WO2018058288A1 - 用于检测飞行高度的方法、装置及无人机 - Google Patents

用于检测飞行高度的方法、装置及无人机 Download PDF

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Publication number
WO2018058288A1
WO2018058288A1 PCT/CN2016/100298 CN2016100298W WO2018058288A1 WO 2018058288 A1 WO2018058288 A1 WO 2018058288A1 CN 2016100298 W CN2016100298 W CN 2016100298W WO 2018058288 A1 WO2018058288 A1 WO 2018058288A1
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Prior art keywords
drone
speed
flight
atmospheric pressure
processor
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PCT/CN2016/100298
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English (en)
French (fr)
Inventor
于云
商志猛
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2016/100298 priority Critical patent/WO2018058288A1/zh
Priority to CN201680012782.8A priority patent/CN107438751B/zh
Publication of WO2018058288A1 publication Critical patent/WO2018058288A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means

Definitions

  • Embodiments of the present disclosure relate to the field of drones, and more particularly to a method, apparatus, and drone for detecting a flying height.
  • Barometer is a kind of sensor widely used to measure the flying height of drones.
  • the height measuring principle of barometer is to measure the atmospheric pressure of UAVs flying at different heights. According to the correspondence between atmospheric pressure and altitude, The flying height of the drone.
  • Embodiments of the present disclosure provide a method, apparatus, and drone for detecting a flying height.
  • One aspect of an embodiment of the present disclosure is to provide a method for detecting a flying height, comprising:
  • the flying height of the drone is determined according to the corrected atmospheric pressure detection value.
  • Another aspect of an embodiment of the present disclosure is to provide a flight controller including one or more processors that work separately or in concert, the processor for:
  • the flying height of the drone is determined according to the corrected atmospheric pressure detection value.
  • Another aspect of an embodiment of the present disclosure is to provide a drone, including:
  • a power system mounted to the fuselage for providing flight power
  • a flight controller communicatively coupled to the power system for controlling flight of the unmanned aerial vehicle;
  • the flight controller including one or more processors operating separately or in cooperation, the processor for:
  • the flying height of the drone is determined according to the corrected atmospheric pressure detection value.
  • the method, the device and the drone for detecting the flying height provided by the embodiment of the present disclosure correct the atmospheric pressure detection value detected by the air pressure meter according to the flight speed of the drone, and determine the drone according to the corrected atmospheric pressure detection value.
  • the flying height improves the detection accuracy of the flying height and avoids the problem that the drone is dropped in flight.
  • FIG. 1 is a flow chart of a method for detecting a flying height according to an embodiment of the present disclosure
  • FIG. 2 is a flowchart of a method for detecting a flying height according to another embodiment of the present disclosure
  • FIG. 3 is a flowchart of a method for detecting a flying height according to another embodiment of the present disclosure
  • FIG. 4 is a structural diagram of a flight controller according to an embodiment of the present disclosure.
  • FIG. 5 is a structural diagram of a flight controller according to another embodiment of the present disclosure.
  • FIG. 6 is a structural diagram of a flight controller according to another embodiment of the present disclosure.
  • FIG. 7 is a structural diagram of a flight controller according to another embodiment of the present disclosure.
  • FIG. 8 is a structural diagram of a drone according to an embodiment of the present disclosure.
  • a component when referred to as being "fixed” to another component, it can be directly on the other component or the component can be present. When a component is considered to "connect” another component, it can be directly connected to another component or possibly a central component.
  • the barometer is measured at atmospheric pressure, and the measurement results are easily affected by various factors such as the weather, the airflow of the propeller, and the negative pressure generated by the cavity in which the barometer is mounted due to the movement of the drone.
  • the air pressure change caused by the weather can be neglected in a short time; the airflow effect of the propeller can be avoided by reasonable structural design; however, the negative pressure generated by the cavity will cause the measured value of the barometer to be more actual than The atmospheric pressure is small, because the atmospheric pressure is inversely proportional to the height, the measured flying height of the drone is higher than the actual height of the drone. High, which causes the drone to fly high.
  • FIG. 1 is a flow chart of a method for detecting a flying height according to an embodiment of the present disclosure. As shown in FIG. 1, the method in this embodiment may include:
  • Step S101 Acquire a flight speed of the drone.
  • the embodiment is applicable to the accurate detection of the flying height of the drone, and the execution body may be a flight controller of the drone or a ground station, such as a remote controller, a smart terminal, a smart wearable device, etc., optional,
  • the flight controller is used as the main body, and the flight controller can obtain the flight speed of the drone in two ways: one is to sense the flight speed of the drone by the speed sensor installed on the drone, and the other is The flight speed of the drone is calculated based on the attitude of the drone, such as the pitch angle, the roll angle, and the yaw angle.
  • the flight speed of the drone may specifically be the speed of the drone relative to the air during flight, that is, the airspeed
  • the speed sensor installed on the drone may specifically be an airspeed sensor, and the airspeed sensor is used for Sensing the airspeed of the drone
  • the speed sensor may also be a ground speed sensor, such as a Global Positioning System (GPS) sensor, which is used to sense the ground speed of the drone, according to the wind speed and The ground speed of the drone determines the airspeed of the drone.
  • GPS Global Positioning System
  • the airspeed, ground speed and wind speed are three vectors of both size and direction. The relationship between the three is: the vector sum of ground speed and wind speed is equal to Wind speed.
  • Step S102 Calculate a compensation amount of the atmospheric pressure detection value according to the flight speed.
  • an air pressure sensor such as a barometer
  • the barometer is used to detect the atmospheric pressure of the environment in which the drone is located. Since the drone is in the process of flying, the cavity of the barometer is installed. The negative pressure is generated, which causes the atmospheric pressure detection value detected by the barometer to be smaller than the actual atmospheric pressure. Since the negative pressure in the cavity is proportional to the flying airspeed of the drone, the flying airspeed of the drone is higher. Larger, the larger the negative pressure generated by the cavity, therefore, in view of the foregoing problems, the present embodiment uses the flying airspeed of the drone to calculate the negative pressure generated by the cavity, and the atmospheric pressure detected by the barometer can be detected according to the negative pressure value. The value is compensated. Optionally, the negative pressure value can be used as a compensation amount for the atmospheric pressure detection value.
  • Step S103 correcting the atmospheric pressure detection value according to the compensation amount.
  • the relationship between the atmospheric pressure detection value detected by the barometer, the negative pressure generated by the cavity, and the actual atmospheric pressure is: the sum of the atmospheric pressure detection value detected by the barometer and the negative pressure generated by the cavity. It is equal to the actual atmospheric pressure. According to this relationship, the compensation amount, that is, the negative pressure generated by the cavity, can be added to the detected value of the atmospheric pressure detected by the barometer to obtain the corrected atmospheric pressure detection value.
  • the corrected atmospheric pressure detection value can be used as the actual value.
  • the atmospheric pressure is strong.
