft based on the weighted average), it is possible to suppress the flight altitude disturbance of the unmanned aircraft over a wide area.

The server device further includes a server device capable of communicating with the unmanned aircraft and the reference devices, and the server device includes an installation coordinate storage unit that stores latitude and longitude of an installation position of each reference device, and the reference value storage unit. And the increase / decrease value acquisition means, the unmanned aircraft is capable of acquiring flight coordinates that are the latitude and longitude of its own aircraft, the correction value acquisition means, and the flight altitude adjustment The server device is capable of acquiring the flight coordinates from the unmanned aerial vehicle and calculating a distance between the unmanned aircraft and each reference device, and the increase / decrease value acquiring unit is configured to adjust the adjustment. When calculating the increase / decrease value, the increase / decrease value may be weighted according to the distance between the unmanned aircraft and each reference device.

A server device that can communicate with each reference device and unmanned aircraft is installed. The server device collects the increase / decrease values of each reference device and calculates the adjustment increase / decrease value. By adopting a configuration in which the flight altitude is controlled based on the value, the flight altitude correction system can be centrally managed with the server device as the center. This also makes it possible to minimize the functions of each reference device and unmanned aerial vehicle, and facilitate the expansion of the scale and number of systems. Further, when the increase / decrease value acquisition means calculates the adjustment increase / decrease value, the actual change in atmospheric pressure and the adjustment increase / decrease value are obtained by weighting each increase / decrease value according to the distance between each reference device and the unmanned aircraft. Can be more accurately matched.

In order to solve the above problems, an unmanned aircraft flight altitude correction system according to the present invention includes an unmanned aerial vehicle including a rotary wing and an atmospheric pressure sensor, a reference device including an atmospheric pressure sensor and installed at a fixed position, When the altitude value storage means for storing the altitude of the installation position or the value obtained by converting the altitude into an atmospheric pressure value as the altitude value, and the atmospheric pressure value calculated from the atmospheric pressure value of the atmospheric pressure sensor of the reference device or the atmospheric pressure value as a reference value And altitude error acquisition means for acquiring the altitude value of the reference device from the altitude value storage means and calculating an altitude error which is a difference between the altitude value and the reference value of the reference device, and the unmanned aircraft When the barometric pressure value of the barometric pressure sensor or the barometric altitude calculated from the barometric pressure value is used as an actual machine value, a correction value that is a value obtained by adding the altitude error calculated by the altitude error acquisition means to the actual machine value is obtained. Calculation That a correction value acquisition means, characterized in that it comprises a flight altitude adjusting means for controlling the altitude of the wireless human aircraft based on the correction value.

Aside from the unmanned aircraft, a reference device for detecting the error between the actual altitude (true altitude) and the barometric altitude is provided at the landing port of the unmanned aircraft and in the flight area. By adjusting based on this, the error between the true altitude of the unmanned aircraft and the actual aircraft value can be eliminated. As a result, the flight altitude of the unmanned aircraft can be kept constant based on the true altitude. The above-mentioned correction of the flight altitude using the increase / decrease value of the atmospheric pressure from the time of take-off of the unmanned aircraft is intended to cancel the relative and temporal change relative to the atmospheric pressure at the time of take-off, In order to maintain the unmanned aircraft at a constant flight altitude based on the true altitude, it is necessary to provide a mechanism for recognizing the true altitude. In the present invention, the altitude (actual altitude) at the installation position of the reference device is registered in advance in the altitude value storage means, so that the unmanned aerial vehicle has a mechanism similar to that described above and is based on the true altitude. Can be maintained at a constant flight altitude.

In addition, a plurality of the reference devices are installed at a distance from each other, and the elevation value storage means stores the individual identification information of the reference device that acquired the elevation value together with the elevation value, and the altitude error The acquisition unit further calculates an adjustment altitude error that is a value obtained by leveling the altitude error of each reference device, and the flight altitude adjustment unit calculates the adjustment calculated by the altitude error acquisition unit with respect to the actual aircraft value. It is preferable to calculate the correction value in consideration of altitude error.

The conditions for changing atmospheric pressure are different between the takeoff point of an unmanned aerial vehicle and a location far away from it. Therefore, as the unmanned aerial vehicle moves away from the reference unit, the altitude error of the area where the unmanned aircraft actually flies and the altitude error of the area where the reference unit is installed will differ, and the flight altitude of the unmanned aircraft will be disturbed. May occur. Therefore, multiple reference units are installed at appropriate intervals, and an adjustment altitude error obtained by leveling the altitude error of each reference unit (for example, a simple average of these adjustment altitude errors or a weighted average based on the distance between the unmanned aircraft and each reference unit) ) To adjust the actual aircraft value of the unmanned aerial vehicle, it is possible to suppress the flight altitude disturbance of the unmanned aircraft over a wide area.

In addition, the server device further includes a server device capable of communicating with the unmanned aircraft and each reference device, the server device having an installation coordinate storage unit storing latitude and longitude of an installation position of each reference device, and obtaining the altitude error. The unmanned aircraft includes flight coordinate detection means capable of acquiring flight coordinates that are the latitude and longitude of the own aircraft, the correction value acquisition means, and the flight altitude adjustment means, The server device can acquire the flight coordinates from the unmanned aircraft and calculate a distance between the unmanned aircraft and each reference device, and the increase / decrease value acquisition unit can calculate the adjustment altitude error. The altitude error may be weighted according to the distance between the unmanned aircraft and each reference device.

A server device capable of communicating with each reference device and the unmanned aircraft is provided. The server device collects the altitude error of each reference device and calculates the adjusted altitude error. The unmanned aircraft obtains the adjusted altitude obtained from the server device. By adopting a configuration in which the flight altitude is controlled based on the error, the flight altitude correction system can be centrally managed with the server device as the center. This also makes it possible to minimize the functions of each reference device and unmanned aerial vehicle, and facilitate the expansion of the scale and number of systems. Furthermore, when the altitude error acquisition means calculates the adjusted altitude error, the altitude error is weighted according to the distance between each reference device and the unmanned aircraft, thereby changing the actual atmospheric pressure change and the adjusted altitude error. Can be more accurately matched.

In order to solve the above-mentioned problem, the unmanned aircraft flight altitude correction method of the present invention includes an unmanned aircraft including a rotor blade and an atmospheric pressure sensor, and an unmanned aircraft using an atmospheric pressure sensor and a reference device installed at a fixed position. An aircraft flight altitude correction method, wherein an initial value that is the reference value at the time of take-off of the unmanned aircraft when the pressure value of the pressure sensor of the reference device or the pressure height calculated from the pressure value is used as a reference value And an increase / decrease value acquisition process for calculating an increase / decrease value that is a difference between the initial value and the current reference value, and the increase / decrease with respect to the atmospheric pressure value of the atmospheric pressure sensor of the unmanned aircraft or the atmospheric pressure altitude calculated from the atmospheric pressure value. And a flight altitude adjustment process for controlling the flight altitude of the unmanned aircraft based on a value including the value.

Separate from unmanned aerial vehicles, obtain a change (increase / decrease) in atmospheric pressure from the time of unmanned aircraft take-off by providing a reference device for detecting changes in atmospheric pressure at the departure and arrival ports and flight areas of unmanned aircraft. It becomes possible to do. By adjusting the pressure value and pressure altitude (actual aircraft value) recognized by the unmanned aircraft based on this increase / decrease value, the increase / decrease in the actual aircraft value at the same altitude can be offset and the flight altitude of the unmanned aircraft can be kept constant. It becomes possible.

In order to solve the above-mentioned problem, the unmanned aircraft flight altitude correction method of the present invention includes an unmanned aircraft including a rotor blade and an atmospheric pressure sensor, and an unmanned aircraft using an atmospheric pressure sensor and a reference device installed at a fixed position. An aircraft flight altitude correction method, comprising: an altitude of an installation position of the reference device or a value obtained by converting the altitude into an atmospheric pressure value, and an atmospheric pressure value of the reference sensor or an atmospheric pressure altitude calculated from the atmospheric pressure value. Altitude error acquisition processing for calculating an altitude error as a difference, and a flight altitude of the unmanned aircraft based on a pressure value of the pressure sensor of the unmanned aircraft or a pressure altitude calculated from the atmospheric pressure value and the altitude error And a flight altitude adjustment process for controlling the aircraft.

Aside from the unmanned aircraft, a reference device for detecting the error between the actual altitude (true altitude) and the barometric altitude is provided at the landing port of the unmanned aircraft and in the flight area. By adjusting based on this, an error between the true altitude of the unmanned aircraft and the actual aircraft value can be eliminated, and the flight altitude of the unmanned aircraft can be kept constant based on the true altitude.