  • Step S104 Determine a flying height of the drone according to the corrected atmospheric pressure detection value.
  • the corresponding relationship may be the atmospheric pressure-height curve. According to the curve and the corrected atmospheric pressure detection value, You can determine the flying height of the drone.
  • the flying air velocity of the UAV is used to calculate the negative pressure generated by the cavity, and the air pressure is based on the negative pressure value.
  • the detected atmospheric pressure detection value is corrected, and the corrected atmospheric pressure detection value can be used as the actual atmospheric pressure.
  • the corrected atmospheric pressure detection value has high accuracy, according to the corrected
  • the altitude of the unmanned aerial vehicle determined by the atmospheric pressure detection value can be used as the actual height of the drone.
  • the measured flying height of the drone is prevented from being higher than the actual height of the drone. High, thus avoiding the problem of drones flying high.
  • Embodiments of the present disclosure provide a method for detecting a flying height.
  • 2 is a flow chart of a method for detecting a flying height according to another embodiment of the present disclosure. As shown in FIG. 2, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S201 Acquire a posture of the drone.
  • the flight controller can specifically acquire the attitude of the UMU sensed by the IMU.
  • Step S202 Determine a flight speed of the drone according to the posture of the drone.
  • the UAV will correspond to an airspeed at each attitude angle, that is, the attitude of the drone has a corresponding relationship with the airspeed, and according to the correspondence, the airspeed of the drone corresponding to any attitude angle can be determined. Or, the attitude angle of the drone corresponding to any airspeed.
  • the flight controller may determine the current airspeed of the drone according to the current posture of the UAV sensed by the IMU and the corresponding relationship.
  • the correspondence between the attitude of the drone and the airspeed can be implemented in two ways. Now, the following is elaborated:
  • the ground station sends a control command to the drone, the control command including the attitude angle, indicating that the ground station controls the drone to adjust its posture, so that the drone adjusts to the attitude angle included in the control command.
  • the drone executes the control command.
  • the drone adjusts to the attitude angle included in the control command, and the stable uniform flight, and the drone reaches an equilibrium state.
  • the flight speed of the drone is the airspeed of the drone corresponding to the attitude angle.
  • the correspondence between the attitude angle of the drone and the airspeed can be obtained.
  • the airspeed of the drone detected under windless conditions is equal to the ground speed.
  • the flight controller in the absence of wind, can automatically adjust its attitude according to a large number of preset attitude angles, and when it is adjusted to a preset attitude angle and stabilized, the flight controller acquires a sense of GPS sensor.
  • the measured ground speed, at this time, the ground speed of the drone is equal to the airspeed, and the flight controller can determine the correspondence between the attitude angle and the airspeed of the drone according to the preset attitude angle and the ground speed sensed by the GPS sensor. relationship.
  • the correspondence between the attitude angle of the drone and the airspeed can also be detected under windy conditions.
  • Corresponding relationship between the attitude of the drone and the flight speed is determined by using a first-order inertia link, the attitude of the drone is an input of the first-order inertia link, and the flight speed is an output of the first-order inertia link
  • the time constant of the first-order inertia link is the speed loop response time of the drone.
  • the first-order inertia link is used to determine the correspondence between the attitude of the drone and the flight speed.
  • the attitude of the drone is used as the input of the first-order inertia link
  • the flight speed is used as the output of the first-order inertia link, and the first-order inertia link.
  • inertia that is, when the input amount is abrupt, the output cannot be abruptly changed, and can only gradually change according to the exponential law.
  • the time constant of the first-order inertia link is the speed loop response time of the drone, and the time constant of the first-order inertia link can be used to characterize the inertia of the first-order inertia link.
  • the flight speed may specifically be the airspeed of the drone.
  • Step S203 calculating a compensation amount of the atmospheric pressure detection value according to the flight speed.
  • Step S204 Correct the atmospheric pressure detection value according to the compensation amount.
  • Step S205 Determine a flying height of the drone according to the corrected atmospheric pressure detection value.
  • Step S203 is consistent with the method of step S102
  • step S204 is consistent with the method of step S103
  • step S205 is consistent with the method of step S104, and details are not described herein again.
  • a control command for adjusting the attitude is sent to the drone, so that the drone is adjusted to the attitude angle included in the control command, according to the flight speed of the drone at the attitude angle,
  • the method for establishing the correspondence between the attitude of the drone and the flight speed is realized. Through a large number of experiments, the accuracy of the correspondence between the attitude of the drone and the flight speed can be improved.
  • the first-order inertia link is used to determine the drone. The correspondence between the attitude and the flight speed can further improve the accuracy of the correspondence between the attitude of the drone and the flight speed.
  • FIG. 3 is a flowchart of a method for detecting a flying height according to another embodiment of the present disclosure. As shown in FIG. 3, on the basis of the embodiment shown in FIG. 1, the method in this embodiment may include:
  • Step S301 Obtain a posture of the drone.
  • Step S301 is consistent with step S201, and the specific method is not described herein again.
  • Step S302 Determine an airspeed of the drone according to the posture of the drone.
  • the flight controller obtains the current airspeed of the drone based on the current attitude of the UMU sensed by the IMU and the correspondence between the attitude of the drone and the airspeed.
  • the correspondence between the attitude of the drone and the airspeed can be determined by the two methods described in the above implementation.
  • the first embodiment determines the unmanned person through a large number of experiments in the windless condition. Take the correspondence between the attitude angle of the machine and the airspeed as an example.
  • Step S303 Calculate a negative pressure generated by a cavity where the air pressure sensor is located according to the airspeed of the drone, and the air pressure sensor is configured to detect the atmospheric pressure.
  • the correspondence relationship between the attitude angle and the airspeed of the drone can be pre-established. Because of the correspondence, the airspeed of the drone is the airspeed under the windless condition, even if the drone is currently flying. In the atmosphere of the wind, according to the attitude angle of the current drone, the corresponding airspeed can also be obtained. According to the airspeed of the drone, the negative pressure generated by the pressure sensor such as the cavity in which the barometer is located can be calculated. According to the negative pressure, the atmospheric pressure detection value detected by the barometer can be corrected. Therefore, when the drone is flying in a windy or windless atmosphere, the atmospheric pressure detection value detected by the barometer can be corrected. .
  • the negative pressure generated by the cavity in which the barometer is located may be determined according to the airspeed of the drone, the air density, and the parameters of the cavity, as shown in formula (1).
  • P is the negative pressure generated by the cavity in which the barometer is located
  • k is the parameter of the cavity
  • ⁇ is the air density
  • v is the airspeed of the drone.
  • the parameter k of the cavity is related to the size of the cavity, the shape of the cavity and the material of the cavity.
  • Step S304 correcting the atmospheric pressure detected by the air pressure sensor according to a negative pressure generated by the cavity.
  • the atmospheric pressure detection value detected by the barometer is P1
  • the atmospheric pressure detection value P1 detected by the air pressure gauge is smaller than the atmospheric pressure detection value of the environment in which the drone is actually located due to the negative pressure P generated by the cavity.
  • the negative pressure P generated by the body is used as the compensation amount, and the negative pressure P generated by the cavity is added to the atmospheric pressure detection value P1 detected by the barometer to obtain the corrected atmospheric pressure detection value, and the corrected atmospheric pressure detection value can be regarded as none.
  • the atmospheric pressure of the environment in which the man-machine is actually located is strong.
  • Step S305 Determine, according to the correspondence between the atmospheric pressure and the height, the flying height of the unmanned aerial vehicle corresponding to the corrected atmospheric pressure detection value.
  • the flying height of the unmanned aerial vehicle corresponding to the corrected atmospheric pressure detection value is determined.
  • the corrected atmospheric pressure detection value is larger than the atmospheric pressure detection value directly detected by the barometer in the prior art, and the atmospheric pressure is inversely proportional to the altitude
  • the unmanned aerial vehicle is determined according to the corrected atmospheric pressure detection value.
  • the flying height is smaller than the height detected in the prior art.
  • the airspeed of the drone is determined, the flight airspeed of the drone is used, the negative pressure generated by the cavity is calculated, and the atmospheric pressure detected value detected by the barometer is corrected according to the negative pressure value.
  • the corrected atmospheric pressure detection value can be used as the actual atmospheric pressure, compared to the barometer
  • the directly detected atmospheric pressure detection value, the corrected atmospheric pressure detection value is highly accurate, and the flying height of the unmanned aerial vehicle determined according to the corrected atmospheric pressure detection value can be used as the actual height of the drone, compared to the prior art.
  • the flying height of the measured drone is prevented from being higher than the actual height of the drone, thereby avoiding the problem that the drone is flying high.
  • Embodiments of the present disclosure provide a flight controller.
  • 4 is a structural diagram of a flight controller according to an embodiment of the present disclosure.
  • the flight controller 40 includes one or more processors 41.
  • One or more processors work alone or in cooperation, and the processor 41 uses Obtaining: a flight speed of the drone; calculating a compensation amount of the atmospheric pressure detection value according to the flight speed; correcting the atmospheric pressure detection value according to the compensation amount; determining, according to the corrected atmospheric pressure detection value The flying height of the drone.
  • the flight controller 40 further includes a speed sensor 42 communicatively coupled to the processor 41 for sensing the flight speed of the drone and transmitting the flight speed to the processor 41.
  • the speed sensor 42 includes an airspeed sensor for sensing the airspeed of the drone and transmitting the airspeed of the drone to the processor 41.
  • the speed sensor 42 includes a ground speed sensor for sensing the ground speed of the drone and transmitting the ground speed of the drone to the processor 41, the processor 41 determining the airspeed of the drone according to the ground speed and the wind speed of the drone.
  • the flying air velocity of the UAV is used to calculate the negative pressure generated by the cavity, and the air pressure is based on the negative pressure value.
  • the detected atmospheric pressure detection value is corrected, and the corrected atmospheric pressure detection value can be used as the actual atmospheric pressure.
  • the corrected atmospheric pressure detection value has high accuracy, according to the corrected
  • the altitude of the unmanned aerial vehicle determined by the atmospheric pressure detection value can be used as the actual height of the drone.
  • the measured flying height of the drone is prevented from being higher than the actual height of the drone. High, thus avoiding the problem of drones flying high.
  • FIG. 5 is a structural diagram of a flight controller according to another embodiment of the present disclosure.
  • the processor 41 is configured to: acquire a posture of the drone; The flight speed of the drone is determined according to the attitude of the drone.
  • the flight controller 40 further includes an inertial measurement unit 43 communicatively coupled to the processor 41 for sensing the attitude of the drone and transmitting the attitude of the drone to the processor 41.
  • the processor 41 determines the flight speed of the drone according to the correspondence between the posture of the drone and the flight speed.
  • the flight speed includes an airspeed of the drone.
  • a control command for adjusting the attitude is sent to the drone, so that the drone is adjusted to the attitude angle included in the control command, according to the flight speed of the drone at the attitude angle,
  • the method for establishing the correspondence between the attitude of the drone and the flight speed is realized. Through a large number of experiments, the accuracy of the correspondence between the attitude of the drone and the flight speed can be improved.
  • the first-order inertia link is used to determine the drone. The correspondence between the attitude and the flight speed can further improve the accuracy of the correspondence between the attitude of the drone and the flight speed.
  • FIG. 6 is a structural diagram of a flight controller according to another embodiment of the present disclosure. Based on the foregoing embodiment, the embodiment shown in FIG. 5 is taken as an example.
  • the flight controller 40 further includes: An air pressure sensor 44 communicatively coupled to the processor 41, the air pressure sensor 44 is configured to detect atmospheric pressure and transmit the atmospheric pressure to the processor 41; the processor 41 is configured to: according to the air of the drone Speed, calculating a negative pressure generated by a cavity in which the air pressure sensor is located; correcting the atmospheric pressure detected by the air pressure sensor according to a negative pressure generated by the cavity.
  • the processor 41 calculates the negative pressure generated by the cavity where the air pressure sensor is located according to the airspeed of the drone, the air density, and the parameters of the cavity.
  • the parameters of the cavity include at least one of: a spatial size of the cavity, a shape of the cavity, and a material of the cavity.
  • the processor 41 is configured to: determine according to the correspondence between atmospheric pressure and altitude The modified atmospheric pressure detection value corresponds to the flying height of the drone.
  • the airspeed of the drone is determined, the flight airspeed of the drone is used, the negative pressure generated by the cavity is calculated, and the atmospheric pressure detected value detected by the barometer is corrected according to the negative pressure value.
  • the corrected atmospheric pressure detection value can be used as the actual atmospheric pressure.
  • the corrected atmospheric pressure detection value is highly accurate, and the drone determined according to the corrected atmospheric pressure detection value is
  • the flying height can be used as the actual height of the drone. Compared with the prior art, the flying height of the measured drone is prevented from being higher than the actual height of the drone, thus avoiding the appearance of the drone. The problem of flying high.
  • FIG. 7 is a structural diagram of a flight controller according to an embodiment of the present disclosure.
  • the flight controller 70 includes an acquisition module 71 , a calculation module 72 , a correction module 73 , and a determination module 74 .
  • the calculating module 72 is configured to calculate a compensation amount of the atmospheric pressure detection value according to the flight speed
  • the correction module 73 is configured to correct the atmospheric pressure detection value according to the compensation amount
  • the flying height of the drone is determined according to the corrected atmospheric pressure detection value.
  • the acquisition module 71 is configured to acquire a flight speed of the drone sensed by the speed sensor. Specifically, the obtaining module 71 is configured to acquire the airspeed of the drone sensed by the airspeed sensor. Alternatively, the obtaining module 71 is configured to acquire the ground speed of the drone sensed by the ground speed sensor, and the determining module 74 is configured to determine the airspeed of the drone according to the ground speed and the wind speed of the drone.