As described above, according to the flight altitude correction system and method of the unmanned aircraft according to the present invention, when the unmanned aircraft controls the flight altitude based on the output value of the atmospheric pressure sensor, the flight altitude of the unmanned aircraft due to the change in atmospheric pressure. It becomes possible to suppress the disturbance.

It is a mimetic diagram showing the whole flight altitude correction system composition of a 1st embodiment. It is a block diagram which shows the function structure of the flight altitude correction system of 1st Embodiment. It is a flowchart which shows the procedure of the flight altitude correction method of 1st Embodiment. It is a figure explaining a mode that the flight altitude of a multicopter is maintained by the flight altitude correction system of a 1st embodiment using a concrete value. It is a schematic diagram which shows the whole structure of the flight altitude correction system of 2nd Embodiment. It is a block diagram which shows the function structure of the flight altitude correction system of 2nd Embodiment. It is a flowchart which shows the procedure of the flight altitude correction method of 2nd Embodiment. This is an example in which two reference devices are installed for the method of calculating the adjustment increase / decrease value. This is an example in which three reference devices are installed for the method of calculating the adjustment increase / decrease value. It is a figure explaining a mode that the flight altitude of a multicopter is maintained by the flight altitude correction system of a 2nd embodiment using a concrete value. It is a schematic diagram which shows the whole structure of the flight altitude correction system of 3rd Embodiment. It is a block diagram which shows the function structure of the flight altitude correction system of 3rd Embodiment. It is a flowchart which shows the procedure of the flight altitude correction method of 3rd Embodiment. It is a figure explaining a mode that the flight altitude of a multicopter is maintained by the flight altitude correction system of a 4th embodiment using a concrete value. It is a schematic diagram which shows the whole structure of the flight altitude correction system of 4th Embodiment. It is a block diagram which shows the function structure of the flight altitude correction system of 4th Embodiment. It is a flowchart which shows the procedure of the flight altitude correction method of 4th Embodiment. It is a figure explaining a mode that the flight altitude of a multicopter is maintained by the flight altitude correction system of a 4th embodiment using a concrete value.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. The unmanned aircraft flight altitude correction system and the unmanned aircraft flight altitude correction method according to the following embodiments are examples in which a multicopter flies outdoors at a constant flight altitude.

<First Embodiment>
[overall structure]
FIG. 1 is a schematic diagram showing an overall configuration of a flight altitude correction system S1 according to the first embodiment. FIG. 2 is a block diagram showing a functional configuration of the flight altitude correction system S1. The flight altitude correction system S1 of the present embodiment includes a multicopter 11 that is an unmanned aerial vehicle, a reference device 60 installed on the ground in the vicinity of a landing port of the multicopter 11, and a control terminal that transmits an operator's instruction to the multicopter 11. 91.

[Configuration of multicopter]
The aircraft of the multicopter 11 performs wireless communication with the flight controller 20, the rotor R that is a plurality of rotor blades, the ESC 43 (Electric Speed Controller) that controls the rotation of the rotor R, the operator's control terminal 91, and the reference device 60. A wireless transceiver 33 and a battery 51 as a power supply source are mounted.

Each rotor R is composed of a motor 41 which is a DC motor and a blade 42 attached to its output shaft. The ESC 43 is connected to the motor 41 of the rotor R and is a device that rotates the motor 41 at a speed instructed by the flight controller FC. The multicopter 11 in this embodiment is a quadcopter on which four rotors R are mounted. However, the number of rotors R is not limited to four, and required flight stability, allowable cost, etc. The rotor R can be appropriately changed from a helicopter having two rotors (one rotor R if the tail rotor is excluded) to a rotor R having eight octocopters, or more.

The flight controller FC includes a control device 20 that is a microcontroller. The control device 20 includes a CPU 21 that is a central processing unit, a memory 22 that is a storage device such as a ROM and a RAM, and an ESC 43, and the rotational speed and rotational speed of each motor 41 (hereinafter collectively referred to simply as “rotation”). It includes a PWM controller 23 that controls the number.

The flight controller FC further includes a flight control sensor group 31 and a GPS receiver 32 (hereinafter also referred to as “sensor or the like”), which are connected to the control device 20. In addition to the atmospheric pressure sensor 311, the flight control sensor group 31 of the multicopter 11 in this embodiment includes an acceleration sensor, an angular velocity sensor, a geomagnetic sensor (orientation sensor), and the like. The control device 20 can acquire position information of the own aircraft including the latitude and longitude of the flight, the flight altitude, and the azimuth angle of the nose, in addition to the tilt and rotation of the aircraft, using these sensors and the like.

The memory 22 of the control device 20 stores a flight control program FCP, which is a program in which a flight control algorithm for controlling the attitude and basic flight operation of the multicopter 11 during flight is installed. The flight control program FCP adjusts the number of rotations of each rotor R based on the current position acquired from a sensor or the like according to an instruction from an operator (control terminal 91), and corrects the attitude and position disturbance of the fuselage. 11 is made to fly. Note that the operation of the multicopter 11 in the present embodiment is basically performed by the operator using the operation terminal 91. For example, parameters such as latitude / longitude, flight altitude, and flight route are previously stored in the flight control program FCP. It is also possible to register and fly autonomously to the destination (hereinafter referred to as “autopilot”).

Thus, the multicopter 11 in this embodiment has an advanced flight control function. However, the unmanned aircraft according to the present invention may be any aircraft that includes a barometric sensor and can perform general flight operation using a rotary wing and autonomous adjustment of the flight altitude of the aircraft. Other configurations and functions are only added. Is something. For example, an unmanned aerial vehicle of the present invention includes an airframe that does not include a geomagnetic sensor or GPS 32 and does not have an autopilot function.

[Configuration of reference device]
The reference device 60 is a beacon that includes an atmospheric pressure sensor 61 and a wireless transmitter / receiver 62 and detects and transmits an atmospheric pressure value at the place where the reference device 60 is disposed. The reference device 60 transmits the acquired atmospheric pressure value to the multicopter 11 using a short-range wireless communication protocol such as BLE (Bluetooth Low Energy) (registered trademark). The power supply to the atmospheric pressure sensor 61 and the wireless transmitter / receiver 62 may be performed using a battery (not shown) or by wired power feeding.

The reference device 60 in the present embodiment is configured to transmit the detected atmospheric pressure value to the multicopter 11 in a cycle of, for example, once every several seconds to several tens of seconds. In addition, for example, the reference device 60 can store the atmospheric pressure value transmitted to the multicopter 11 last time, and the atmospheric pressure value may be transmitted only when a change of a predetermined threshold value or more occurs with respect to the atmospheric pressure value. Or it is good also as a structure which transmits an atmospheric | air pressure value only when there exists the transmission instruction | indication from the multicopter 11. FIG. Further, the detected atmospheric pressure value may be converted into the atmospheric pressure altitude based on the international standard atmosphere or the like and then transmitted to the multicopter 11.

As described above, the reference device 60 in the present embodiment is fixed to the ground surface in the vicinity of the landing port of the multicopter 11. Although the installation position of the reference device 60 is not strictly limited, it is desirable that the reference apparatus 60 be installed in a place that is affected by an atmospheric pressure change equivalent to the atmospheric pressure change at the flight position of the multicopter 11. Further, the reference object 60 need not always be on the ground surface, and may be attached to a natural object such as a house, a building, a utility pole, a fence, or a tree provided on the ground, or a tree. The term “installation at a fixed position”, which is a definition of the location of the reference device according to the present invention, means that, for example, a reference device is firmly fixed by screwing or the like to an unmovable and non-deformable workpiece or natural object. This means that the reference device is not placed in a place where the position changes so much. Therefore, for example, when the reference device 60 is simply placed on the ground surface or the roof of the building, or even when the operator of the multicopter 11 wears the reference device 60 and steers the multicopter 11 from a certain place. included.

[Configuration of control terminal]
The control terminal 91 in the present embodiment is a so-called propo that transmits an operator's instruction to the multicopter 11.

[Flight altitude correction function and method]
As shown in FIG. 2, the multicopter 11 has a reference value storage area VS (reference value storage means) that stores a reference value v that is an atmospheric pressure value detected by the atmospheric pressure sensor 61 of the reference device 60. In the present embodiment, the reference value v at the time of takeoff of the multicopter 11 is registered as the initial value i in the reference value storage area VS.