  • the obtaining module 71 is configured to acquire the posture of the drone; and the determining module 74 is configured to determine the flying speed of the drone according to the posture of the drone.
  • the acquisition module 71 specifically acquires the attitude of the drone sensed by the inertial measurement unit IMU.
  • the obtaining module 71 is further configured to acquire a correspondence between the posture of the drone and the flight speed; and the determining module 74 determines the flight of the drone according to the corresponding relationship between the posture of the drone and the flight speed. speed.
  • the flight controller 70 further includes: a transmitting module 75; the sending module 75 is configured to send a control instruction to the drone, the control command includes the gesture; and the acquiring module 71 is configured to obtain a stable flight speed of the drone when the drone is adjusted to the posture; and the determining module 74 determines the correspondence according to the posture and the flight speed.
  • the determining module 74 is configured to determine a correspondence between the attitude of the drone and the flight speed by using a first-order inertia link, where the posture of the drone is an input of the first-order inertia link.
  • the flight speed is the output of the first-order inertia link; the time constant of the first-order inertia link is the speed loop response time of the drone.
  • the flight speed includes an airspeed of the drone.
  • the calculating module 72 calculates the negative pressure generated by the cavity where the air pressure sensor is located according to the airspeed of the drone, and the air pressure sensor is used to detect the atmospheric pressure; the correction module 73 is specifically configured according to the The negative pressure generated by the cavity corrects the atmospheric pressure detected by the air pressure sensor. Specifically, the calculation module 72 calculates the negative pressure generated by the cavity in which the air pressure sensor is located according to the airspeed of the drone, the air density, and the parameters of the cavity.
  • the parameters of the cavity include at least one of a space size of the cavity, a shape of the cavity, and a material of the cavity.
  • the determining module 74 is further configured to determine, according to the correspondence between the atmospheric pressure and the height, the flying height of the unmanned aerial vehicle corresponding to the corrected atmospheric pressure detection value.
  • the flight controller uses the flight airspeed of the drone to calculate the negative pressure generated by the cavity, and corrects the atmospheric pressure detection value detected by the barometer according to the negative pressure value, and the corrected atmospheric pressure detection value can be used as the actual value.
  • the atmospheric pressure is strong.
  • the corrected atmospheric pressure detection value is highly accurate.
  • the flying height of the drone determined according to the corrected atmospheric pressure detection value can be used as the actual drone. The height, compared with the prior art, avoids the measurement that the flying height of the drone is higher than the actual height of the drone, thereby avoiding the problem that the drone is flying high.
  • FIG. 8 is a structural diagram of a drone according to an embodiment of the present disclosure.
  • the drone 100 includes a fuselage, a power system, and a flight controller 118.
  • the power system includes at least one of the following: a motor 107, a propeller 106, and an electronic governor 117, the power system is mounted on the airframe for providing flight power; the flight controller 118 is communicatively coupled to the power system for controlling the unmanned Flight.
  • the flight controller 118 includes an inertial measurement unit and a gyroscope. The inertial measurement unit and the gyroscope are used to detect the drone Acceleration, pitch angle, roll angle and yaw angle.
  • the drone 100 further includes: a sensing system 108, a communication system 110, a supporting device 102, and a photographing device 104.
  • the supporting device 102 may specifically be a pan/tilt, and the communication system 110 is used for the ground.
  • Station 112 performs wireless communication.
  • the flight controller uses the flight airspeed of the drone to calculate the negative pressure generated by the cavity, and corrects the atmospheric pressure detection value detected by the barometer according to the negative pressure value, and the corrected atmospheric pressure detection value can be used as the actual value.
  • the atmospheric pressure is strong.
  • the corrected atmospheric pressure detection value is highly accurate.
  • the flying height of the drone determined according to the corrected atmospheric pressure detection value can be used as the actual drone. The height, compared with the prior art, avoids the measurement that the flying height of the drone is higher than the actual height of the drone, thereby avoiding the problem that the drone is flying high.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional units.
  • the above-described integrated unit implemented in the form of a software functional unit can be stored in a computer readable storage medium.
  • the above software functional unit is stored in a storage medium, and the package A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform some of the steps of the methods described in various embodiments of the present disclosure.
  • the foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, and the like, which can store program codes. .

Abstract

一种用于检测飞行高度的方法、装置及无人机(100)，该方法包括：获取无人机(100)的飞行速度（S101）；根据飞行速度，计算大气压检测值的补偿量（S102）；根据补偿量，修正大气压检测值（S103）；根据修正后的大气压检测值，确定无人机(100)的飞行高度（S104）。根据安装有气压计的腔体内的负压压强与无人机(100)的飞行空速的正比关系，采用无人机(100)的飞行空速，对气压计检测到的大气压检测值进行修正，修正后的大气压检测值精准度高，避免了测量出的无人机(100)的飞行高度比无人机(100)实际所处的高度偏高，从而避免了无人机(100)出现飞行掉高的问题。

Description

用于检测飞行高度的方法、装置及无人机 技术领域
本公开实施例涉及无人机领域，尤其涉及一种用于检测飞行高度的方法、装置及无人机。
背景技术
现有技术中为了精准地控制无人机，需要准确地测量无人机飞行的高度、飞行速度、以及位置等信息。
气压计是目前较为广泛的用于测量无人机飞行高度的一种传感器，气压计的高度测量原理是测量无人机飞行在不同高度时的大气压强，依据大气压强与高度的对应关系，得到无人机的飞行高度。
发明内容
本公开实施例提供一种用于检测飞行高度的方法、装置及无人机。
本公开实施例的一个方面是提供一种用于检测飞行高度的方法，包括：
获取无人机的飞行速度；
根据所述飞行速度，计算大气压检测值的补偿量；
根据所述补偿量，修正所述大气压检测值；
根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
本公开实施例的另一个方面是提供一种飞行控制器，包括一个或多个处理器，单独或协同工作，所述处理器用于：
获取无人机的飞行速度；
根据所述飞行速度，计算大气压检测值的补偿量；
根据所述补偿量，修正所述大气压检测值；
根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
本公开实施例的另一个方面是提供一种无人机，包括：
机身；
动力系统，安装在所述机身，用于提供飞行动力；
飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；所述飞行控制器包括一个或多个处理器，单独或协同工作，所述处理器用于：
获取无人机的飞行速度；
根据所述飞行速度，计算大气压检测值的补偿量；
根据所述补偿量，修正所述大气压检测值；
根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
本公开实施例提供的用于检测飞行高度的方法、装置及无人机，根据无人机的飞行速度，修正气压计检测到的大气压检测值，根据修正后的大气压检测值，确定无人机的飞行高度，提高了飞行高度的检测精度，避免无人机在飞行中出现掉高的问题。
附图说明
为了更清楚地说明本公开实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的用于检测飞行高度的方法的流程图；
图2为本公开另一实施例提供的用于检测飞行高度的方法的流程图；
图3为本公开另一实施例提供的用于检测飞行高度的方法的流程图；
图4为本公开实施例提供的飞行控制器的结构图；
图5为本公开另一实施例提供的飞行控制器的结构图；
图6为本公开另一实施例提供的飞行控制器的结构图；
图7为本公开另一实施例提供的飞行控制器的结构图；
图8为本公开实施例提供的无人机的结构图。
附图标记：
40-飞行控制器     41-处理器       42-速度传感器
43-惯性测量单元   44-气压传感器   100-无人机
107-电机        106-螺旋桨    117-电子调速器
118-飞行控制器  108-传感系统  110-通信系统
102-支撑设备    104-拍摄设备  112-地面站
70-飞行控制器   71-获取模块   72-计算模块
73-修正模块     74-确定模块   75-发送模块
具体实施方式
下面将结合本公开实施例中的附图，对本公开实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。基于本公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本公开保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本公开的技术领域的技术人员通常理解的含义相同。本文中在本公开的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本公开。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本公开的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
气压计是以大气压作为测量对象，测量结果容易受到各种因素影响，如天气、螺旋桨的气流、以及无人机的运动导致的安装有气压计的腔体产生的负压。