The flight control program FCP of the multicopter 11 has a flight altitude adjustment program FAP (flight altitude adjusting means) as a subprogram for managing the flight altitude of the multicopter 11. Further, the flight altitude adjustment program FAP has, as its subprograms, an increase / decrease value acquisition program DP (increase / decrease value acquisition means) and a correction value acquisition program CP (correction value acquisition means). The increase / decrease value acquisition program DP acquires the initial value i from the reference value storage area VS, compares the initial value i with the current value p, which is the current reference value v of the reference device 60, and determines these values. An increase / decrease value d which is a difference is calculated. The correction value acquisition program CP calculates a correction value c that is a value obtained by adding or subtracting the increase / decrease value d calculated by the increase / decrease value acquisition program DP to the actual machine value m that is the atmospheric pressure value detected by the atmospheric pressure sensor 311 of the multicopter 11. To do. That is, the correction value c is an actual machine value m that offsets the change in atmospheric pressure that has occurred since the multicopter 11 took off. That is, the present barometric altitude of the multicopter 11 with reference to the atmospheric pressure at the time of takeoff of the multicopter 11.

The flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c calculated by the correction value acquisition program CP. Here, the flight altitude adjustment program FAP has a maintenance altitude storage area KS in which a maintenance altitude kh that is an atmospheric pressure value that the multicopter 11 should reach and maintain is stored. The maintenance altitude storage area KS in this embodiment is defined as a variable of the flight altitude adjustment program FAP. In the maintenance altitude storage area KS, the correction value c when the flight altitude change instruction from the operator's control terminal 91 is stopped is stored as the maintenance altitude kh. Alternatively, when the multicopter 11 is caused to fly by an autopilot, a value obtained by converting a predetermined flight altitude at that point into an atmospheric pressure value is stored. The flight altitude adjustment program FAP cooperates with the flight control program FCP to control the flight altitude of the multicopter 11 so that the correction value c of the multicopter 11 matches the maintenance altitude kh.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 using the flight altitude correction system S1 will be described with reference to FIG. FIG. 3 is a flowchart showing the procedure of the flight altitude correction method of the multicopter 11. The flight altitude correction method of the multicopter 11 using the flight altitude correction system S1 is roughly composed of an initial value setting process S1, an increase / decrease value acquisition process S2, a correction value calculation process S3, and a flight altitude adjustment process S4.

In the initial value setting process S1, the multicopter 11 acquires the reference value v of the reference device 60 at the time of takeoff, and stores the reference value v as the initial value i in the reference value storage area VS. In the increase / decrease value acquisition process S2, the value acquisition program DP acquires the current value p from the reference device 60, and calculates the increase / decrease value d, which is the difference between the increase / decrease initial value i and the current value p. In the correction value calculation process S3, the correction value acquisition program CP calculates a correction value c that is a value obtained by adding / subtracting the increase / decrease value d to / from the actual machine value m. In the flight altitude adjustment process S4, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c. At this time, when an instruction to raise or lower the flight altitude of the multicopter 11 is given from the operator's control terminal 91 or autopilot processing (hereinafter, such instruction is referred to as “flight altitude change instruction”). In accordance with the instruction, the flight altitude adjustment program FAP changes the flight altitude of the multicopter 11 using the correction value c as the current flight altitude. Further, when the flight altitude change instruction from the control terminal 91 is stopped, the flight altitude adjustment program FAP updates the maintenance altitude storage area KS with the correction value c at that time as the maintenance altitude ka. Note that the flight altitude change instruction from the autopilot process is a value obtained by the flight altitude adjustment program FAP converting a pre-designated flight altitude at that point into a barometric pressure value as the maintenance altitude ka in the maintenance altitude storage area KS. The flight altitude of the multicopter 11 is adjusted so that the maintenance altitude ka is reached and maintained. After taking off, the multicopter 11 repeats these increase / decrease value acquisition processing S2 to flight altitude adjustment processing S4 until landing.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 will be described using specific values with reference to FIG. FIG. 4 is an explanatory diagram showing how the flight altitude of the multicopter 11 is maintained by the flight altitude correction system S1. As shown in FIG. 4A, the reference value v that is the atmospheric pressure value detected by the atmospheric pressure sensor 61 of the reference device 60 was 1013.0 hPa when the multicopter 11 took off. At the time of takeoff, the multicopter 11 stores the reference value v as an initial value i in the reference value storage area VS (initial value setting process S1). In this embodiment and the following embodiments, for convenience of explanation, the atmospheric pressure altitude difference of 1 hPa is simply set to 10 m, and similarly, the atmospheric pressure altitude difference of 0.1 hPa is set to 1 m.

In this example, the operator manually raises the multicopter 11 as it is for 10 m, and instructs the multicopter 11 to autonomously hover at that position (the instruction from the operator's control terminal 91 is stopped). At this time, the actual machine value m, which is the atmospheric pressure value detected by the atmospheric pressure sensor 311 of the multicopter 11, was 1012.0 hPa. Further, there is no change in atmospheric pressure between the take-off of the multicopter 11 and the start of hovering, and the current value p, which is the reference value v of the reference device 60 at this time, is the same as the initial value i. It remained 1013.0 hPa.

The multicopter 11 is the difference between the initial value i (1013.0 hPa) and the current value p (1013.0 hPa) at that time (current value p−initial value i) by the increase / decrease value acquisition program DP after takeoff. Increase / decrease value d (0 hPa) is calculated (increase / decrease value acquisition process S2), and correction value c is a value obtained by adding increase / decrease value d (0 hPa) to actual machine value m (1012.0 hPa) by correction value acquisition program CP. (1012.0 hPa) is calculated (correction value calculation processing S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c (1012.0 hPa) (flight altitude adjustment process S4). The multicopter 11 flies while repeating these increase / decrease value acquisition processing S2 to flight altitude adjustment processing S4. However, there has been no change in atmospheric pressure since the multicopter 11 took off, and the increase / decrease value d remains 0 hPa. Therefore, at this time, the actual machine value m and the correction value c are both the same value (1012.0 hPa).

When the flight altitude change instruction from the operator's control terminal 91 is stopped (when hovering is started), the flight altitude adjustment program FAP maintains the correction altitude c (1012.0 hPa) as the maintenance altitude ka. Store in the storage area KS. Thereafter, in the flight altitude adjustment process S4, the flight altitude adjustment program FAP operates to maintain this maintenance altitude ka until an instruction to change the flight altitude is given from the operator's control terminal 91 or the autopilot process.

After that, as shown in FIG. 4B, the atmospheric pressure dropped by 1 hPa, the reference value v of the reference device 60 dropped to 1012.0 hPa, and the actual aircraft value m dropped to 1011.0 hPa (actual flight altitude of the multicopter 11). Is the same as when the actual machine value m was 1012.0 hPa).

At this time, the multicopter 11 calculates an increase / decrease value d (-1 hPa) between the initial value i (1013.0 hPa) and the current value p (1012.0 hPa) at that time by the increase / decrease value acquisition program DP (current value). p-initial value i) (increase / decrease value acquisition processing S2). Then, the correction value acquisition program CP corrects the actual machine value m (1011.0 hPa) by adding / subtracting the increase / decrease value d (-1 hPa) (adding the value obtained by inverting the sign of the increase / decrease value d to the actual machine value m). A value c (1012.0 hPa) is calculated (correction value calculation processing S3). Then, the flight altitude of the multicopter 11 is adjusted by the flight altitude adjustment program FAP based on the correction value c (1012.0 hPa) (flight altitude adjustment processing S4). However, since the correction value c (1012.0 hPa) coincides with the maintenance altitude ka (1012.0 hPa) at this time, the flight altitude adjustment program FAP does not change the actual flight altitude of the multicopter 11 until then. Maintain the flight altitude. Here, if a flight altitude change instruction is separately given from the operator's control terminal 91 or autopilot processing, the flight altitude adjustment program FAP uses the correction value c (1012.0 hPa) as a reference for the multicopter 11. Change flight altitude.

The correction value acquisition program CP of this embodiment simply adds or subtracts the increase / decrease value d with respect to the actual machine value m when calculating the correction value c, but the method of calculating the correction value c is not limited to this. . In the present invention, “adding an increase / decrease value to an actual machine value” means that, when calculating the correction value c, the disturbance of the actual machine value m due to a change in atmospheric pressure is removed or reduced by a mathematical method using the increase / decrease value d. That means. In the present embodiment, each value (initial value i, current value p, increase / decrease value d, actual machine value m, correction value c, and maintenance altitude ka) is acquired and calculated in the form of atmospheric pressure value. It is also possible to convert each of these values into a barometric altitude format for handling.

As described above, the flight altitude correction system S1 in the present embodiment is provided with the reference device 60 for detecting the change in atmospheric pressure separately from the multicopter 11, so that the atmospheric pressure from the time when the multicopter 11 takes off can be detected. It is possible to detect changes. Then, by adjusting the atmospheric pressure value recognized by the multicopter 11 based on the change in the atmospheric pressure, it is possible to cancel the increase and decrease of the atmospheric pressure value at the same altitude and keep the flight altitude of the multicopter 11 constant. ing.