由于无人机飞行时间相对较短，天气引起的气压变化短时间内可以忽略；螺旋桨的气流影响可以通过合理的结构设计避免；但是，腔体产生的负压会导致气压计的测量值比实际的大气压强小，由于大气压强与高度成反比，则测量出的无人机的飞行高度比无人机实际所处的高度偏 高，从而导致无人机出现飞行掉高的问题。
本公开实施例提供一种用于检测飞行高度的方法。图1为本公开实施例提供的用于检测飞行高度的方法的流程图。如图1所示，本实施例中的方法，可以包括：
步骤S101、获取无人机的飞行速度。
本实施例适用于对无人机飞行高度的精确检测，执行主体可以是无人机的飞行控制器，也可以是地面站，例如遥控器、智能终端、智能穿戴设备等，可选的，本实施例以飞行控制器为执行主体，飞行控制器获取无人机的飞行速度的可实现方式有两种：一种是通过无人机上安装的速度传感器感测无人机的飞行速度，另一种是根据无人机的姿态，例如俯仰角、横滚角及偏航角，计算无人机的飞行速度。
在本实施例中，无人机的飞行速度具体可以是无人机在飞行时相对于空气的速度即空速，无人机上安装的速度传感器具体可以是空速传感器，该空速传感器用于感测无人机的空速，另外，速度传感器还可以是地速传感器，例如全球定位系统(Global Positioning System，简称GPS)传感器，GPS传感器用于感测无人机的地速，根据风速和无人机的地速，确定无人机的空速，空速、地速和风速是三个既有大小又有方向的矢量，三者之间的关系是：地速和风速的矢量和等于风速。
步骤S102、根据所述飞行速度，计算大气压检测值的补偿量。
在本实施例中，无人机中安装有气压传感器，例如气压计，气压计用于检测无人机所处的环境的大气压强，由于无人机在飞行过程中，安装有气压计的腔体会产生负压，导致气压计检测到的大气压检测值相比于实际的大气压强偏小，由于腔体内的负压压强与无人机的飞行空速成正比，即无人机的飞行空速越大，腔体产生的负压越大，因此，针对前述问题，本实施例采用无人机的飞行空速，计算腔体产生的负压，根据负压值可对气压计检测到的大气压检测值进行补偿，可选的，该负压值可作为大气压检测值的补偿量。
步骤S103、根据所述补偿量，修正所述大气压检测值。
气压计检测到的大气压检测值、腔体产生的负压、以及实际的大气压强之间的关系是：气压计检测到的大气压检测值与腔体产生的负压的和值 等于实际的大气压强，根据该关系，可以在气压计检测到的大气压检测值的基础上加上补偿量即腔体产生的负压，得到修正的大气压检测值，修正的大气压检测值可作为实际的大气压强。
步骤S104、根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
由于离地面或海平面越高的地方，大气压强越小，则大气压强和高度存在着对应关系，该对应关系具体可以是大气气压-高度曲线，根据该曲线，以及修正后的大气压检测值，即可确定无人机的飞行高度。
本实施例根据安装有气压计的腔体内的负压压强与无人机的飞行空速的正比关系，采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
本公开实施例提供一种用于检测飞行高度的方法。图2为本公开另一实施例提供的用于检测飞行高度的方法的流程图。如图2所示，在图1所示实施例的基础上，本实施例中的方法，可以包括：
步骤S201、获取所述无人机的姿态。
惯性测量单元(Inertial Measurement Unit，简称IMU)无人机的俯仰角、横滚角及偏航角，本实施例中，飞行控制器可具体获取IMU感测的无人机的姿态。
步骤S202、根据所述无人机的姿态，确定所述无人机的飞行速度。
由于无人机在每一种姿态角时均会对应一个空速，即无人机的姿态与空速存在对应关系，根据该对应关系可确定任一姿态角对应的无人机的空速，或者，任一空速对应的无人机的姿态角。具体的，飞行控制器可根据IMU感测的无人机的当前姿态，以及该对应关系，确定无人机当前的空速。
在本实施例中，无人机的姿态与空速的对应关系可通过两种方式实 现，下面详细阐述：
第一种方式：
在无风的条件下，通过大量实验，确定无人机的姿态角度和空速的对应关系。
例如，在无风的条件下，地面站向无人机发送控制指令，该控制指令包括姿态角度，表示地面站控制无人机调整其姿态，使无人机调整到该控制指令包括的姿态角度，无人机接收到该控制指令后，执行该控制指令，经过一个加速的过程，无人机调整到该控制指令包括的姿态角度，并且稳定的匀速飞行，此时无人机达到一个平衡态，此时无人机的飞行速度即是该姿态角度对应的无人机的空速。经过大量实验，即可获得无人机的姿态角度和空速的对应关系。另外，在无风的条件下检测的无人机的空速等于地速。
在一些实施例中，无风的条件下，飞行控制器可根据大量的预设的姿态角度，自动调整其姿态，当其调整到预设的姿态角度且稳定后，飞行控制器获取GPS传感器感测的地速，此时，无人机的地速等于空速，飞行控制器根据预设的姿态角度和GPS传感器感测的地速，即可确定无人机的姿态角度和空速的对应关系。
另外，在其他实施例中，还可以在有风的条件下，检测无人机的姿态角度和空速的对应关系。
第二种方式：
采用一阶惯性环节确定所述无人机的姿态与飞行速度的对应关系，所述无人机的姿态是所述一阶惯性环节的输入，所述飞行速度是所述一阶惯性环节的输出；所述一阶惯性环节的时间常数为所述无人机的速度环响应时间。
由于无人机姿态响应速度比速度响应速度要快，例如，地面站向无人机同时发送姿态调整指令和速度调整指令后，无人机调整到目标姿态所用的时间比调整到目标速度所用的时间短。本实施例采用一阶惯性环节确定所述无人机的姿态与飞行速度的对应关系，无人机的姿态作为一阶惯性环节的输入，飞行速度作为一阶惯性环节的输出，一阶惯性环节具体有惯性，即当输入量发生突变时，输出量不能突变，只能按照指数规律逐渐变化， 例如，无人机的姿态发生突变时，飞行速度不能突变。另外，一阶惯性环节的时间常数为所述无人机的速度环响应时间，一阶惯性环节的时间常数可用来表征一阶惯性环节的惯性大小。另外，飞行速度具体可以是无人机的空速。
步骤S203、根据所述飞行速度，计算大气压检测值的补偿量。
步骤S204、根据所述补偿量，修正所述大气压检测值。
步骤S205、根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
步骤S203与步骤S102的方法一致，步骤S204与步骤S103的方法一致，步骤S205与步骤S104的方法一致，此处不再赘述。
本实施例在无风的条件下，向无人机发送用于调整姿态的控制指令，使无人机调整到该控制指令包括的姿态角度，根据无人机在该姿态角度稳定的飞行速度，实现了无人机的姿态和飞行速度之间对应关系的建立方法，通过大量实验可提高无人机的姿态和飞行速度的对应关系的精准度，另外，通过一阶惯性环节确定无人机的姿态与飞行速度的对应关系，可进一步提高无人机的姿态和飞行速度的对应关系的精准度。
本公开实施例提供一种用于检测飞行高度的方法。图3为本公开另一实施例提供的用于检测飞行高度的方法的流程图。如图3所示，在图1所示实施例的基础上，本实施例中的方法，可以包括：
步骤S301、获取所述无人机的姿态。
步骤S301与步骤S201一致，具体方法此处不再赘述。
步骤S302、根据所述无人机的姿态，确定所述无人机的空速。
飞行控制器根据IMU感测的无人机当前的姿态，以及无人机的姿态和空速的对应关系，获得无人机当前的空速。无人机的姿态和空速的对应关系可以采用上述实施所述的两种方式确定，可选的，本实施例以第一种方式即在无风的条件下，通过大量实验，确定无人机的姿态角度和空速的对应关系为例。
步骤S303、根据所述无人机的空速，计算气压传感器所处的腔体产生的负压，所述气压传感器用于检测大气压强。
根据第一种方式可预先建立无人机的姿态角度和空速的对应关系，由于对应关系中，无人机的空速是在无风条件下的空速，即使无人机当前飞行在有风的大气中，根据当前无人机的姿态角度，也可获取到其对应的空速，根据无人机的空速，可计算出气压传感器例如气压计所处的腔体产生的负压，根据该负压即可对气压计检测到的大气压检测值进行修正，因此，当无人机在有风或无风的大气中飞行时，均可实现对气压计检测到的大气压检测值进行修正。
另外，气压计所处的腔体产生的负压具体可根据无人机的空速、空气密度、所述腔体的参数确定，具体如公式(1)
P＝k*ρ*v2       (1)
其中，P表示气压计所处的腔体产生的负压，k表示腔体的参数，ρ表示空气密度，v表示无人机的空速。腔体的参数k与腔体的空间大小、腔体的形状和腔体的材质有关。
步骤S304、根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。
假设气压计检测到的大气压检测值为P1，由于腔体产生的负压P，导致气压计检测到的大气压检测值P1小于无人机实际所处的环境的大气压强，本实施例可将腔体产生的负压P作为补偿量，在气压计检测到的大气压检测值P1的基础上加上腔体产生的负压P，得到修正后的大气压检测值，修正后的大气压检测值可作为无人机实际所处的环境的大气压强。
步骤S305、根据大气压强和高度的对应关系，确定所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
具体根据大气气压-高度曲线，确定修正后的大气压检测值对应的无人机的飞行高度。本实施例中，由于修正后的大气压检测值比现有技术中气压计直接检测到的大气压检测值大，大气气压和高度成反比，则根据修正后的大气压检测值，确定的无人机的飞行高度比现有技术中检测的高度小。
本实施例根据无人机的姿态，确定无人机的空速，采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计 直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
本公开实施例提供一种飞行控制器。图4为本公开实施例提供的飞行控制器的结构图，如图4所示，飞行控制器40包括一个或多个处理器41，一个或多个处理器单独或协同工作，处理器41用于：获取无人机的飞行速度；根据所述飞行速度，计算大气压检测值的补偿量；根据所述补偿量，修正所述大气压检测值；根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
另外，飞行控制器40还包括：与处理器41通讯连接的速度传感器42，速度传感器42用于感测所述无人机的飞行速度，并将所述飞行速度传输给处理器41。
可选的，速度传感器42包括空速传感器，空速传感器用于感测所述无人机的空速，并将所述无人机的空速传输给所述处理器41。
或者，速度传感器42包括地速传感器，所述地速传感器用于感测所述无人机的地速，并将所述无人机的地速传输给所述处理器41，所述处理器41根据所述无人机的地速和风速，确定所述无人机的空速。
本公开实施例提供的飞行控制器的具体原理和实现方式均与图1所示实施例类似，此处不再赘述。
本实施例根据安装有气压计的腔体内的负压压强与无人机的飞行空速的正比关系，采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
本公开实施例提供一种飞行控制器。图5为本公开另一实施例提供的飞行控制器的结构图，如图5所示，在图4所示实施例的基础上，处理器41用于：获取所述无人机的姿态；根据所述无人机的姿态，确定所述无人机的飞行速度。
飞行控制器40还包括：与处理器41通讯连接的惯性测量单元43，惯性测量单元43用于感测所述无人机的姿态，并将所述无人机的姿态传输给所述处理器41。所述处理器41具体根据所述无人机的姿态与飞行速度的对应关系，确定所述无人机的飞行速度。
另外，所述飞行速度包括所述无人机的空速。
本公开实施例提供的飞行控制器的具体原理和实现方式均与图2所示实施例类似，此处不再赘述。
本实施例在无风的条件下，向无人机发送用于调整姿态的控制指令，使无人机调整到该控制指令包括的姿态角度，根据无人机在该姿态角度稳定的飞行速度，实现了无人机的姿态和飞行速度之间对应关系的建立方法，通过大量实验可提高无人机的姿态和飞行速度的对应关系的精准度，另外，通过一阶惯性环节确定无人机的姿态与飞行速度的对应关系，可进一步提高无人机的姿态和飞行速度的对应关系的精准度。
本公开实施例提供一种飞行控制器。图6为本公开另一实施例提供的飞行控制器的结构图，在上述实施例的基础上，以图5所示的实施例为例，如图6所示，飞行控制器40还包括：与处理器41通讯连接的气压传感器44，气压传感器44用于检测大气压强，并将所述大气压强传输给所述处理器41；所述处理器41用于：根据所述无人机的空速，计算气压传感器所处的腔体产生的负压；根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。
具体的，所述处理器41根据所述无人机的空速、空气密度、所述腔体的参数，计算气压传感器所处的腔体产生的负压。
所述腔体的参数包括如下至少一种：所述腔体的空间大小、所述腔体的形状和所述腔体的材质。
此外，所述处理器41用于：根据大气压强和高度的对应关系，确定 所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
本公开实施例提供的飞行控制器的具体原理和实现方式均与图3所示实施例类似，此处不再赘述。
本实施例根据无人机的姿态，确定无人机的空速，采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
本公开实施例提供一种飞行控制器。图7为本公开实施例提供的飞行控制器的结构图，如图7所示，飞行控制器70包括：获取模块71、计算模块72、修正模块73、确定模块74，其中，获取模块71用于获取无人机的飞行速度；计算模块72用于根据所述飞行速度，计算大气压检测值的补偿量；修正模块73用于根据所述补偿量，修正所述大气压检测值；确定模块74用于根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
获取模块71用于获取速度传感器感测的所述无人机的飞行速度。具体的，获取模块71用于获取空速传感器感测的所述无人机的空速。或者，获取模块71用于获取地速传感器感测的所述无人机的地速，确定模块74用于根据所述无人机的地速和风速，确定所述无人机的空速。
另外，获取模块71用于获取所述无人机的姿态；确定模块74用于根据所述无人机的姿态，确定所述无人机的飞行速度。获取模块71具体获取惯性测量单元IMU感测的所述无人机的姿态。
此外，获取模块71还用于获取所述无人机的姿态与飞行速度的对应关系；确定模块74具体根据所述无人机的姿态与飞行速度的对应关系，确定所述无人机的飞行速度。
在一些实施例中，飞行控制器70还包括：发送模块75；发送模块75用于向所述无人机发送控制指令，所述控制指令包括所述姿态；获取模块 71用于获取所述无人机调整到所述姿态时，所述无人机稳定的飞行速度；确定模块74根据所述姿态和所述飞行速度，确定所述对应关系。
在另外一些实施例中，确定模块74用于采用一阶惯性环节确定所述无人机的姿态与飞行速度的对应关系，所述无人机的姿态是所述一阶惯性环节的输入，所述飞行速度是所述一阶惯性环节的输出；所述一阶惯性环节的时间常数为所述无人机的速度环响应时间。
可选的，所述飞行速度包括所述无人机的空速。
在本实施例中，计算模块72具体根据所述无人机的空速，计算气压传感器所处的腔体产生的负压，所述气压传感器用于检测大气压强；修正模块73具体根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。具体的，计算模块72根据所述无人机的空速、空气密度、所述腔体的参数，计算气压传感器所处的腔体产生的负压。可选的，所述腔体的参数包括如下至少一种：所述腔体的空间大小、所述腔体的形状和所述腔体的材质。
另外，确定模块74还用于根据大气压强和高度的对应关系，确定所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
本实施例通过飞行控制器采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
本公开实施例提供一种无人机。图8为本公开实施例提供的无人机的结构图，如图8所示，无人机100包括：机身、动力系统和飞行控制器118。动力系统包括如下至少一种：电机107、螺旋桨106和电子调速器117，动力系统安装在所述机身，用于提供飞行动力；飞行控制器118与动力系统通讯连接，用于控制无人机飞行。其中，飞行控制器118包括惯性测量单元及陀螺仪。所述惯性测量单元及所述陀螺仪用于检测所述无人机的 加速度、俯仰角、横滚角及偏航角等。
另外，如图8所示，无人机100还包括：传感系统108、通信系统110、支撑设备102、拍摄设备104，其中，支撑设备102具体可以是云台，通信系统110用于与地面站112进行无线通讯。
本公开实施例提供的飞行控制器118具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过飞行控制器采用无人机的飞行空速，计算腔体产生的负压，根据负压值对气压计检测到的大气压检测值进行修正，修正后的大气压检测值可作为实际的大气压强，相比于气压计直接检测到的大气压检测值，修正后的大气压检测值精准度高，根据修正后的大气压检测值确定的无人机的飞行高度可作为无人机实际所处的高度，相比于现有技术，避免了测量出的无人机的飞行高度比无人机实际所处的高度偏高，从而避免了无人机出现飞行掉高的问题。
在本公开所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包 括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本公开各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本公开的技术方案，而非对其限制；尽管参照前述各实施例对本公开进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本公开各实施例技术方案的范围。

Claims (41)

  1. 一种用于检测飞行高度的方法，其特征在于，包括：
    获取无人机的飞行速度；
    根据所述飞行速度，计算大气压检测值的补偿量；
    根据所述补偿量，修正所述大气压检测值；
    根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
  2. 根据权利要求1所述的方法，其特征在于，所述获取无人机的飞行速度，包括：