Second Embodiment
[overall structure]
Below, 2nd Embodiment of this invention is described using drawing. FIG. 5 is a schematic diagram showing an overall configuration of a flight altitude correction system S2 according to the second embodiment of the present invention. FIG. 6 is a block diagram showing a functional configuration of the flight altitude correction system S2. In the following description, components having the same or similar functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted.

The flight altitude correction system S2 can communicate with the multicopter 11 which is an unmanned aerial vehicle, two reference devices 60 (A, B) installed on the ground at a distance from each other, and the multicopter 11 and these reference devices 60. The server device 70 is configured.

[Configuration of multicopter]
The aircraft of the multicopter 11 is equipped with a flight controller 20, a rotor R that is a plurality of rotor blades, a wireless transceiver 33 that performs wireless communication with the server device 70, and a battery 51 that is a power supply source. The flight control program FCP in the present embodiment adjusts the rotational speed of each rotor R based on the current position acquired from a sensor or the like in accordance with autopilot processing or an instruction from the server device 70, and corrects the attitude and position disturbance of the aircraft. The multicopter 11 is allowed to fly while flying. In addition, the multicopter 11 includes a GPS receiver 32 that is a flight coordinate detection means capable of acquiring flight coordinates that are the latitude and longitude of the aircraft.

[Configuration of reference device]
Each of the plurality of reference devices 60 includes a barometric pressure sensor 61 and a wireless transmitter / receiver 62, and is a beacon that detects a barometric pressure value at a place where the barometer is disposed and transmits the detected barometric pressure value. The reference unit 60 converts the acquired atmospheric pressure value to the server device 70 via the Internet via a mobile communication network such as 3G / HSPA (High Speed Packet Access), LTE (Long Term Evolution), or Wimax (Worldwide Interoperability for Microwave Access). Send to. The communication method between the server device and the reference device 60 is not particularly limited. In addition to the above mobile communication network, short-range wireless communication such as Wi-Fi and BLE of the first embodiment, optical communication network, etc., if available. The atmospheric pressure value may be transmitted by FTTH (Fiber To The Home) using the ADSL or ADSL (Asymmetric Digital Subscriber Line) using the public switched telephone network.

The reference device 60 in the present embodiment is configured to transmit the detected atmospheric pressure value to the server device 70 in a cycle of, for example, once every several seconds to several tens of seconds. In addition, for example, the reference device 60 can store the atmospheric pressure value transmitted to the server device 70 last time, and a new atmospheric pressure value is transmitted only when a change of a predetermined threshold value or more occurs with respect to the atmospheric pressure value. Good. Or it is good also as a structure which transmits an atmospheric | air pressure value only when there exists a transmission instruction | indication from the server apparatus 70. FIG. Further, the detected atmospheric pressure value may be converted to atmospheric pressure altitude based on the international standard atmosphere or the like and then transmitted to the server device 70.

[Configuration of server device]
The server device 70 is a general-purpose computer including a CPU 71 that is a central processing unit, a memory 22 that includes a RAM that is a main storage device, an HDD that is an auxiliary storage device, and the like.

[Flight altitude correction function and method]
As shown in FIG. 6, the server device 70 has an installation coordinate storage area LS (installation coordinate storage means) in which the latitude and longitude of the installation position of each reference device 60 are stored in advance in the memory 72. The server device 70 can acquire the flight coordinates detected by the GPS receiver 32 of the multicopter 11 and specify the distance between the multicopter 11 and each reference device 60. The server device 70 also has a reference value storage area VS (reference value storage means) that stores a reference value v that is an atmospheric pressure value detected by the atmospheric pressure sensor 61 of each reference device 60. The reference value storage area VS of the present embodiment stores the reference value v, the acquisition time of the reference value v, and the individual identification information of the reference device 60 that has detected the reference value v.

The memory 72 further stores an increase / decrease value acquisition program DP (increase / decrease value acquisition means). The increase / decrease value acquisition program DP acquires the initial value i, which is the reference value v of each reference device 60 at the takeoff time of the multicopter 11, from the reference value storage area VS, and the initial value i and the current value of each reference device 60. The current value p that is the reference value v is compared, and an increase / decrease value d that is the difference between these values is calculated for each reference device 60. The increase / decrease value acquisition program DP in the present embodiment further calculates an adjustment increase / decrease value ad that is a value obtained by weighted average of these increase / decrease values d according to the distance between each reference device 60 and the multicopter 11.

The flight control program FCP of the multicopter 11 has a flight altitude adjustment program FAP (flight altitude adjusting means) as a subprogram for managing the flight altitude of the multicopter 11. Further, the flight altitude adjustment program FAP has a correction value acquisition program CP (correction value acquisition means) as its subprogram. The correction value acquisition program CP calculates a correction value c that is a value obtained by adding or subtracting the adjustment increase / decrease value ad to the actual machine value m that is the atmospheric pressure value detected by the atmospheric pressure sensor 311 of the multicopter 11. That is, the correction value c is an actual machine value m that offsets the change in atmospheric pressure that has occurred since the multicopter 11 took off. That is, the present barometric altitude of the multicopter 11 with reference to the atmospheric pressure at the time of takeoff of the multicopter 11.

The flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c calculated by the correction value acquisition program CP. Here, the memory 22 of the multicopter 11 has a maintenance altitude storage area KS in which a maintenance altitude kh, which is an atmospheric pressure value that the multicopter 11 should reach and maintain, is stored. In the maintenance altitude storage area KS, as the maintenance altitude kh, a value obtained by converting the designated altitude at that point on the flight path of the autopilot into an atmospheric pressure value, or an altitude instructed interactively from the server device 70 as an atmospheric pressure value. The converted value is stored. The flight altitude adjustment program FAP cooperates with the flight control program FCP to control the flight altitude of the multicopter 11 so that the correction value c of the multicopter 11 matches the maintenance altitude kh.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 using the flight altitude correction system S2 will be described with reference to FIG. FIG. 7 is a flowchart showing the procedure of the flight altitude correction method of the multicopter 11. The flight altitude correction method in the present embodiment is roughly composed of a take-off process S0, a reference value acquisition process S1, an adjustment increase / decrease value acquisition process S2, a correction value calculation process S3, and a flight altitude adjustment process S4.

In the takeoff process S0, the multicopter 11 takes off from the departure / arrival port in accordance with an autopilot process or an instruction from the server device 70. In the reference value acquisition process S1, the server device 70 acquires the reference value v from each reference device 60, and together with these reference values v, the acquisition time and the individual identification information of the reference device 60 that has detected the reference value v are used as reference values. Accumulate in the storage area VS. In the increase / decrease value acquisition process S <b> 2, the increase / decrease value acquisition program DP of the server device 70 uses the initial value i, which is the reference value v of each reference device 60 at the takeoff time of the multicopter 11, and the current atmospheric pressure value of each reference device 60. A certain current value p is acquired, and an increase / decrease value d, which is the difference between the initial value i and the current value p, is calculated for each reference device 60. Further, the increase / decrease value acquisition program DP acquires the current flight coordinates from the multicopter 11 and adjusts the increase / decrease value ad which is a value obtained by weighted averaging the increase / decrease values d according to the distance between each reference device 60 and the multicopter 11. Is calculated. In the correction value calculation process S3, the correction value acquisition program CP of the multicopter 11 acquires the adjustment increase / decrease value ad from the server device 70, and calculates a correction value c that is a value obtained by adding / subtracting the adjustment increase / decrease value ad to the actual machine value m. calculate. In the flight altitude adjustment process S4, the flight altitude adjustment program FAP of the multicopter 11 adjusts the flight altitude of the multicopter 11 based on the correction value c. At this time, the flight altitude adjustment program FAP controls the flight altitude of the multicopter 11 so that the correction value c calculated by the correction value acquisition program CP matches the maintenance altitude kh in cooperation with the flight control program FCP. The multicopter 11 repeats these reference value acquisition processing S1 to flight altitude adjustment processing S4 after taking off until landing.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 will be described with reference to FIGS. 8 and 9 are diagrams illustrating a method of calculating the adjustment increase / decrease value. FIG. 8 shows an example in which two reference devices are installed, and FIG. 9 shows a case in which three reference devices are installed. It is an example.

In the example of FIG. 8, two reference devices A and B are installed in the vicinity of the flight coordinates of the multicopter. At the intersection D of the perpendicular line taken from the flight coordinates of the multicopter with respect to the straight line connecting these two reference devices A and B, the ratio of the distance la from the reference device A to the distance lb from the reference device B is 1: 2. It is in the position to become. The increase / decrease values A and B of these reference devices A and B have an increase / decrease value A of −0.6 hPa and an increase / decrease value B of 0.6 hPa. At this time, an adjusted increase / decrease value D _AB which is a weighted average of the increase / decrease values A and B is calculated using the following equation.