    获取速度传感器感测的所述无人机的飞行速度。
  3. 根据权利要求2所述的方法，其特征在于，所述获取速度传感器感测的所述无人机的飞行速度，包括：
    获取空速传感器感测的所述无人机的空速。
  4. 根据权利要求2所述的方法，其特征在于，所述获取速度传感器感测的所述无人机的飞行速度，包括：
    获取地速传感器感测的所述无人机的地速。
  5. 根据权利要求4所述的方法，其特征在于，还包括：
    根据所述无人机的地速和风速，确定所述无人机的空速。
  6. 根据权利要求1所述的方法，其特征在于，所述获取无人机的飞行速度，包括：
    获取所述无人机的姿态；
    根据所述无人机的姿态，确定所述无人机的飞行速度。
  7. 根据权利要求6所述的方法，其特征在于，所述获取无人机的姿态，包括：
    获取惯性测量单元IMU感测的所述无人机的姿态。
  8. 根据权利要求7所述的方法，其特征在于，所述根据所述无人机的姿态，确定所述无人机的飞行速度，包括:
    获取所述无人机的姿态与飞行速度的对应关系；
    根据所述无人机的姿态与飞行速度的对应关系，确定所述无人机的飞行速度。
  9. 根据权利要求8所述的方法，其特征在于，所述获取所述无人机 的姿态与飞行速度的对应关系，包括：
    向所述无人机发送控制指令，所述控制指令包括所述姿态；
    获取所述无人机调整到所述姿态时，所述无人机稳定的飞行速度；
    根据所述姿态和所述飞行速度，确定所述对应关系。
  10. 根据权利要求8所述的方法，其特征在于，所述获取所述无人机的姿态与飞行速度的对应关系，包括：
    采用一阶惯性环节确定所述无人机的姿态与飞行速度的对应关系，所述无人机的姿态是所述一阶惯性环节的输入，所述飞行速度是所述一阶惯性环节的输出；
    所述一阶惯性环节的时间常数为所述无人机的速度环响应时间。
  11. 根据权利要求9或10所述的方法，其特征在于，所述飞行速度包括所述无人机的空速。
  12. 根据权利要求11所述的方法，其特征在于，所述根据所述飞行速度，计算大气压检测值的补偿量，包括：
    根据所述无人机的空速，计算气压传感器所处的腔体产生的负压，所述气压传感器用于检测大气压强；
    所述根据所述补偿量，修正所述大气压检测值，包括：
    根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。
  13. 根据权利要求12所述的方法，其特征在于，所述根据所述无人机的空速，计算气压传感器所处的腔体产生的负压，包括：
    根据所述无人机的空速、空气密度、所述腔体的参数，计算气压传感器所处的腔体产生的负压。
  14. 根据权利要求13所述的方法，其特征在于，所述腔体的参数包括如下至少一种：
    所述腔体的空间大小、所述腔体的形状和所述腔体的材质。
  15. 根据权利要求1所述的方法，其特征在于，所述根据修正后的所述大气压检测值，确定所述无人机的飞行高度，包括:
    根据大气压强和高度的对应关系，确定所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
  16. 一种飞行控制器，其特征在于，包括一个或多个处理器，单独或协同工作，所述处理器用于：
    获取无人机的飞行速度；
    根据所述飞行速度，计算大气压检测值的补偿量；
    根据所述补偿量，修正所述大气压检测值；
    根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
  17. 根据权利要求16所述的飞行控制器，其特征在于，还包括：
    与所述处理器通讯连接的速度传感器，所述速度传感器用于感测所述无人机的飞行速度，并将所述飞行速度传输给所述处理器。
  18. 根据权利要求17所述的飞行控制器，其特征在于，所述速度传感器包括空速传感器，所述空速传感器用于感测所述无人机的空速，并将所述无人机的空速传输给所述处理器。
  19. 根据权利要求17所述的飞行控制器，其特征在于，所述速度传感器包括地速传感器，所述地速传感器用于感测所述无人机的地速，并将所述无人机的地速传输给所述处理器。
  20. 根据权利要求19所述的飞行控制器，其特征在于，所述处理器用于：
    根据所述无人机的地速和风速，确定所述无人机的空速。
  21. 根据权利要求16所述的飞行控制器，其特征在于，所述处理器用于：
    获取所述无人机的姿态；
    根据所述无人机的姿态，确定所述无人机的飞行速度。
  22. 根据权利要求21所述的飞行控制器，其特征在于，还包括：
    与所述处理器通讯连接的惯性测量单元，所述惯性测量单元用于感测所述无人机的姿态，并将所述无人机的姿态传输给所述处理器。
  23. 根据权利要求22所述的飞行控制器，其特征在于，所述处理器用于：
    根据所述无人机的姿态与飞行速度的对应关系，确定所述无人机的飞行速度。
  24. 根据权利要求23所述的飞行控制器，其特征在于，所述飞行速 度包括所述无人机的空速。
  25. 根据权利要求24所述的飞行控制器，其特征在于，还包括：
    与所述处理器通讯连接的气压传感器，所述气压传感器用于检测大气压强，并将所述大气压强传输给所述处理器；
    所述处理器用于：
    根据所述无人机的空速，计算气压传感器所处的腔体产生的负压；
    根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。
  26. 根据权利要求25所述的飞行控制器，其特征在于，所述处理器用于：
    根据所述无人机的空速、空气密度、所述腔体的参数，计算气压传感器所处的腔体产生的负压。
  27. 根据权利要求26所述的飞行控制器，其特征在于，所述腔体的参数包括如下至少一种：
    所述腔体的空间大小、所述腔体的形状和所述腔体的材质。
  28. 根据权利要求16所述的飞行控制器，其特征在于，所述处理器用于：
    根据大气压强和高度的对应关系，确定所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
  29. 一种无人机，其特征在于，包括：
    机身；
    动力系统，安装在所述机身，用于提供飞行动力；
    飞行控制器，与所述动力系统通讯连接，用于控制所述无人飞行器飞行；所述飞行控制器包括一个或多个处理器，单独或协同工作，所述处理器用于：
    获取无人机的飞行速度；
    根据所述飞行速度，计算大气压检测值的补偿量；
    根据所述补偿量，修正所述大气压检测值；
    根据修正后的所述大气压检测值，确定所述无人机的飞行高度。
  30. 根据权利要求29所述的无人机，其特征在于，所述飞行控制器 还包括：
    与所述处理器通讯连接的速度传感器，所述速度传感器用于感测所述无人机的飞行速度，并将所述飞行速度传输给所述处理器。
  31. 根据权利要求30所述的无人机，其特征在于，所述速度传感器包括空速传感器，所述空速传感器用于感测所述无人机的空速，并将所述无人机的空速传输给所述处理器。
  32. 根据权利要求30所述的无人机，其特征在于，所述速度传感器包括地速传感器，所述地速传感器用于感测所述无人机的地速，并将所述无人机的地速传输给所述处理器。
  33. 根据权利要求32所述的无人机，其特征在于，所述处理器用于：
    根据所述无人机的地速和风速，确定所述无人机的空速。
  34. 根据权利要求29所述的无人机，其特征在于，所述处理器用于：
    获取所述无人机的姿态；
    根据所述无人机的姿态，确定所述无人机的飞行速度。
  35. 根据权利要求34所述的无人机，其特征在于，所述飞行控制器还包括：
    与所述处理器通讯连接的惯性测量单元，所述惯性测量单元用于感测所述无人机的姿态，并将所述无人机的姿态传输给所述处理器。
  36. 根据权利要求35所述的无人机，其特征在于，所述处理器用于：
    根据所述无人机的姿态与飞行速度的对应关系，确定所述无人机的飞行速度。
  37. 根据权利要求36所述的无人机，其特征在于，所述飞行速度包括所述无人机的空速。
  38. 根据权利要求37所述的无人机，其特征在于，所述飞行控制器还包括：
    与所述处理器通讯连接的气压传感器，所述气压传感器用于检测大气压强，并将所述大气压强传输给所述处理器；
    所述处理器用于：
    根据所述无人机的空速，计算气压传感器所处的腔体产生的负压；
    根据所述腔体产生的负压，修正所述气压传感器检测的所述大气压强。
  39. 根据权利要求38所述的无人机，其特征在于，所述处理器用于：
    根据所述无人机的空速、空气密度、所述腔体的参数，计算气压传感器所处的腔体产生的负压。
  40. 根据权利要求39所述的无人机，其特征在于，所述腔体的参数包括如下至少一种：
    所述腔体的空间大小、所述腔体的形状和所述腔体的材质。
  41. 根据权利要求29所述的无人机，其特征在于，所述处理器用于：
    根据大气压强和高度的对应关系，确定所述修正后的所述大气压检测值对应的所述无人机的飞行高度。
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