The following is an example of substituting the specific values of this example into the above Equation 1.

D _AB = −0.2 = −0.6 (2/3) +0.6 (1/3)
In this example, −0.2 hPa is derived as the adjustment increase / decrease value D _AB by the above equation 1.

In the example of FIG. 9, three reference devices A, B, and C are installed in the vicinity of the flight coordinates of the multicopter. These three reference devices A, B, and C need to be arranged so as to surround the multicopter. Adjusted increase / decrease values D _AB , D of D _AB , D _Bc , D _Ac , which are intersections of the perpendiculars taken from the flight coordinates of the multicopter, with respect to the straight lines connecting these three reference devices A, B, C to each other _bc, _{D Ac} is adjusted decrease value _{D AB} is 0.6HPa adjustment change amount _{D bc} is 0.3HPa, adjustment variate _{D Ac} is -0.3HPa. These adjustment increase / decrease values D _AB , D _Bc , and D _Ac are calculated by Equation 1 above. The ratio of the distances l ₁ , l ₂ , and l ₃ from the intersections D _AB , D _Bc , and D _Ac to the multicopter is 3: 1: 1.5. At this time, an adjustment increase / decrease value D _ABc that is a weighted average of these adjustment increase / decrease values D _AB , D _Bc , D _Ac is calculated using the following equation.

The following is an example of substituting the specific values of this example into the above formula 2.
D _ABc = 0.15 = (0.6 + 0.9−0.6) / (1 + 3 + 2)
In this example, _0.15 hPa is derived as the adjustment increase / decrease value D _ABc by the above equation 2. In this way, when there are three reference devices, the adjustment increase / decrease value for each combination of these reference devices is obtained, and the adjustment increase / decrease value is obtained by regarding each adjustment increase / decrease value as the increase / decrease value. An example adjustment increase / decrease value is derived.

In the present embodiment, since there are two base stations 60, the increase / decrease value acquisition program DP calculates the adjusted increase / decrease value ad using the above Equation 1. Note that the method of calculating the adjustment increase / decrease value ad is not limited to Equation 1 and Equation 2. In the present invention, “equalizing the increase / decrease value” means that one increase / decrease value from the increase / decrease value d of the plurality of base stations 60 so that the error between the increase / decrease of the adjustment increase / decrease value ad and the actual change in atmospheric pressure becomes as small as possible. This refers to obtaining (adjusted increase / decrease value ad), and for example, simple averaging, more complicated regression calculation, and other mathematical methods can be used.

Hereinafter, the flight altitude correction method of the multicopter 11 will be described using specific values. FIG. 10 is an explanatory diagram showing how the flight altitude of the multicopter 11 is maintained by the flight altitude correction system S2. In FIG. 10A, the multicopter 11 is set to the maintenance altitude ka (1012 hPa (10 m)) by the autopilot process or the server device 70, and takes off from the departure / arrival port (takeoff process S0). At this time, the reference value v, which is the atmospheric pressure value detected by the atmospheric pressure sensor 61 of each reference device 60, was 1013.0 hPa. The server device 70 accumulates the reference value v at the time of take-off of the multicopter 11 in the reference value storage area VS together with the acquisition time and the individual identification information of each reference device 60 (reference value acquisition processing S1).

The multicopter 11 rises 10m as it is and starts hovering at that position. At this time, the actual machine value m of the multicopter 11 was 1012.0 hPa. In addition, there is no change in atmospheric pressure between the time when the multicopter 11 takes off and the start of hovering, and the current value p of each reference device 60 at this time is the time at which the multicopter 11 takes off. It remained the same 1013.0 hPa as the reference value v (initial value i).

The increase / decrease value acquisition program DP of the server device 70 sets the initial value i (1013.0 hPa, 1013.0 hPa) and the current value p (1013.0 hPa, 1013) for each reference device 60 after the multicopter 11 takes off. .0 hPa), an increase / decrease value d (0 hPa, 0 hPa), which is a difference (current value p−initial value i), is calculated, and the current flight coordinates are obtained from the multicopter 11. An adjustment increase / decrease value ad (0 hPa) of d is calculated (increase / decrease value acquisition processing S2).

The correction value acquisition program CP of the multicopter 11 acquires the adjustment increase / decrease value ad (0 hPa) from the server device 70, and is a correction that is a value obtained by adding the adjustment increase / decrease value ad (0 hPa) to the actual machine value m (1012.0 hPa). A value c (1012.0 hPa) is calculated (correction value calculation processing S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 so that the correction value c (1012.0 hPa) matches the maintenance altitude ka (flight altitude adjustment processing S4). The flight altitude correction system S2 causes the multicopter 11 to fly while repeating these reference value acquisition processing S1 to flight altitude adjustment processing S4. However, since the multicopter 11 has taken off, the atmospheric pressure has not changed so far, and the adjusted increase / decrease value ad remains at 0 hPa. Therefore, at this time, the actual machine value m and the correction value c are both the same value (1012.0 hPa).

Thereafter, as shown in FIG. 10B, the atmospheric pressure changed, the reference value v of each reference device 60 changed to 1012.4 hPa and 1013.6 hPa, respectively, and the actual machine value m changed to 1011.8 hPa (multicopter The actual flight altitude of 11 is 10 m, which is the same as when the actual aircraft value m was 1012.0 hPa).

The server device 70 increases or decreases between the initial value i (1013.0 hPa, 1013.0 hPa) of each reference device 60 and the current value p (1012.4 hPa, 1013.6 hPa) after the change in atmospheric pressure by the increase / decrease value acquisition program DP. The value d (−0.6 hPa, 0.6 hPa) is calculated (current value p—initial value i), and further, the adjusted increase / decrease value ad (−0.2 hPa) of these increase / decrease values d is calculated according to Equation 1 (increase / decrease). Value acquisition process S2).

The correction value acquisition program CP of the multicopter 11 acquires the adjustment increase / decrease value ad (−0.2 hPa) from the server device 70, and adjusts this adjustment increase / decrease value ad (−0. 2hPa) is added or subtracted (a value obtained by inverting the sign of the adjustment increase / decrease value ad is added to the actual machine value m) to calculate a correction value c (1012.0 hPa) (correction value calculation processing S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 with reference to the correction value c (1012.0 hPa) (flight altitude adjustment processing S4). However, since the correction value c (1012.0 hPa) coincides with the maintenance altitude ka (1012.0 hPa) at this time, the flight altitude adjustment program FAP does not change the actual flight altitude of the multicopter 11 until then. Maintain the flight altitude. Here, when the flight altitude change instruction is separately given from the server device 70 or the autopilot process (when the maintenance altitude ka is updated), the flight altitude adjustment program FAP uses the correction value c (1012.0 hPa). Is used as a reference to change the flight altitude of the multicopter 11.

In this embodiment, each value (initial value i, current value p, increase / decrease value d, adjustment increase / decrease value ad, actual machine value m, correction value c, and maintenance altitude ka) is acquired and calculated in the form of an atmospheric pressure value. However, it is also possible to convert each of these values into a barometric altitude format.

As described above, the flight altitude correction system S2 according to the present embodiment includes the server device 70 that can communicate with each reference device 60 and the multicopter 11, and the server device 70 increases or decreases the value of each reference device 60. d is collected to calculate the adjustment increase / decrease value ad, and the multicopter 11 is configured to control the flight altitude based on the adjustment increase / decrease value ad acquired from the server device 70, so that the server device 70 is the center. The flight altitude correction system S2 can be managed in an integrated manner. This also minimizes the functions of each reference device 60 and the multicopter 11 and facilitates expansion of the scale and number of systems. Furthermore, when the increase / decrease value acquisition program DP calculates the adjusted increase / decrease value ad, the actual change in atmospheric pressure is obtained by weighting each increase / decrease value d according to the distance between each reference device 60 and the multicopter 11. And the adjustment increase / decrease value ad can be more accurately matched.

Also, the atmospheric pressure change conditions are different between the departure and arrival port of the multicopter 11 and a place far away from the departure and arrival port. Therefore, as the multicopter 11 moves away from the reference device 60, a difference occurs between the increase / decrease value d of the area where the multicopter 11 actually flies and the increase / decrease value d of the area where the reference device 60 is installed. There is a risk that the flight altitude of 11 may be disturbed. In the flight altitude correction system S2, a plurality of reference devices 60 are installed at appropriate intervals, and the actual machine value m of the multicopter 11 is adjusted based on an adjustment increase / decrease value ad obtained by weighted average of the increase / decrease values d of these reference devices 60. By doing so, it is possible to suppress the disturbance of the flight altitude of the multicopter 11 over a wide area.

In the present embodiment, there are only two reference devices 60, and the server device 70 always calculates an adjustment increase / decrease value ad from these two increase / decrease values d. However, for example, when a large number of reference devices 60 are distributed in a large area, or when some reference devices 60 are installed at locations far away from the multicopter 11, they are not necessarily installed. It is not necessary to consider all of the vessel 60. In this case, for example, the server device 70 acquires the flight coordinates of the multicopter 11 to identify the nearest two to three reference devices 60, and sets the adjustment increase / decrease value ad from only the increase / decrease value d of these nearest reference devices 60. It is good also as a structure to calculate.

<Third Embodiment>
[overall structure]
FIG. 11 is a schematic diagram showing an overall configuration of a flight altitude correction system S3 according to the third embodiment. FIG. 12 is a block diagram showing a functional configuration of the flight altitude correction system S3. In the following description, components having the same or similar functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted. The basic configurations of the multicopter 11, the reference device 60, and the control terminal 91 of the flight altitude correction system S3 are the same as the flight altitude correction system S1 of the first embodiment.

[Flight altitude correction function and method]
As shown in FIG. 12, the multicopter 11 has an elevation value storage area ES (elevation value storage means) that stores an elevation value a that is an elevation at the installation position of the reference device 60.

The flight control program FCP of the multicopter 11 has a flight altitude adjustment program FAP (flight altitude adjusting means) as a subprogram for managing the flight altitude of the multicopter 11. Furthermore, the flight altitude adjustment program FAP has an altitude error acquisition program EP (altitude error acquisition means) and a correction value acquisition program CP (correction value acquisition means) as its subprograms. The altitude error acquisition program EP compares the altitude value a of the reference device 60 with the current value p, which is a value obtained by converting the atmospheric pressure value detected by the atmospheric pressure sensor 61 of the reference device 60 into the atmospheric pressure altitude, and calculates these values. An altitude error e which is a difference is calculated. The correction value acquisition program CP calculates a correction value c that is a value obtained by adding or subtracting an altitude error e to an actual machine value m that is a value obtained by converting the atmospheric pressure value detected by the atmospheric pressure sensor 311 of the multicopter 11 into an atmospheric pressure altitude. . That is, the correction value c is an actual machine value m that offsets an error between the actual altitude (hereinafter, such altitude is also referred to as “true altitude”) and the atmospheric pressure altitude. That is, the current flight altitude of the multicopter 11 with reference to the true altitude.

The flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c calculated by the correction value acquisition program CP. Here, the flight altitude adjustment program FAP has a maintenance altitude storage area KS in which a maintenance altitude kh that is a flight altitude to be reached and maintained by the multicopter 11 is stored. In the maintenance altitude storage area KS, a correction value c when the flight altitude change instruction from the operator's control terminal 91 is stopped is stored as the maintenance altitude kh. Or when making the multicopter 11 fly by an autopilot, the flight altitude previously designated at that point is stored. The flight altitude adjustment program FAP cooperates with the flight control program FCP to control the flight altitude of the multicopter 11 so that the correction value c of the multicopter 11 matches the maintenance altitude kh.

Hereinafter, the flight altitude correction method of the multicopter 11 using the flight altitude correction system S3 will be described with reference to FIG. FIG. 13 is a flowchart showing the procedure of the flight altitude correction method of the multicopter 11. The flight altitude correction method of the multicopter 11 using the flight altitude correction system S3 is roughly composed of a takeoff process S1, an altitude error acquisition process S2, a correction value calculation process S3, and a flight altitude adjustment process S4.

In the takeoff process S1, the multicopter 11 takes off from the departure / arrival port according to an instruction from the operator's control terminal 91 or an autopilot process. In the altitude error acquisition process S2, the altitude error acquisition program EP acquires the current value p from the reference device 60, and calculates an altitude error e that is the difference between the altitude value a and the current value p. In the correction value calculation process S3, the correction value acquisition program CP calculates a correction value c that is a value obtained by adding or subtracting the altitude error e to the actual machine value m. In the flight altitude adjustment process S4, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c. At this time, when the flight altitude change instruction of the multicopter 11 is given from the operator's control terminal 91 or the autopilot process, the flight altitude adjustment program FAP follows the instruction to set the correction value c to the current flight altitude. The flight altitude of the multicopter 11 is changed. Further, when the flight altitude change instruction from the control terminal 91 is stopped, the flight altitude adjustment program FAP updates the maintenance altitude storage area KS with the correction value c at that time as the maintenance altitude ka. The flight altitude change instruction from the autopilot process means that the flight altitude adjustment program FAP sets the flight altitude specified in advance at the point as the maintenance altitude ka in the maintenance altitude storage area KS, and sets the altitude to the maintenance altitude ka. It means adjusting the flight altitude of the multicopter 11 to reach and maintain this. The multicopter 11 repeats these altitude error acquisition processing S2 to flight altitude adjustment processing S4 after taking off until landing.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 using specific values will be described with reference to FIG. FIG. 14 is an explanatory diagram showing how the flight altitude of the multicopter 11 is maintained by the flight altitude correction system S3. As shown in FIG. 14A, the reference value v, which is a value obtained by converting the atmospheric pressure value detected by the atmospheric pressure sensor 61 of the reference device 60 into an atmospheric pressure altitude, was 0 m when the multicopter 11 took off (takeoff processing). S1).

In this example, the operator manually raises the multicopter 11 as it is for 10 m, and instructs the multicopter 11 to autonomously hover at that position (the instruction from the operator's control terminal 91 is stopped). At this time, the actual machine value m detected by the atmospheric pressure sensor 311 of the multicopter 11 was 10 m. Further, there is no change in atmospheric pressure between the take-off of the multicopter 11 and the start of hovering, and the current value p, which is the reference value v of the reference device 60 at this time, is the same as the altitude value a. It remained at 0 m.

After taking off, the multicopter 11 uses the altitude error acquisition program EP to obtain an altitude error e () which is the difference between the altitude value a (0 m) and the current value p (0 m) at that time (current value p−altitude value a). 0m) is calculated (altitude error acquisition process S2), and the correction value c (10m), which is a value obtained by adding the altitude error e (0m) to the actual machine value m (10m), is calculated by the correction value acquisition program CP. (Correction value calculation process S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c (10 m) (flight altitude adjustment processing S4). The multicopter 11 flies while repeating these altitude error acquisition processing S2 to flight altitude adjustment processing S4. However, since the multicopter 11 has taken off, the atmospheric pressure has not changed so far, and the altitude error e remains at 0 m. Therefore, at this time, the actual machine value m and the correction value c are both the same value (10 m).

When the flight altitude change instruction from the operator's control terminal 91 is stopped (when the hovering is started), the flight altitude adjustment program FAP maintains the correction altitude c (10 m) at that time as the maintenance altitude ka. Store in KS. Thereafter, in the flight altitude adjustment process S4, the flight altitude adjustment program FAP operates to maintain this maintenance altitude ka until an instruction to change the flight altitude is given from the operator's control terminal 91 or the autopilot process.

After that, as shown in FIG. 4B, the atmospheric pressure decreased by 1 hPa, the current value p of the reference device 60 increased to 10 m, and the actual aircraft value m increased to 20 m (the actual flight altitude of the multicopter 11 is the actual aircraft value m. The same as when 10 m was 10 m).

At this time, the multicopter 11 calculates an altitude error e (10 m) between the altitude value a (0 m) and the current value p (10 m) at that time by the altitude error acquisition program EP (current value p-elevation value a (Altitude error acquisition process S2). Then, the altitude error e (10 m) is added to or subtracted from the actual machine value m (20 m) by the correction value acquisition program CP (a value obtained by inverting the sign of the altitude error e is added to the actual machine value m). 10m) is calculated (correction value calculation processing S3). Then, the flight altitude of the multicopter 11 is adjusted by the flight altitude adjustment program FAP based on the correction value c (10 m) (flight altitude adjustment processing S4). However, since the correction value c (10 m) coincides with the maintenance altitude ka (10 m) at this time, the flight altitude adjustment program FAP does not change the actual flight altitude of the multicopter 11 and the previous flight altitude is changed. maintain. Here, if a flight altitude change instruction is separately given from the operator's control terminal 91 or autopilot processing, the flight altitude adjustment program FAP uses the correction value c (10 m) as a reference for the flight altitude of the multicopter 11. To change.

The correction value acquisition program CP of this embodiment simply adds or subtracts the altitude error e from the actual machine value m when calculating the correction value c, but the method of calculating the correction value c is not limited to this. . In the present invention, “adding an altitude error to the actual machine value” means that when calculating the correction value c, the disturbance of the actual machine value m due to a change in atmospheric pressure is removed or reduced by a mathematical method using the altitude error e. That means. In the present embodiment, each value (elevation value a, reference value v, current value p, altitude error e, actual machine value m, correction value c, and maintenance altitude ka) is acquired and calculated in the form of atmospheric pressure altitude. However, each of these values can also be handled in the form of an atmospheric pressure value.

As described above, the flight altitude correction system S3 in the present embodiment is provided with the reference device 60 for detecting the altitude error e, which is an error between the true altitude and the barometric altitude, in addition to the multicopter 11. By adjusting the actual machine value m based on the altitude error e, the error between the true altitude of the multicopter 11 and the actual machine value m can be eliminated. Thus, the flight altitude of the multicopter 11 can be kept constant based on the true altitude. The correction of the flight altitude using the increase / decrease value d in the previous embodiment is only for the purpose of canceling the change in atmospheric pressure relative to the atmospheric pressure at the time of takeoff. In order to maintain the copter 11 at a constant flight altitude, it is necessary to separately provide a mechanism for recognizing the true altitude. In the present embodiment, the altitude (true altitude) at the installation position of the reference device 60 is registered in advance in the altitude value storage area ES, so that the same mechanism as in the previous embodiment is used and the true altitude is used as a reference. It is possible to keep the multicopter 11 at a constant flight altitude.

<Fourth embodiment>
[overall structure]
Below, 4th Embodiment of this invention is described using drawing. FIG. 15 is a schematic diagram showing an overall configuration of a flight altitude correction system S4 according to the fourth embodiment of the present invention. FIG. 16 is a block diagram showing a functional configuration of the flight altitude correction system S4. In the following description, components having the same or similar functions as those of the previous embodiment are denoted by the same reference numerals as those of the previous embodiment, and detailed description thereof is omitted. The basic configurations of the multicopter 11, the reference device 60, and the server device 70 of the flight altitude correction system S4 are the same as those of the flight altitude correction system S2 of the second embodiment.

The reference device 60 of the present embodiment converts the atmospheric pressure value detected by the atmospheric pressure sensor 61 into an atmospheric pressure altitude based on the international standard atmosphere or the like, and transmits the converted atmospheric pressure altitude to the server device 70 as a reference value v.

[Flight altitude correction function and method]
As shown in FIG. 16, the server device 70 has an installation coordinate storage area LS (installation coordinate storage means) in which the latitude and longitude of the installation position of each reference device 60 are stored in advance in the memory 72. The server device 70 can acquire the flight coordinates detected by the GPS receiver 32 of the multicopter 11 and specify the distance between the multicopter 11 and each reference device 60. Further, the memory 72 has an altitude value storage area ES (elevation value storage means) in which an altitude value a which is an altitude at the installation position of each reference device 60 is stored in advance.

The memory 72 further stores an altitude error acquisition program EP (altitude error acquisition means). The altitude error acquisition program EP compares the altitude value a of each reference device 60 with the current value p, which is the current reference value v of the reference device 60, and calculates an altitude error e that is the difference between these values. . The altitude error acquisition program EP in the present embodiment further calculates an adjusted altitude error ae that is a value obtained by weighted averaging the altitude errors e in accordance with the distance between each reference device 60 and the multicopter 11. The adjustment altitude error ae is calculated in the same manner as the adjustment increase / decrease value ad in the second embodiment. In the present embodiment, since there are two base stations 60, the altitude error acquisition program EP calculates the adjusted altitude error ae using Equation 1 above. Note that the method of calculating the adjustment altitude error ae is not limited to Equation 1 and Equation 2. In the present invention, “leveling the altitude error” means that the altitude error from the altitude errors e of the plurality of base stations 60 is reduced so that the error between the increase / decrease in the adjustment altitude error ae and the actual change in atmospheric pressure becomes as small as possible. This refers to obtaining (adjusted altitude error ae), and for example, simple averaging, more complicated regression calculation, and other mathematical methods can be used.

The flight control program FCP of the multicopter 11 has a flight altitude adjustment program FAP (flight altitude adjusting means) as a subprogram for managing the flight altitude of the multicopter 11. Further, the flight altitude adjustment program FAP has a correction value acquisition program CP (correction value acquisition means) as its subprogram. The correction value acquisition program CP calculates the correction value c by adding / subtracting the adjustment altitude error ae to / from the actual machine value m that is a value obtained by converting the atmospheric pressure value detected by the atmospheric pressure sensor 311 of the multicopter 11 into the atmospheric pressure altitude. That is, the correction value c is an actual machine value m that offsets an error between the actual altitude (hereinafter, such altitude is also referred to as “true altitude”) and the atmospheric pressure altitude. That is, the current flight altitude of the multicopter 11 with reference to the true altitude.

The flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c calculated by the correction value acquisition program CP. Here, the memory 22 of the multicopter 11 has a maintenance altitude storage area KS in which a maintenance altitude kh that is a barometric altitude to be reached and maintained by the multicopter 11 is stored. In the maintenance altitude storage area KS, a specified altitude at that point on the flight path of the autopilot or an altitude interactively instructed from the server device 70 is stored as the maintenance altitude kh. The flight altitude adjustment program FAP cooperates with the flight control program FCP to control the flight altitude of the multicopter 11 so that the correction value c of the multicopter 11 matches the maintenance altitude kh.

Hereinafter, a method for correcting the flight altitude of the multicopter 11 using the flight altitude correction system S4 will be described with reference to FIG. FIG. 17 is a flowchart showing the procedure of the flight altitude correction method of the multicopter 11. The flight altitude correction method in the present embodiment is roughly composed of a takeoff process S1, an adjustment altitude error acquisition process S2, a correction value calculation process S3, and a flight altitude adjustment process S4.

In the takeoff process S1, the multicopter 11 takes off from the departure / arrival port according to an autopilot process or an instruction from the server device 70. In the increase / decrease value acquisition process S2, the altitude error acquisition program EP of the server device 70 acquires the current value p of each reference device 60, and calculates the altitude error e which is the difference between the current value p and the altitude value a. Further, the altitude error acquisition program EP acquires the current flight coordinates from the multicopter 11, and adjusts the altitude error ae, which is a value obtained by weighted averaging the altitude errors e according to the distance between each reference device 60 and the multicopter 11. Is calculated. In the correction value calculation process S3, the correction value acquisition program CP of the multicopter 11 acquires the adjustment altitude error ae from the server device 70, and calculates a correction value c that is a value obtained by adding or subtracting the adjustment altitude error ae to the actual machine value m. calculate. In the flight altitude adjustment process S4, the flight altitude adjustment program FAP of the multicopter 11 adjusts the flight altitude of the multicopter 11 based on the correction value c. At this time, the flight altitude adjustment program FAP controls the flight altitude of the multicopter 11 so that the correction value c calculated by the correction value acquisition program CP matches the maintenance altitude kh in cooperation with the flight control program FCP. After taking off, the multicopter 11 repeats these increase / decrease value acquisition processing S2 to flight altitude adjustment processing S4 until landing.

Hereinafter, the flight altitude correction method of the multicopter 11 will be described using specific values. FIG. 18 is an explanatory diagram showing how the flight altitude of the multicopter 11 is maintained by the flight altitude correction system S4. In FIG. 18 (a), the multicopter 11 takes off from the departure / arrival port with the maintenance altitude ka set to 10 m by the autopilot process or the server device 70 (takeoff process S1).

The multicopter 11 rises 10m as it is and starts hovering at that position. No change in atmospheric pressure occurred between the take-off of the multicopter 11 and the start of hovering, and the current value p of each reference device 60 at this time was 0 m, which is the same as the altitude value a. .

The altitude error acquisition program EP of the server device 70 determines the difference between the altitude value a (0 m, 0 m) and the current value p (0 m, 0 m) at that time (currently) for each reference device 60 after the multicopter 11 takes off. The altitude error e (0m, 0m), which is the value p−the altitude value a), is calculated, and the current flight coordinates are obtained from the multicopter 11, and the adjusted altitude error ae (0m ) Is calculated (altitude error acquisition process S2).

The correction value acquisition program CP of the multicopter 11 acquires the adjustment altitude error ae (0 m) from the server device 70, and the correction value c is a value obtained by adding the adjustment increase / decrease value ad (0 m) to the actual machine value m (10 m). (10 m) is calculated (correction value calculation processing S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 so that the correction value c (10 m) matches the maintenance altitude ka (flight altitude adjustment processing S4). The flight altitude correction system S4 causes the multicopter 11 to fly while repeating these altitude error acquisition processing S2 to flight altitude adjustment processing S4. However, since the multicopter 11 has taken off, the atmospheric pressure has not changed so far, and the adjustment altitude error ae remains 0 m. Therefore, at this time, the actual machine value m and the correction value c are both the same value (10 m).

Thereafter, as shown in FIG. 18B, the atmospheric pressure changed, the reference value v of each reference device 60 changed to 0.6 m and −0.6 m, and the actual machine value m changed to 10.2 m (multiple The actual flight altitude of the copter 11 remains 10m).

The server device 70 uses the altitude error acquisition program EP to obtain an altitude error e () between the altitude value a (0 m, 0 m) of each reference device 60 and the current value p (0.6 m, −0.6 m) after the change in atmospheric pressure. 0.6m, −0.6m) (current value p−initial value i), and further, an adjustment altitude error ae (0.2m) of these increase / decrease values d is calculated by the above equation 1 (altitude error acquisition process S2). ).

The correction value acquisition program CP of the multicopter 11 acquires the adjusted altitude error ae (0.2 m) from the server device 70, and this adjusted altitude error ae (0.2 m) with respect to the actual machine value m (10.2 m). A correction value c (10 m) that is a value obtained by adding and subtracting (adding a value obtained by inverting the sign of the adjustment altitude error ae to the actual machine value m) is calculated (correction value calculation process S3). Then, the flight altitude adjustment program FAP adjusts the flight altitude of the multicopter 11 based on the correction value c (10 m) (flight altitude adjustment processing S4). However, since the correction value c (10 m) coincides with the maintenance altitude ka (10 m) at this time, the flight altitude adjustment program FAP does not change the actual flight altitude of the multicopter 11 and the previous flight altitude is changed. maintain. Here, when the flight altitude change instruction is separately given from the server device 70 or the autopilot processing (when the maintenance altitude ka is updated), the flight altitude adjustment program FAP uses the correction value c (10 m) as a reference. The flight altitude of the multicopter 11 is changed.

In the present embodiment, each value (elevation value a, reference value v, current value p, altitude error e, adjustment altitude error ae, actual machine value m, correction value c, and maintenance altitude ka) is converted into a barometric altitude format. However, each of these values can be handled in the form of atmospheric pressure values.

In this embodiment, the effect of using the altitude value a for calculating the leveling altitude error ae is the same as that of the third embodiment. When calculating the effect of interposing the server device 70, the effect of using a plurality of reference devices 60, and the adjusted height error ae, the height error e is weighted according to the distance between each reference device 60 and the multicopter 11. The effect is the same as in the second embodiment.

In the present embodiment, there are only two reference devices 60, and the server device 70 always calculates the adjusted height error ae from these two height errors e. However, for example, when a large number of reference devices 60 are distributed in a large area, or when some reference devices 60 are installed at locations far away from the multicopter 11, they are not necessarily installed. It is not necessary to consider all of the vessel 60. In this case, for example, the server device 70 acquires the flight coordinates of the multicopter 11 and identifies the two to three reference devices 60 nearest to it, and the adjustment height error ae is determined from only the height error e of these nearest reference devices 60. It is good also as a structure to calculate.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

Claims

An unmanned aerial vehicle equipped with rotor blades and pressure sensors;
A reference device with a pressure sensor and installed in a fixed position;
Reference value storage means for storing, as a reference value, the atmospheric pressure value of the atmospheric pressure sensor of the reference device or the atmospheric pressure altitude calculated from the atmospheric pressure value;
An initial value that is the reference value at the time of take-off of the unmanned aircraft is acquired from the reference value storage means, the initial value is compared with the current value that is the current reference value, and an increase / decrease value that is a difference between these is obtained. An increase / decrease value acquisition means for calculating;
When the barometric pressure value of the unmanned aircraft or the barometric altitude calculated from the barometric pressure value is used as an actual machine value, the actual machine value is a value obtained by adding the increase / decrease value calculated by the increase / decrease value acquisition means. Correction value acquisition means for calculating a correction value;
Flight altitude adjusting means for controlling the flight altitude of the unmanned aircraft based on the correction value;
An unmanned aerial vehicle flight altitude correction system comprising:
A plurality of the reference devices are installed at a distance from each other,
The reference value storage means stores the reference value, the acquisition time of the reference value, and the individual identification information of the reference device that acquired the reference value,
The increase / decrease value acquisition means further calculates an adjustment increase / decrease value that is a value obtained by averaging the increase / decrease values of the reference devices,
2. The unmanned aircraft according to claim 1, wherein the correction value acquisition unit calculates the correction value by adding the adjustment increase / decrease value calculated by the increase / decrease value acquisition unit to the actual aircraft value. Flight altitude correction system.
A server device capable of communicating with the unmanned aircraft and the reference devices;
The server device includes an installation coordinate storage unit that stores the latitude and longitude of the installation position of each reference device, the reference value storage unit, and the increase / decrease value acquisition unit.
The unmanned aircraft has flight coordinate acquisition means capable of acquiring flight coordinates that are the latitude and longitude of the own aircraft, the correction value acquisition means, and the flight altitude adjustment means,
The server device can acquire the flight coordinates from the unmanned aircraft and calculate a distance between the unmanned aircraft and each reference device, and the increase / decrease value acquisition unit can calculate the adjusted increase / decrease value. 3. The flight altitude correction system for an unmanned aircraft according to claim 2, wherein the increase / decrease value is weighted according to a distance between the unmanned aircraft and each reference device.
An unmanned aerial vehicle equipped with rotor blades and pressure sensors;
A reference device with a pressure sensor and installed in a fixed position;
An altitude value storage means for storing the altitude of the installation position of the reference device or a value obtained by converting the altitude into an atmospheric pressure value as an altitude value;
When the atmospheric pressure value of the atmospheric pressure sensor of the reference device or the atmospheric pressure altitude calculated from the atmospheric pressure value is used as a reference value, the elevation value of the reference device is acquired from the elevation value storage means, and the elevation value and the reference Altitude error acquisition means for calculating an altitude error that is a difference from the reference value of the vessel;
When the barometric pressure value of the unmanned aircraft or the barometric altitude calculated from the barometric pressure value is used as the actual aircraft value, the altitude error calculated by the altitude error acquisition means is added to the actual aircraft value. Correction value acquisition means for calculating a correction value;
Flight altitude adjusting means for controlling the flight altitude of the unmanned aircraft based on the correction value;
An unmanned aerial vehicle flight altitude correction system comprising:
A plurality of the reference devices are installed at a distance from each other,
The altitude value storage means stores the individual identification information of the reference device that acquired the altitude value together with the altitude value,
The altitude error acquisition means further calculates an adjustment altitude error that is a value obtained by leveling the altitude error of each reference device,
5. The unmanned aerial vehicle according to claim 4, wherein the flight altitude adjustment unit calculates the correction value by adding the adjustment altitude error calculated by the altitude error acquisition unit to the actual aircraft value. Flight altitude correction system.
A server device capable of communicating with the unmanned aircraft and the reference devices;
The server device includes an installation coordinate storage unit that stores the latitude and longitude of the installation position of each reference device, and the altitude error acquisition unit.
The unmanned aircraft has flight coordinate detection means capable of acquiring flight coordinates that are the latitude and longitude of the own aircraft, the correction value acquisition means, and the flight altitude adjustment means.
The server device can acquire the flight coordinates from the unmanned aircraft and calculate a distance between the unmanned aircraft and each reference device, and the increase / decrease value acquisition unit can calculate the adjustment altitude error. 6. The flight altitude correction system for an unmanned aerial vehicle according to claim 5, wherein the altitude error is weighted in accordance with a distance between the unmanned aerial vehicle and each reference device.
An unmanned aerial vehicle equipped with rotor blades and pressure sensors;
A reference device with a pressure sensor and installed in a fixed position;
A method for correcting the flight altitude of an unmanned aerial vehicle using
When the barometric pressure value of the barometer of the reference unit or the barometric altitude calculated from the barometric pressure value is used as a reference value, the initial value that is the reference value at the time of take-off of the unmanned aircraft, the initial value, and the current reference An increase / decrease value acquisition process for calculating an increase / decrease value that is a difference from the value,
A flight altitude adjustment process for controlling a flight altitude of the unmanned aircraft based on a pressure value of the pressure sensor of the unmanned aircraft or a value obtained by adding the increase / decrease value to a pressure altitude calculated from the pressure value;
A method for correcting the flight altitude of an unmanned aerial vehicle, comprising:
An unmanned aerial vehicle equipped with rotor blades and pressure sensors;
A reference device with a pressure sensor and installed in a fixed position;
A method for correcting the flight altitude of an unmanned aerial vehicle using
Altitude error for calculating an altitude error that is a difference between an altitude at the installation position of the reference device or a value obtained by converting the altitude into an atmospheric pressure value and an atmospheric pressure value of the reference device or an atmospheric pressure altitude calculated from the atmospheric pressure value Acquisition process,
A flight altitude adjustment process for controlling a flight altitude of the unmanned aircraft based on a pressure value of the pressure sensor of the unmanned aircraft or a value obtained by adding the altitude error to a pressure altitude calculated from the pressure value;
A method for correcting the flight altitude of an unmanned aerial vehicle, comprising: