WO2021217329A1 - 高度检测方法、补偿量的确定方法、装置和无人机 - Google Patents

高度检测方法、补偿量的确定方法、装置和无人机 Download PDF

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Publication number
WO2021217329A1
WO2021217329A1 PCT/CN2020/087201 CN2020087201W WO2021217329A1 WO 2021217329 A1 WO2021217329 A1 WO 2021217329A1 CN 2020087201 W CN2020087201 W CN 2020087201W WO 2021217329 A1 WO2021217329 A1 WO 2021217329A1
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Prior art keywords
information
compensation amount
mapping relationship
speed
height
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PCT/CN2020/087201
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English (en)
French (fr)
Inventor
刘新俊
吴佳豪
高翔
赖镇洲
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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/CN2020/087201 priority Critical patent/WO2021217329A1/zh
Priority to CN202080004399.4A priority patent/CN112639399A/zh
Publication of WO2021217329A1 publication Critical patent/WO2021217329A1/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
    • G01C5/06—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels by using barometric means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft

Definitions

  • the embodiment of the present invention relates to the field of detection technology, in particular to a height detection method, a method and device for determining a compensation amount, and an unmanned aerial vehicle.
  • a barometer is an instrument that can be used to measure atmospheric pressure (barometer for short). After the barometer is used to obtain the barometric pressure, the altitude information of the position of the carrier carrying the barometer can be calculated according to the relationship between the barometer and the altitude. However, during altitude measurement, the air pressure at the location of the carrier is easily affected by factors such as carrier movement, external airflow disturbance, temperature, etc., which seriously affects the accuracy of the altitude measurement by the barometer.
  • the embodiments of the present invention provide a height detection method, a compensation amount determination method, a device, and an unmanned aerial vehicle, which are used to solve the problem that the air pressure at the position of the carrier for carrying the barometer in the prior art is easily affected by the movement of the carrier and the outside. The influence of factors such as airflow turbulence, temperature, etc., which seriously affects the problem of measurement accuracy.
  • the first aspect of the present invention is to provide a height detection method, including:
  • the current detection height is compensated by using the height drop compensation amount to obtain the target height corresponding to the posture information.
  • the second aspect of the present invention is to provide a height detection device, including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the current detection height is compensated by using the height drop compensation amount to obtain the target height corresponding to the posture information.
  • the third aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect. A height detection method described.
  • the present invention provides an unmanned aerial vehicle, including:
  • a power system which is arranged on the body and used to provide power for the unmanned aerial vehicle
  • the height detection device is provided on the body.
  • the fourth aspect of the present invention is to provide a method for determining the compensation amount, including:
  • the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the The difference between the theoretical height compensation amount and the actual height compensation amount.
  • the fifth aspect of the present invention is to provide a device for determining compensation amount, including:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize:
  • the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the The difference between the theoretical height compensation amount and the actual height compensation amount.
  • the sixth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the fourth aspect.
  • the present invention provides an unmanned aerial vehicle, including:
  • a power system which is arranged on the body and used to provide power for the unmanned aerial vehicle
  • the determination of the compensation amount is provided on the body.
  • the height detection method, the compensation amount determination method, the device, and the drone provided by the embodiments of the present invention determine the attitude information corresponding to the attitude information by acquiring the attitude information of the drone and the current detection height corresponding to the attitude information. Corresponding height drop compensation amount, and then use the height drop compensation amount to compensate the current detection height, thereby effectively fusing the attitude information of the drone to estimate the height drop compensation amount corresponding to the attitude information , And compensate the height measurement error caused by the movement of the barometer and the external wind and air flow during the flight of the drone based on the compensation amount of the height drop, so that more accurate height information can be obtained, which further ensures the use of this method The stability and reliability.
  • FIG. 1 is a schematic flowchart of a height detection method provided by an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a scene of a height detection method provided by an embodiment of the present invention.
  • FIG. 3 is a schematic diagram of the process of determining the height drop compensation amount corresponding to the posture information provided in FIG. 1;
  • FIG. 3 is a schematic diagram of the process of determining the height drop compensation amount corresponding to the posture information provided in FIG. 1;
  • Fig. 3a is a schematic diagram of determining the airspeed information of the UAV based on the attitude information provided in Fig. 3;
  • Fig. 3b is a schematic diagram of determining the direction information of the UAV based on the attitude information provided in Fig. 3;
  • FIG. 4 is a schematic diagram of the process of determining the airspeed information of the UAV based on the attitude information provided in FIG. 3;
  • FIG. 5 is a schematic diagram of the process of determining the airspeed information of the UAV based on the first mapping relationship and the attitude information provided in FIG. 4;
  • Fig. 6 is a schematic flow chart of determining the height drop compensation amount corresponding to the airspeed information and the direction information provided in Fig. 3;
  • Fig. 7 is a schematic diagram 1 of the process of obtaining the speed compensation amount corresponding to the airspeed information provided in Fig. 6;
  • Fig. 8 is a second schematic diagram of the process of obtaining the speed compensation amount corresponding to the airspeed information provided in Fig. 6;
  • FIG. 9 is a schematic flowchart of obtaining the speed compensation amount corresponding to the sub-speed provided in FIG. 8;
  • FIG. 10 is a schematic diagram of the process of obtaining the direction compensation amount corresponding to the direction information provided in FIG. 6; FIG.
  • FIG. 11 is a schematic flowchart of a method for determining a compensation amount according to an embodiment of the present invention.
  • FIG. 12 is a schematic structural diagram of a height detection device provided by an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a device for determining a compensation amount provided by an embodiment of the present invention.
  • FIG. 14 is a structural schematic diagram 1 of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • FIG. 15 is a second structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.
  • barometric altimeters or atmospheric altimeters can obtain altitude information by measuring atmospheric pressure.
  • drones, vehicles, or other types of movable platforms can obtain altitude through a barometric altimeter, and skydivers and climbers can also determine altitude information through a wrist or handheld altimeter.
  • the main errors of the barometer include: barometric drift rate error, barometer absolute altitude measurement error, etc., among which the barometric temperature drift rate error refers to the air pressure caused by temperature changes and other reasons when the barometer is placed at rest The data drift of the gauge; the absolute altitude measurement error of the barometer refers to the inherent error of the device, for example: the altitude measured by different sensors in the same place is different.
  • the prior art proposes an altitude measurement method.
  • the realization principle of the method is mainly to use the characteristics of the barometer with nonlinear error, obtain multiple measurement altitudes through multiple barometers, and then obtain multiple measurement altitudes based on multiple measurements.
  • the height determines the target height, which can improve the relative measurement accuracy.
  • a first barometer and a second barometer are provided on the drone, wherein the first barometer and the second barometer are respectively set at different height positions of the drone, and pass through the first barometers located at different height positions.
  • a barometer and a second barometer are used to determine the altitude information of the drone.
  • the above-mentioned height measurement method is mainly applicable to application scenarios where the carrier is stationary or moving at a low speed. In the application scenarios where the carrier moves at a high speed, the error of the height information obtained by the above method is still relatively high.
  • this embodiment provides a height detection method, a compensation amount determination method, a device, and an unmanned aerial vehicle.
  • UAV sensors are mainly used to obtain the attitude information of the UAV, and the airspeed information of the UAV is mapped out based on the attitude information.
  • the airspeed information is used to estimate the altitude compensation of the UAV in each speed range and in each direction. Parameters, and then based on the altitude compensation parameters to compensate the altitude measured by the barometer, so as to realize the real-time compensation for the altitude measurement error caused by the movement of the barometer and the external wind and airflow during the flight of the UAV.
  • the accuracy of obtaining the height information of the barometer and also effectively solves the problem of the error of the barometer in the process of using the barometer to measure the height; in addition, the method provided in this embodiment can also be applied to high-speed motion applications
  • the scenario that is, in the application scenario of altitude movement, the accuracy of the altitude information measured by the barometer can be ensured, thereby increasing the applicable scope of the method.
  • FIG. 1 is a schematic flow chart of a height detection method provided by an embodiment of the present invention; referring to FIG. 1, this embodiment provides a height detection method, and the execution subject of the method is a height detection device. It is understandable that The height detection device can be implemented as software or a combination of software and hardware. Specifically, the height detection method may include:
  • Step S101 Obtain the attitude information of the drone, and acquire the current detection height corresponding to the attitude information.
  • Step S102 Determine the height drop compensation amount corresponding to the posture information.
  • Step S103 Use the height drop compensation amount to compensate the current detection height to obtain the target height corresponding to the posture information.
  • Step S101 Obtain the attitude information of the drone, and acquire the current detection height corresponding to the attitude information.
  • the attitude information of the UAV may include at least one of the following: pitch information, roll information, and yaw information.
  • the above pitch information may include the pitch angle of the UAV
  • the roll information may include the roll of the UAV.
  • Angle, yaw information can include the heading angle of the drone.
  • this embodiment does not limit the specific implementation of obtaining the attitude information of the drone.
  • an attitude sensor is provided on the drone, and the The attitude sensor can obtain the attitude information of the UAV in static or dynamic state.
  • the attitude sensor may be an inertial measurement unit (IMU), or the attitude sensor may include an accelerometer and a gyroscope, etc., as long as the attitude sensor can obtain the flight direction information of the drone and The attitude information of the drone is sufficient.
  • IMU inertial measurement unit
  • the attitude sensor may include an accelerometer and a gyroscope, etc., as long as the attitude sensor can obtain the flight direction information of the drone and The attitude information of the drone is sufficient.
  • those skilled in the art can arbitrarily configure the posture sensor according to the functions that the posture sensor can realize, which will not be repeated here.
  • the attitude information of the drone can be analyzed and processed to obtain the current detection height corresponding to the attitude information.
  • this embodiment does not limit the specific acquisition method of the current detection height, and those skilled in the art can set it according to specific application requirements and design requirements. Among them, one achievable way is: preset posture information and The mapping relationship between the current detection height. Specifically, the mapping relationship between the attitude information and the current detection height can be a one-to-one mapping relationship. After the attitude information of the drone is obtained, the attitude information can be determined based on the mapping relationship. The current detection height corresponding to the information.
  • obtaining the current detection height corresponding to the posture information may include:
  • Step S1011 Obtain the current detection altitude corresponding to the attitude information through the barometer set on the drone.
  • a barometer is provided on the drone, and the barometer is used to obtain the current detection altitude corresponding to the attitude information under the attitude information of the drone. It is understandable that when the drone is in a specific attitude information, it can correspond to a unique detection height. For example, when the drone is in the attitude information A, the current detection height information corresponding to the drone can be obtained as H1: When the UAV is in the attitude information B, the current detection height information corresponding to the UAV can be obtained as H2.
  • the barometer provided on the drone can not only ensure that the current detection height corresponding to the attitude information is accurately obtained, but also improve the quality and efficiency of obtaining the current detection height.
  • Step S102 Determine the height drop compensation amount corresponding to the posture information.
  • the posture information after the posture information is obtained, the posture information can be analyzed and processed, so that the height drop compensation amount corresponding to the posture information can be determined, and the height drop compensation amount corresponds to the error information existing in the current detected height.
  • this embodiment does not limit the specific method for determining the compensation amount for high fall.
  • Those skilled in the art can set it according to specific application requirements and design requirements, for example: preset with the posture information and the compensation amount for fall high.
  • the mapping relationship specifically, the attitude information and the height drop compensation amount may be a one-to-one mapping relationship, and the height drop compensation amount corresponding to the attitude information can be determined based on the above mapping relationship and the attitude information.
  • a machine learning model is pre-configured, and the machine learning model is trained to determine the amount of compensation for the height drop corresponding to the attitude information. After the attitude information of the drone is obtained, the attitude information of the drone can be input In the machine learning model, the compensation amount corresponding to the posture information can be determined.
  • Step S103 Use the height drop compensation amount to compensate the current detection height to obtain the target height corresponding to the posture information.
  • the height drop compensation amount corresponds to the error information existing in the current detection height
  • the height drop compensation amount can be used to compensate the current detection height to reduce or eliminate the current detection height Corresponding error, so that a more accurate target height corresponding to the posture information can be obtained.
  • the height drop compensation amount can be any value greater than zero, equal to zero, or less than zero, and the target height can be the sum of the current detection height and the height drop compensation amount.
  • the drone 102 is communicatively connected with a terminal device 101, which is used to control the flight of the drone 102, and the drone 102 is equipped with an IMU and a barometer ,
  • the attitude information of the drone can be obtained through the IMU, and the current detection height h corresponding to the attitude information can be obtained through the barometer.
  • the drop corresponding to the attitude information can be determined.
  • High compensation amount ⁇ h and then can use the high compensation amount ⁇ h to compensate the current detection height h, so that the target height corresponding to the attitude information can be obtained as ⁇ h+h. It is understandable that ⁇ h can be greater than zero , Equal to zero or less than zero.
  • this embodiment may include, but is not limited to, compensation for the detection height of the barometer, and may also be applied to compensation for the detection height of other height sensors.
  • the height detection method provided in this embodiment determines the height drop compensation amount corresponding to the attitude information by acquiring the attitude information of the drone and the current detection height corresponding to the attitude information, and then uses the height drop compensation amount.
  • the compensation amount compensates for the current detection height, thereby effectively fusing the attitude information of the drone to estimate the height drop compensation amount corresponding to the attitude information, and since the attitude information of the drone has been fused
  • the altitude compensation amount is obtained through the attitude information, and based on the altitude compensation amount
  • the altitude measurement error caused by the movement of the barometer and the external wind and airflow is compensated, and more accurate altitude information can be obtained, which further ensures the stability and reliability of the method.
  • Fig. 3 is a schematic diagram of the process of determining the compensation amount corresponding to the posture information provided in Fig. 1; on the basis of the above-mentioned embodiment, referring to Fig. 3, this embodiment is for determining the corresponding posture information
  • the specific implementation of the height drop compensation amount is not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • the determination of the height drop compensation amount corresponding to the posture information in this embodiment may include :
  • Step S301 Determine the airspeed information of the drone and the direction information of the drone based on the attitude information.
  • the attitude information can be used to determine the airspeed information and direction information of the UAV.
  • the attitude information includes the pitch angle, roll angle, and yaw angle of the UAV
  • the airspeed information and direction information of the UAV can be determined based on the pitch angle, roll angle, and yaw angle.
  • the UAV will correspond to an airspeed information and direction information at each attitude angle, that is, there is a corresponding relationship between the UAV’s attitude, airspeed information, and direction information. According to the above-mentioned corresponding relationship, any one can be determined.
  • the airspeed information and direction information of the UAV corresponding to the attitude angle.
  • the above-mentioned correspondence can be obtained in the following way: through a large amount of experimental data, the correspondence between the attitude information of the drone and the airspeed information and direction information of the drone is determined.
  • the ground station Under no wind conditions, the ground station sends a control command to the drone.
  • the control command includes the attitude information of the drone to indicate that the ground station controls the drone to adjust its attitude so that the drone is adjusted to this control.
  • the UAV After the UAV receives the above control instruction, it can execute the above control instruction. When the UAV is adjusted to the attitude angle corresponding to the control instruction and is flying at a stable uniform speed, it will be explained at this time.
  • the UAV has reached an equilibrium state.
  • the flight speed and direction information of the UAV is the airspeed information of the UAV corresponding to the attitude angle and the direction information of the UAV.
  • the correspondence between the attitude angle of the UAV and the airspeed information of the UAV and the direction information of the UAV can be obtained.
  • the airspeed of the drone detected under no wind conditions is equal to the ground speed.
  • the above-mentioned similar method can also be used to detect the correspondence between the attitude angle of the drone, the airspeed information of the drone, and the direction information of the drone under windy conditions.
  • the direction information of the drone can include the direction of movement of the drone (the direction of movement can be based on the pitch angle and roll of the drone. To determine the angle, that is, the horizontal tilt angle of the UAV).
  • the UAV's direction information includes the UAV's movement direction and the UAV's heading information (that is, the heading information with the earth's north, east, and ground as the coordinate axis), it can also be combined with the UAV's attitude information and The detection device on the drone is used to determine the direction information of the drone.
  • the detection device on the drone may include a compass, and the heading information of the drone can be accurately determined through the compass and the attitude information of the drone.
  • the detection device on the drone may include a global positioning system GPS, and the geographic location information and the attitude information of the drone obtained through the GPS can also accurately determine the heading information of the drone.
  • the flight controller can automatically adjust the flight attitude of the drone according to a large number of preset attitude angles.
  • the flight controller can pass The GPS sensor detects the ground speed and direction information of the drone.
  • the ground speed of the drone is equal to the airspeed, so that the attitude angle of the drone, the airspeed information of the drone, and the direction of the drone can be determined. Correspondence between information.
  • the different attitude information of the drone can correspond to different airspeed information and direction information.
  • the attitude information of the drone when the attitude information of the drone is C1, it can correspond to airspeed information V1 and airspeed information V2.
  • the attitude information of the drone when the attitude information of the drone is C2, it can correspond to airspeed information V3 and airspeed information V4, and direction information D3 and D4.
  • the attitude information when the attitude information of the drone is shown in the figure, after the attitude information is obtained, the attitude information can be analyzed and processed to determine the airspeed information V1 and airspeed information of the drone V2, it can be understood that the combined speed direction of the airspeed information V1 and the airspeed information V2 is consistent with the speed direction corresponding to the attitude information of the drone.
  • the attitude information of the drone when the attitude information is obtained, the attitude information can be analyzed and processed, and the direction information D1 and D1 of the drone can also be obtained.
  • the direction information D2 it can be understood that the combined direction of the direction information D1 and the direction information D2 is consistent with the direction corresponding to the attitude information of the drone.
  • the airspeed information of the UAV can be determined based on the attitude information.
  • the determination of the airspeed information of the drone based on the attitude information in this embodiment may include:
  • Step S3011 Obtain a first mapping relationship between the preset attitude information of the drone and the preset airspeed information.
  • Step S3012 Determine the airspeed information of the UAV based on the first mapping relationship and the attitude information.
  • a first mapping relationship between the preset attitude information of the drone and the preset airspeed information is preset, and the first mapping relationship may be a one-to-one mapping relationship, that is, one preset attitude information corresponds to one preset Set airspeed information.
  • this embodiment does not limit the specific acquisition method of the first mapping relationship, and those skilled in the art can set it according to specific application requirements and design requirements.
  • the first mapping relationship may be stored in a preset area. By visiting the preset area, the first mapping relationship between the preset attitude information of the drone and the preset airspeed information can be obtained.
  • the preset attitude information and preset airspeed information of the drone can be acquired through the control device and the detection device.
  • control device can control the drone to be in the preset attitude information, and the detection device can acquire the preset attitude information.
  • the preset airspeed information of the drone under the attitude information, and then the first mapping relationship between the preset attitude information of the drone and the preset airspeed information can be established.
  • the first mapping relationship may be characterized in the form of a mapping table, or may be characterized in the form of a mapping function, which is not specifically limited here.
  • the first mapping relationship and the attitude information can be analyzed and processed to determine the airspeed information of the UAV.
  • the determination of the airspeed information of the drone based on the first mapping relationship and the attitude information in this embodiment may include:
  • Step S30121 Based on the first mapping relationship, obtain preset airspeed information corresponding to the attitude information.
  • Step S30122 Perform low-pass filtering on the preset airspeed information corresponding to the attitude information and the preset airspeed information corresponding to the historical attitude information acquired in the historical period to obtain the real-time attitude information of the UAV and after filtering The second mapping relationship between the airspeed information.
  • Step S30123 Obtain the airspeed information of the drone based on the second mapping relationship and the attitude information.
  • the historical period is the preset duration before the current moment or the duration of the continuous movement of the drone before the current moment.
  • the preset duration or the specific duration of the continuous movement of the drone before the current moment is not limited. Those skilled in the art can make settings according to specific application requirements and design requirements.
  • the preset duration can be 5min, 10min, or 15min.
  • the duration of continuous movement of the drone before the current moment can be 3min, 5min or 10min, etc.
  • the first mapping relationship can be used to identify the correspondence between the attitude information and the preset airspeed information
  • the preset airspeed corresponding to the attitude information can be obtained. ⁇ Speed information.
  • the second mapping relationship can be updated in real time. Specifically, the preset airspeed information corresponding to the historical attitude information acquired in the historical period can be acquired, and then the preset airspeed information corresponding to the historical attitude information and the preset airspeed information corresponding to the attitude information can be lowered.
  • the second mapping relationship between the real-time attitude information of the UAV and the filtered airspeed information can be obtained, and then the airspeed information of the UAV can be obtained based on the second mapping relationship and the attitude information.
  • the airspeed information is real-time airspeed information corresponding to the attitude information of the UAV.
  • the historical attitude information of the drone is a0
  • the preset airspeed information corresponding to the historical attitude information is v0
  • the preset airspeed information v1 corresponding to the attitude information a1 can be obtained through the first mapping relationship.
  • the attitude information of the drone is gradually changed from a0 to a1, which can include multiple transition attitude information, for example: a01, a02 , A03, etc.; similarly, the preset airspeed information of the UAV is gradually changed from v0 to v1, and the intermediate airspeed information can include: v01 corresponding to the transition attitude information a01, and the transition attitude information a02 Corresponding v02, v03 corresponding to the transition posture information a03, and so on.
  • Step S302 Determine the height drop compensation amount corresponding to the airspeed information and the direction information.
  • determining the height drop compensation amount corresponding to the airspeed information and the direction information may include:
  • Step S3021 Obtain the speed compensation amount corresponding to the airspeed information, and obtain the direction compensation amount corresponding to the direction information.
  • Step S3022 Based on the speed compensation amount and the direction compensation amount, determine the height drop compensation amount corresponding to the airspeed information and the direction information.
  • the height drop compensation amount corresponding to the airspeed information and the direction information may include a speed compensation amount corresponding to the airspeed information and a direction compensation amount corresponding to the direction information. Therefore, in order to accurately obtain the compensation amount corresponding to the airspeed information and the direction information, the speed compensation amount corresponding to the airspeed information and the direction compensation amount corresponding to the direction information can be obtained respectively, and then the speed The compensation amount and the direction compensation amount are analyzed and processed, so that the height drop compensation amount corresponding to the airspeed information and the direction information can be determined.
  • the airspeed information can be decomposed in a preset direction, so that the sub-velocity Vbx and the sub-velocity Vby corresponding to the airspeed information can be obtained, and then the attitude information can be obtained according to the following formula The corresponding amount of compensation for falling height.
  • h e is the height drop compensation amount corresponding to the attitude information
  • v k -v k-1 is the preset speed interval
  • g k -g k-1 is the speed compensation parameter corresponding to the preset speed interval
  • V is the airspeed information
  • v bx is the decomposition sub-speed corresponding to the airspeed information
  • v by is the decomposition sub-speed corresponding to the airspeed information
  • g t is the corresponding to the preset forward direction/preset back direction
  • Direction compensation parameter g 0 is the direction compensation parameter corresponding to the preset left direction/preset right direction
  • It is the direction compensation gain corresponding to a certain direction (that is, the direction compensation amount).
  • Step S303 Determine the height drop compensation amount corresponding to the airspeed information and the direction information as the height drop compensation amount corresponding to the attitude information.
  • the height drop compensation amount corresponding to the airspeed information and the direction information may be determined as the height drop compensation amount corresponding to the attitude information.
  • the airspeed information of the UAV and the direction information of the UAV are determined by the attitude information, and the height drop compensation amount corresponding to the airspeed information and direction information is determined, and then it will be compared with the airspeed information and direction information.
  • the corresponding height drop compensation amount is determined as the height drop compensation amount corresponding to the attitude information, which effectively realizes the accuracy and reliability of obtaining the height drop compensation amount corresponding to the attitude information, and further improves the stability and reliability of the method. sex.
  • Fig. 7 is a schematic diagram of the flow of obtaining the speed compensation amount corresponding to the airspeed information provided in Fig. 6; on the basis of the above-mentioned embodiment, referring to Fig. 7, this embodiment is for obtaining the information corresponding to the airspeed
  • the specific implementation method of the speed compensation amount is not limited, and those skilled in the art can set it according to specific application requirements and design requirements. Among them, an achievable way is that the acquisition in this embodiment corresponds to the airspeed information.
  • Speed compensation can include:
  • Step S701 Obtain a third mapping relationship between the preset speed interval of the drone and the preset speed compensation amount.
  • Step S702 Based on the third mapping relationship, determine the speed compensation amount corresponding to the airspeed information.
  • a third mapping relationship between the preset speed interval of the drone and the preset speed compensation amount is pre-configured, and the third mapping relationship may include a plurality of different preset speed intervals and the preset speed interval.
  • the third mapping relationship may include a plurality of different preset speed intervals and the preset speed interval.
  • different preset speed intervals may correspond to different preset speed compensation amounts, or different preset speed intervals may correspond to the same preset speed compensation amount.
  • this embodiment does not limit the specific implementation manner for obtaining the third mapping relationship between the preset speed interval of the drone and the preset speed compensation amount, and those skilled in the art can do it according to specific application requirements and design requirements.
  • the third mapping relationship can be stored in the preset area, and the third mapping relationship between the preset speed interval of the drone and the preset speed compensation amount can be obtained by accessing the preset area.
  • the third mapping relationship can be stored in other devices, and the information acquisition request is sent to other devices, so that other devices send the third mapping relationship to the height detection device according to the information acquisition request, so that the height detection device can be stable To obtain the third mapping relationship. After the third mapping relationship is obtained, the speed compensation amount corresponding to the airspeed information can be determined.
  • the third mapping relationship may be characterized in the form of a mapping table, or may be characterized in the form of a mapping function, which is not specifically limited here.
  • the third mapping relationship between the preset speed interval of the drone and the preset speed compensation amount is obtained, and then the speed compensation amount corresponding to the airspeed information is determined based on the third mapping relationship, which not only guarantees The accuracy and reliability of obtaining the speed compensation amount corresponding to the airspeed information is improved, and the quality and efficiency of obtaining the speed compensation amount are also improved, which further improves the stability and reliability of the method.
  • Fig. 8 is a schematic diagram of the second process of obtaining the speed compensation amount corresponding to the airspeed information provided in Fig. 6; on the basis of the above-mentioned embodiment, with continued reference to Fig. 8, this embodiment proposes another method of obtaining and The method for realizing the speed compensation amount corresponding to the airspeed information, specifically, acquiring the speed compensation amount corresponding to the airspeed information in this embodiment may include:
  • Step S801 Decompose the airspeed information in a preset direction based on the direction information to obtain sub-speeds corresponding to the airspeed information.
  • Step S802 Obtain the speed compensation amount corresponding to the sub-speed.
  • Step S803 Based on the speed compensation amount corresponding to the sub-speed, the speed compensation amount corresponding to the airspeed information is determined.
  • the preset direction may include at least one of the following: a front direction, a rear direction, a left direction, and a right direction in the fuselage coordinate system of the drone.
  • the airspeed information can be decomposed in a preset direction based on the attitude information.
  • the direction information of the drone can be determined based on the attitude information.
  • the direction information is the moving direction of the drone.
  • the airspeed information can be decomposed in the preset direction based on the direction information of the drone, so that the corresponding airspeed information can be obtained It can be understood that the number of sub-velocities corresponding to the airspeed information corresponds to the preset direction.
  • the sub-velocities in different preset directions can be the same or different, and in a certain preset The sub-velocities in the direction can be zero.
  • the aforementioned characterization form of the sub-velocity may include one of the following: the size of the sub-velocity, the square of the sub-velocity, and the square root of the sub-velocity.
  • the obtained airspeed information includes airspeed information, and then the airspeed information can be decomposed in a preset direction based on the attitude information, so that the airspeed information can be obtained.
  • the size of the corresponding sub-velocity is the size of the sub-speed.
  • the obtained airspeed information includes the squared information of the airspeed, and then the square of the airspeed can be decomposed in the preset direction based on the attitude information, so that the square of the airspeed can be obtained.
  • the square of the corresponding sub-velocity When the sub-speed is the square root of the sub-speed, the obtained airspeed information includes the square root information of the airspeed, and then the square root of the airspeed can be decomposed in the preset direction based on the attitude information, so as to obtain the square root of the airspeed.
  • the root of the corresponding sub-velocity it is also possible to obtain the square of the sub-velocity or the square root of the sub-velocity after obtaining the magnitude of the sub-velocity based on the airspeed information.
  • the sub-velocity can be analyzed and processed, so that the speed compensation amount corresponding to the sub-velocity can be obtained.
  • the speed compensation amount corresponding to the sub-velocity in the corresponding speed interval of each preset direction can be obtained, and then the speed compensation amount corresponding to the sub-velocity in the corresponding speed interval of each preset direction can be fused, for example: vector merging ,
  • the speed compensation amount corresponding to the airspeed information can be obtained.
  • the determination method of the speed compensation amount corresponding to the sub-velocity in the corresponding speed range of each preset direction can refer to the aforementioned formula.
  • the main difference is that the airspeed information is the sub-velocity, which is beneficial when the speed range of each preset direction is different. Determine the speed compensation amount corresponding to the airspeed information.
  • obtaining the speed compensation amount corresponding to the sub-speed in this embodiment may include:
  • Step S901 Obtain a fourth mapping relationship between the preset sub-speed of the drone in the preset direction and the preset speed compensation amount.
  • Step S902 Determine the speed compensation amount corresponding to the sub-speed based on the fourth mapping relationship.
  • a fourth mapping relationship between the preset speed range of the drone and the preset speed compensation amount may be pre-configured, and the fourth mapping relationship may include multiple, and each fourth mapping relationship corresponds to a preset speed of the drone.
  • a preset sub-speed interval in the direction is used to identify the corresponding relationship between a preset sub-speed interval and the preset speed compensation amount. It is conceivable that different preset sub-speed intervals can correspond to different The preset speed compensation amount, or different preset sub-speed sections may correspond to the same preset speed compensation amount.
  • this embodiment does not limit the specific implementation manner for obtaining the fourth mapping relationship between the preset sub-speed of the drone in the preset direction and the preset speed compensation amount, and those skilled in the art can refer to specific applications.
  • Requirements and design requirements are set, for example: the fourth mapping relationship can be stored in the preset area, and the preset sub-speed of the drone in the preset direction and the preset speed compensation amount can be obtained by visiting the preset area.
  • the fourth mapping relationship may be stored in other devices, and information acquisition requests are sent to other devices, so that other devices send the fourth mapping relationship to the height detection device according to the information acquisition request, so that the height detection device can be stable To obtain the fourth mapping relationship.
  • the speed compensation amount corresponding to the sub-speed can be determined based on the fourth mapping relationship; so as to determine the speed compensation amount corresponding to the airspeed information based on the speed compensation amount corresponding to the sub-speed .
  • the fourth mapping relationship may be characterized in the form of a mapping table, or may be characterized in the form of a mapping function, which is not specifically limited here.
  • the third mapping relationship may include the fourth mapping relationship.
  • the fourth mapping relationship between the preset sub-speed of the drone in the preset direction and the preset speed compensation amount is obtained, and then the speed compensation amount corresponding to the sub-speed is determined based on the fourth mapping relationship.
  • FIG. 10 is a schematic diagram of the process of obtaining the direction compensation amount corresponding to the direction information provided in FIG. 6; on the basis of the above embodiment, referring to FIG. 10, this embodiment is for obtaining the direction corresponding to the direction information
  • the specific implementation of the compensation amount is not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • obtaining the direction compensation amount corresponding to the direction information in this embodiment may include:
  • Step S1001 Obtain a direction compensation amount corresponding to a preset direction according to the direction information.
  • Step S1002 Determine the direction compensation amount corresponding to the direction information based on the direction compensation amount corresponding to the preset direction.
  • the preset direction may include at least one of the following: a front direction, a rear direction, a left direction, and a right direction in the fuselage coordinate system of the drone.
  • the direction compensation amount corresponding to the preset direction can be obtained based on the direction information. It can be understood that the number of direction compensation amounts corresponding to the preset direction corresponds to the preset direction, and the direction compensation amount in different preset directions may be the same or different, and in a certain preset direction The direction compensation amount can be zero.
  • the direction compensation amount corresponding to the preset direction information may be determined based on the direction compensation amount corresponding to the preset direction.
  • the method in this embodiment may further include:
  • Step A Decompose the airspeed information in the preset direction based on the direction information to obtain the sub-speeds corresponding to the airspeed information;
  • step A in this embodiment is similar to the specific implementation process and implementation effects of the same part of step S801 in the above embodiment.
  • the specific implementation process and implementation effect of the above step A in this embodiment are similar to the specific implementation process and implementation effects of the same part of step S801 in the above embodiment.
  • obtaining the direction compensation amount corresponding to the preset direction in this embodiment may include:
  • Step B Obtain a fifth mapping relationship between the preset direction of the drone and the preset direction compensation amount.
  • Step C Determine the direction compensation amount corresponding to the preset direction based on the fifth mapping relationship and the sub-speed information.
  • a fifth mapping relationship between the preset direction of the drone and the preset direction compensation amount is preset, and the fifth mapping relationship may be a one-to-one mapping relationship, that is, one preset direction corresponds to one preset direction The amount of compensation.
  • this embodiment does not limit the specific acquisition method of the fifth mapping relationship, and those skilled in the art can set it according to specific application requirements and design requirements.
  • the fifth mapping relationship can be stored in a preset area. By visiting the preset area, the fifth mapping relationship between the preset direction of the drone and the preset direction compensation amount can be obtained.
  • the fifth mapping relationship may be characterized in the form of a mapping table, or may be characterized in the form of a mapping function, which is not specifically limited here.
  • the direction compensation amount corresponding to the preset direction can be determined based on the fifth mapping relationship and the sub-speed information, and the speed information is combined to obtain the direction compensation amount corresponding to the preset direction. This effectively guarantees the accuracy and reliability of obtaining the direction compensation amount.
  • the airspeed information and direction information of the drone can be accurately detected and obtained. Therefore, the compensation operation for the actual measured parameters of the barometer is realized through the speed information and direction information.
  • the process is simple and easy to operate, and it can effectively ensure the accuracy and reliability of the compensation operation for the barometer.
  • FIG. 11 is a schematic flowchart of a method for determining a compensation amount provided by an embodiment of the present invention. referring to FIG. 11, this embodiment provides a method for determining a compensation amount, and the execution subject of the method is the determination of the compensation amount Device, it can be understood that the device for determining the compensation amount can be implemented as software or a combination of software and hardware. Specifically, the method for determining the compensation amount may include:
  • Step S1101 Obtain the attitude information of the UAV, and obtain the actual altitude compensation amount corresponding to the attitude information.
  • Step S1102 Determine a first mapping relationship corresponding to the speed information of the drone, and a second mapping relationship corresponding to the direction information of the drone, the first mapping relationship is used to determine the speed compensation corresponding to the speed information The second mapping relationship is used to determine the direction compensation amount corresponding to the direction information.
  • Step S1103 Determine the theoretical altitude compensation amount of the drone according to the attitude information of the drone, the first mapping relationship, and the second mapping relationship.
  • Step S1104 According to the theoretical altitude compensation amount and the actual altitude compensation amount, the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the theoretical altitude compensation amount and the actual altitude The difference between the compensation amount.
  • Step S1101 Obtain the attitude information of the UAV, and obtain the actual altitude compensation amount corresponding to the attitude information.
  • the attitude information of the UAV may include at least one of the following: pitch information, roll information, and yaw information.
  • the above-mentioned pitch information may include the pitch angle information of the UAV
  • the roll information may include the pitch information of the UAV.
  • the roll angle and yaw information can include the heading angle of the drone.
  • this embodiment does not limit the specific implementation of obtaining the attitude information of the drone.
  • an attitude sensor is provided on the drone, and the The attitude sensor can obtain the attitude information of the UAV in static or dynamic state.
  • the attitude sensor may be an inertial measurement unit (IMU), or the attitude sensor may include an accelerometer and a gyroscope, etc., as long as the attitude sensor can obtain the flight direction information of the drone and The attitude information of the drone is sufficient.
  • IMU inertial measurement unit
  • the attitude sensor may include an accelerometer and a gyroscope, etc., as long as the attitude sensor can obtain the flight direction information of the drone and The attitude information of the drone is sufficient.
  • those skilled in the art can arbitrarily configure the posture sensor according to the functions that the posture sensor can realize, which will not be repeated here.
  • the drone before the drone leaves the factory, the drone can be controlled to fly in different directions and at different speeds, and the attitude information of the drone and the collected altitude data corresponding to the attitude information can be collected during the flight.
  • Actual height data that is, the attitude information is aligned with the collected height data and actual height data in time. Therefore, the actual height compensation amount corresponding to the posture information can be determined by collecting the height data and the actual height data.
  • the collected altitude data may be obtained by a barometer, and the actual altitude data may be determined by the positioning result of the Global Satellite Positioning System GPS, the positioning result of the carrier phase difference technology, or the visual positioning result.
  • the posture information After the posture information is obtained, the posture information can be analyzed and processed, so that the actual height compensation amount corresponding to the posture information can be obtained. Specifically, obtaining the actual height compensation amount corresponding to the posture information may include:
  • Step S11011 Obtain the collected height data and actual height data corresponding to the posture information.
  • Step S11012 Determine the actual height compensation amount corresponding to the attitude information according to the collected height data and the actual height data.
  • the collected height data corresponding to the attitude information can be obtained.
  • the collected height data is the theoretical height data corresponding to the attitude information of the drone.
  • the controller can send control instructions to the drone so that the drone can fly according to the control instructions.
  • the actual altitude data of the UAV can be obtained through a sensor other than the barometer installed on the UAV, and the collected altitude data of the UAV can be obtained through the barometer installed on the UAV.
  • the actual height compensation amount corresponding to the attitude information can be determined according to the collected height data and the actual height data. Specifically, the difference between the collected height data and the actual height data can be determined. The height difference is determined as the actual height compensation amount corresponding to the attitude information.
  • Step S1102 Determine a first mapping relationship corresponding to the speed information of the drone, and a second mapping relationship corresponding to the direction information of the drone, the first mapping relationship is used to determine the speed compensation corresponding to the speed information The second mapping relationship is used to determine the direction compensation amount corresponding to the direction information.
  • the first mapping relationship may include multiple speed intervals and speed compensation amounts corresponding to the multiple speed intervals.
  • h ev is the speed compensation gain (that is, the speed compensation amount) corresponding to a certain speed interval
  • v k -v k-1 is the preset speed interval
  • g k -g k-1 is the preset speed
  • v is the airspeed information.
  • the ranges of the multiple speed intervals included in the first mapping relationship are the same or different. In other examples, the range and/or number of the multiple speed intervals included in the first mapping relationship may be adjusted. In still other examples, the number of multiple speed intervals located in different directions included in the first mapping relationship is the same or different.
  • the above-mentioned speed information of the drone may include at least one of the following: the speed, the square of the speed, and the square root of the speed.
  • the second mapping relationship may include a plurality of direction information and a direction compensation amount corresponding to the plurality of direction information.
  • h ed is the direction compensation gain (that is, the direction compensation amount) corresponding to a certain direction
  • v bx is the decomposition sub-velocity corresponding to the airspeed information
  • v by is the decomposition sub-velocity corresponding to the airspeed information
  • g t is the direction compensation parameter corresponding to the preset front direction/preset back direction
  • g 0 is the direction compensation parameter corresponding to the preset left direction/preset right direction.
  • the multiple direction information included in the second mapping relationship can be adjusted.
  • a first mapping relationship corresponding to the speed information of the UAV and a second mapping relationship corresponding to the direction information of the UAV are pre-configured.
  • the above-mentioned first mapping relationship may be
  • the second mapping relationship can determine the direction compensation amount corresponding to the direction information.
  • this embodiment does not limit the specific implementation manners for determining the first mapping relationship and the second mapping relationship.
  • Those skilled in the art can make settings according to specific application requirements and design requirements. For example, multiple drones can be set. In the second flight control, the corresponding relationship between the speed information and the speed compensation amount during multiple flights is obtained, and the first mapping relationship can be established based on the multiple sets of speed information and the speed compensation amount.
  • the corresponding relationship between the direction information and the direction compensation amount during multiple flights can be obtained, and the second mapping relationship can be established based on the multiple sets of direction information and the direction cloth output.
  • the first mapping relationship and the second mapping relationship are stored in a preset area, and the first mapping relationship and the second mapping relationship can be obtained by accessing the preset area.
  • Step S1103 Determine the theoretical altitude compensation amount of the drone according to the attitude information of the drone, the first mapping relationship, and the second mapping relationship.
  • the attitude information of the UAV can be analyzed and processed based on the first mapping relationship and the second mapping relationship, so as to determine the UAV's attitude information.
  • the theoretical height compensation amount Specifically, determining the theoretical altitude compensation value of the drone according to the attitude information, the first mapping relationship, and the second mapping relationship of the drone may include:
  • Step S11031 Determine the speed information and direction information corresponding to the posture information.
  • step S11031 in this embodiment is similar to the specific implementation process and implementation effects of step S301 in the foregoing embodiment.
  • step S11031 is similar to the specific implementation process and implementation effects of step S301 in the foregoing embodiment.
  • Step S11032 Determine the theoretical height compensation amount corresponding to the attitude information according to the speed information, the direction information, the first mapping relationship and the second mapping relationship.
  • the speed information and the direction information can be analyzed and processed according to the first mapping relationship and the second mapping relationship to determine the theoretical height compensation amount corresponding to the attitude information.
  • determining the theoretical height compensation amount corresponding to the attitude information may include:
  • Step S110321 Based on the first mapping relationship and the speed information, determine the speed compensation amount corresponding to the speed information.
  • Step S110322 Based on the second mapping relationship and the direction information, determine the direction compensation amount corresponding to the direction information.
  • Step S110323 Determine the theoretical height compensation amount corresponding to the attitude information according to the speed compensation amount and the direction compensation amount.
  • the speed compensation amount corresponding to the speed information can be determined.
  • the second mapping relationship is used to identify the direction compensation amount corresponding to the direction information
  • the direction compensation amount corresponding to the direction information can be determined. After obtaining the speed compensation amount and the direction compensation amount, the speed compensation amount and the direction compensation amount can be analyzed and processed to determine the theoretical height compensation amount corresponding to the attitude information.
  • Step S1104 According to the theoretical altitude compensation amount and the actual altitude compensation amount, the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the theoretical altitude compensation amount and the actual altitude The difference between the compensation amount.
  • the drone before the drone leaves the factory, the drone can be controlled to fly in different directions and at different speeds, and the attitude information of the drone and the collected altitude data corresponding to the attitude information can be collected during the flight.
  • the actual height data that is, the attitude information, the collected height data, and the actual height data are aligned in time.
  • the above-mentioned different directions and different speeds can be divided according to a preset strategy to obtain multiple different direction intervals and different speed intervals, and then the attitude information corresponding to each direction interval and each speed interval can be collected and collected.
  • the height data and actual high-speed data are counted to obtain the first mapping relationship for identifying the speed compensation amount corresponding to each speed section, and the second mapping relationship for identifying the direction compensation amount corresponding to each direction section .
  • the collected altitude data may be obtained by a barometer, and the actual altitude data may be determined by the positioning result of the Global Satellite Positioning System GPS, the positioning result of the carrier phase difference technology, or the visual positioning result.
  • the first mapping relationship and the second mapping relationship can be optimized based on the theoretical altitude compensation amount and the actual altitude compensation amount, so that the first target mapping relationship and the second target mapping relationship can be obtained. Minimize the difference between the theoretical height compensation amount and the actual height compensation amount.
  • optimizing the first mapping relationship and the second mapping relationship, and obtaining the first target mapping relationship and the second target mapping relationship may include:
  • Step S11041 Use the least square algorithm to process the actual height compensation amount and the theoretical height compensation amount, and obtain the minimum compensation difference corresponding to the actual height compensation amount and the theoretical height compensation amount.
  • Step S11042 Use the minimum compensation difference to optimize the first mapping relationship and the second mapping relationship to obtain the first target mapping relationship and the second target mapping relationship.
  • the least squares algorithm can be used to process the actual height compensation amount and the theoretical height compensation amount to obtain the minimum compensation difference corresponding to the actual height compensation amount and the theoretical height compensation amount, and then the minimum compensation difference can be used for the first
  • the first mapping relationship and the second mapping relationship are optimized, so that the first target mapping relationship and the second target mapping relationship can be obtained, and the new theoretical height compensation amount can be obtained through the first target mapping relationship and the second target mapping relationship.
  • the compensation difference between the theoretical height compensation amount and the actual height compensation amount is smaller than the compensation difference between the theoretical height compensation amount and the actual height compensation amount.
  • the method for determining the compensation amount determines the first mapping relationship corresponding to the speed information of the drone by acquiring the attitude information of the drone, and obtaining the actual altitude compensation amount corresponding to the attitude information, and The second mapping relationship corresponding to the direction information of the drone, and then the theoretical altitude compensation amount of the drone is determined according to the attitude information of the drone, the first mapping relationship, and the second mapping relationship, so that the theoretical altitude compensation amount can be determined Compared with the actual height compensation amount, the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the difference between the theoretical height compensation amount and the actual height compensation amount, thereby It effectively improves the accuracy and reliability of obtaining the height compensation amount, and further improves the stability and reliability of the method.
  • the method in this embodiment may further include:
  • Step S1105 Obtain compensation value data corresponding to the first target mapping relationship and the second target mapping relationship.
  • Step S1106 Use the compensation value data to determine whether the first target mapping relationship and the second target mapping relationship are reasonable.
  • the compensation value data with the drone can be determined based on the first target mapping relationship and the second target mapping relationship. It is understandable that the above compensation value data It can be one or more. Preferably, there can be multiple compensation value data, and then multiple compensation value data can be analyzed and identified to determine whether the first target mapping relationship and the second target mapping relationship are reasonable, specifically, Multiple compensation value data can be analyzed and compared with the preset threshold value. When the compensation value data is greater than the preset threshold value, it can be determined that the first target mapping relationship and the second target mapping relationship are unreasonable; when the compensation value data is less than or equal to When the threshold is preset, it can be determined that the first target mapping relationship and the second target mapping relationship are reasonable.
  • the speed compensation amount and the direction compensation amount can be determined based on the above-mentioned first target mapping relationship and the second target mapping relationship.
  • the first target mapping relationship and the second target mapping relationship are in an unreasonable state, it means that the above-mentioned first target mapping relationship cannot accurately reflect the relationship between the speed information and the speed compensation amount, and the second The target mapping relationship cannot accurately reflect the relationship between the direction information and the direction compensation amount.
  • the compensation value data corresponding to the first target mapping relationship and the second target mapping relationship are obtained, and then the compensation value data is used to determine whether the first target mapping relationship and the second target mapping relationship are reasonable, which is effectively achieved.
  • the rationality of the first target mapping relationship and the second target mapping relationship is judged, thereby avoiding the high compensation operation based on the unreasonable first target mapping relationship and the second target mapping relationship, and further improving the stability of the method. reliability.
  • this application embodiment provides an altitude compensation method that can compensate the altitude data actually measured by the barometer, so that the altitude measurement value obtained by the barometer can be as close to the actual altitude as possible. It is suitable for application scenarios such as space height measurement, barometer sensors, airborne/car navigation equipment, handheld/wearable devices, etc.
  • This method obtains the attitude information of the UAV by using the pre-measured attitude-speed curve of the UAV.
  • the airspeed corresponding to the attitude information is obtained, the corresponding relationship between the airspeed-barometer height error fitted in advance is obtained, and the height drop compensation amount corresponding to the attitude information can be obtained, which can then be based on the drop height.
  • the high compensation amount compensates for the altitude information measured by the barometer, thereby avoiding barometer measurement errors caused by air pressure fluctuations in high-speed application scenarios (application scenarios where the speed is greater than or equal to 10 m/s).
  • the height compensation method may include the following steps:
  • Step 1 Obtain the attitude information of the drone.
  • the UAV is equipped with an IMU, and the attitude information of the UAV can be obtained through the IMU.
  • Step 2 Determine the speed information (airspeed) of the drone according to the attitude information of the drone.
  • a one-to-one mapping relationship between the attitude information and speed information of the drone is pre-configured, and the speed information (airspeed) of the drone is determined through the attitude information and the mapping relationship of the drone.
  • Step 3 Determine the direction information of the drone according to the attitude information of the drone.
  • the attitude information of the drone can be decomposed based on the front direction, the rear direction, the left direction, and the right direction in the fuselage coordinate system of the drone, so that the direction information of the drone can be determined.
  • Step 4 Obtain pre-configured compensation gain functions for different speed ranges in different directions.
  • the step length of the speed interval of the compensation gain function can be adjusted according to different application scenarios and application requirements, and the number of speed intervals in different directions may be the same or different.
  • the compensation gain functions of different speed ranges in different directions can be obtained by learning and training through a preset machine learning algorithm or Kalman filter method.
  • the height drop compensation amount for different speed ranges in the forward up direction in the fuselage coordinate system may include, in the forward direction in the fuselage coordinate system, the speed range of V0-V1 corresponds to the drop height compensation amount A1, V1-V2 The speed range corresponds to the high compensation amount A2, and the speed range V2-V3 corresponds to the high compensation amount A3.
  • the speed range V0-V1 corresponds to the high compensation amount B1
  • the speed range V1-V2 corresponds to the high compensation amount B2
  • the speed range V2-V3 corresponds to the high compensation amount B3.
  • the speed range V0-V1 corresponds to the high compensation amount C1
  • the speed range V1-V2 corresponds to the high compensation amount C2
  • the speed range V2-V3 corresponds to the high compensation amount C3.
  • the speed range V0-V1 corresponds to the high compensation amount D1
  • the speed range V1-V2 corresponds to the high compensation amount D2
  • the speed range V2-V3 corresponds to the high compensation amount D3.
  • Step 5 Based on the above compensation gain function, determine the height drop compensation amount corresponding to the UAV's direction information and speed information.
  • the height drop compensation amount corresponding to the direction information and the speed information can be obtained.
  • the speed information of the drone may include Va corresponding to the front direction and Vb corresponding to the left direction.
  • Va belongs to the speed range of V1-V2
  • the height drop compensation amount corresponding to the direction and speed information of the drone can be obtained as A2.
  • Vb belongs to the speed range of V0-V1, it can be obtained with The corresponding high compensation amount corresponding to the direction information and speed information of the UAV is C1.
  • the high-falling compensation amount A2 and the high-falling compensation amount C1 can be analyzed and processed, so that the corresponding to the high-falling compensation amount A2 and the high-falling compensation amount C1 can be obtained
  • the target falls high compensation amount.
  • Step 6 Use the target height compensation amount to compensate the height information measured by the barometer, and obtain the target height information corresponding to the attitude information of the UAV.
  • Step 11 Obtain multiple theoretical height compensation quantities corresponding to the compensation gain function and actual height compensation quantities corresponding to the theoretical height compensation quantities;
  • the positioning result of the Global Satellite Positioning System GPS may be used to determine the actual altitude compensation amount, or the positioning results of the carrier phase difference technology and the visual positioning result may also be used to obtain the actual altitude compensation amount.
  • Step 12 Use multiple theoretical height compensation amounts and actual height compensation amounts to optimize the compensation gain function.
  • the least square algorithm is used to process the actual height compensation amount and the theoretical height compensation amount to obtain the minimum compensation difference corresponding to the actual height compensation amount and the theoretical height compensation amount; use the minimum compensation difference to compensate the preset
  • the gain function is optimized, and the optimized target compensation gain function is obtained.
  • the compensation gain function in different directions can be optimized separately to improve the accuracy and reliability of obtaining the height compensation amount.
  • the compensation gain function can be optimized based on the compensation error to reduce the compensation error between the actual height compensation amount and the theoretical height compensation amount.
  • the compensation gain function meets the preset requirement based on the compensation error.
  • the use of the compensation gain function for height compensation operation may be prohibited.
  • the height compensation method provided by this application embodiment can compensate the barometer height error caused by the influence of the carrier movement, external wind and air flow, etc., and realizes that it does not depend on external equipment and other external prior information, especially under high-speed motion conditions.
  • Accurate estimation of the barometer height of the barometer thereby improving the scope of application and application scenarios of the method; and, the method in this embodiment can be applied to batch data, thereby effectively improving the scope of application of the method; in addition, through the method It can also improve the quality and accuracy of the barometer altitude estimation during the course of the flight, and also reduce the error caused by the barometer fluctuation during the braking process, thereby improving the stability and reliability of the method.
  • FIG. 12 is a schematic structural diagram of a height detection device provided by an embodiment of the present invention. referring to FIG. 12, this embodiment provides a height detection device, which can execute the height detection method shown in FIG. 1 above.
  • the height detection device may include:
  • the first memory 12 is used to store computer programs
  • the first processor 11 is configured to run a computer program stored in the first memory 12 to implement:
  • the current detection height is compensated by the height drop compensation amount, and the target height corresponding to the attitude information is obtained.
  • the structure of the height detection device may further include a first communication interface 13 for the electronic device to communicate with other devices or a communication network.
  • the first processor 11 when the first processor 11 obtains the current detection altitude corresponding to the attitude information, the first processor 11 is configured to: obtain the current detection corresponding to the attitude information through the barometer provided on the drone. high.
  • the first processor 11 determines the height drop compensation amount corresponding to the attitude information
  • the first processor 11 is configured to: determine the airspeed information of the drone and the direction information of the drone based on the attitude information ; Determine the height drop compensation amount corresponding to the airspeed information and direction information; determine the height drop compensation amount corresponding to the airspeed information and direction information as the height drop compensation amount corresponding to the attitude information.
  • the first processor 11 determines the airspeed information of the drone based on the attitude information
  • the first processor 11 is used to: obtain the difference between the preset attitude information of the drone and the preset airspeed information.
  • the first mapping relationship based on the first mapping relationship and the attitude information, the airspeed information of the UAV is determined.
  • the first processor 11 determines the airspeed information of the drone based on the first mapping relationship and the attitude information
  • the first processor 11 is configured to: obtain the information corresponding to the attitude information based on the first mapping relationship
  • the preset airspeed information of the UAV; the preset airspeed information corresponding to the attitude information and the preset airspeed information corresponding to the historical attitude information obtained in the historical period are low-pass filtered to obtain the real-time attitude of the UAV
  • a second mapping relationship between the information and the filtered airspeed information; based on the second mapping relationship and the attitude information, the airspeed information of the UAV is obtained.
  • the historical period is a preset time period before the current time or the continuous movement of the drone before the current time.
  • the first processor 11 determines the altitude drop compensation amount corresponding to the airspeed information and the direction information
  • the first processor 11 is configured to: obtain the speed compensation amount corresponding to the airspeed information, and obtain The direction compensation amount corresponding to the direction information; based on the speed compensation amount and the direction compensation amount, the height drop compensation amount corresponding to the airspeed information and the direction information is determined.
  • the first processor 11 when the first processor 11 obtains the speed compensation amount corresponding to the airspeed information, the first processor 11 is used to: obtain the difference between the preset speed interval of the drone and the preset speed compensation amount. The third mapping relationship; based on the third mapping relationship, the speed compensation amount corresponding to the airspeed information is determined.
  • the first processor 11 when the first processor 11 obtains the speed compensation amount corresponding to the airspeed information, the first processor 11 is configured to: decompose the airspeed information in a preset direction based on the direction information to obtain the airspeed information.
  • the sub-speed corresponding to the speed information; the speed compensation amount corresponding to the sub-speed is acquired; based on the speed compensation amount corresponding to the sub-speed, the speed compensation amount corresponding to the airspeed information is determined.
  • the first processor 11 when the first processor 11 obtains the speed compensation amount corresponding to the sub-speed, the first processor 11 is used to: obtain the preset sub-speed and the preset speed compensation of the drone in the preset direction.
  • the fourth mapping relationship between the quantities; based on the fourth mapping relationship, the speed compensation amount corresponding to the sub-speed is determined.
  • the fourth mapping relationship includes multiple, and each fourth mapping relationship corresponds to a preset sub-speed interval in a preset direction of the drone, and is used to identify a preset sub-speed interval and a preset sub-speed interval. Correspondence between speed compensation amounts.
  • the first processor 11 when the first processor 11 obtains the direction compensation amount corresponding to the direction information, the first processor 11 is configured to: obtain the direction compensation amount corresponding to the preset direction according to the direction information; The direction compensation amount corresponding to the direction determines the direction compensation amount corresponding to the direction information.
  • the first processor 11 when obtaining the direction compensation amount corresponding to the preset direction according to the direction information, is configured to: decompose the airspeed information in the preset direction based on the direction information to obtain the airspeed information Corresponding sub-speed information; acquiring the fifth mapping relationship between the preset direction of the drone and the preset direction compensation amount; based on the fifth mapping relationship and the sub-speed information, determining the direction compensation amount corresponding to the preset direction.
  • the representation form of the sub-velocity information includes one of the following: the size of the sub-velocity, the square of the sub-velocity, and the square root of the sub-velocity.
  • the attitude information includes at least one of the following: pitch information and roll information.
  • the preset direction includes at least one of the following: a front direction, a rear direction, a left direction, and a right direction in the fuselage coordinate system of the drone.
  • the device shown in Fig. 12 can execute the methods of the embodiments shown in Figs.
  • the implementation process and technical effects of this technical solution please refer to the description in the embodiment shown in FIG. 1 to FIG. 10, which will not be repeated here.
  • FIG. 13 is a schematic structural diagram of a device for determining a compensation amount provided by an embodiment of the present invention. referring to FIG. 13, this embodiment provides a device for determining a compensation amount, which can perform the above-mentioned device shown in FIG. 11 How to determine the amount of compensation.
  • the device for determining the compensation amount may include:
  • the second memory 22 is used to store computer programs
  • the second processor 21 is configured to run a computer program stored in the second memory 22 to implement:
  • the first mapping relationship is used to determine the speed compensation amount corresponding to the speed information. 2.
  • the mapping relationship is used to determine the direction compensation amount corresponding to the direction information;
  • the first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship to minimize the difference between the theoretical altitude compensation amount and the actual altitude compensation amount. The difference between.
  • the structure of the device for determining the compensation amount may further include a second communication interface 23 for the electronic device to communicate with other devices or a communication network.
  • the second processor 21 when the second processor 21 acquires the actual height compensation amount corresponding to the attitude information, the second processor 21 is used to: acquire the collected height data and the actual height data corresponding to the attitude information; Data and actual height data, determine the actual height compensation amount corresponding to the attitude information.
  • the second processor 21 determines the theoretical altitude compensation value of the drone according to the attitude information, the first mapping relationship, and the second mapping relationship of the drone
  • the second processor 21 is used to: Speed information and direction information corresponding to the information; according to the speed information, direction information, the first mapping relationship and the second mapping relationship, determine the theoretical height compensation amount corresponding to the attitude information.
  • the second processor 21 determines the theoretical height compensation amount corresponding to the attitude information according to the speed information, the direction information, the first mapping relationship, and the second mapping relationship
  • the second processor 21 is configured to: The first mapping relationship and speed information determine the speed compensation amount corresponding to the speed information; based on the second mapping relationship and the direction information, the direction compensation amount corresponding to the direction information is determined; The theoretical height compensation amount corresponding to the attitude information.
  • the second processor 21 when the second processor 21 optimizes the first mapping relationship and the second mapping relationship according to the theoretical height compensation value and the actual height compensation value, and obtains the first target mapping relationship and the second target mapping relationship, the first The second processor 21 is used to: use the least square algorithm to process the actual height compensation amount and the theoretical height compensation amount to obtain the minimum compensation difference corresponding to the actual height compensation amount and the theoretical height compensation amount; The first mapping relationship and the second mapping relationship are optimized to obtain the first target mapping relationship and the second target mapping relationship.
  • the first mapping relationship includes a plurality of speed sections and speed compensation amounts corresponding to the plurality of speed sections; the second mapping relationship includes a plurality of direction information and direction compensation amounts corresponding to the plurality of direction information.
  • the ranges of the multiple speed intervals included in the first mapping relationship are the same or different.
  • the range and/or number of the multiple speed intervals included in the first mapping relationship can be adjusted.
  • the number of multiple speed intervals located in different directions included in the first mapping relationship is the same or different.
  • the speed information includes at least one of the following: a speed magnitude, a square value of the speed magnitude, and a square root value of the speed magnitude.
  • the second processor 21 is configured to: obtain compensation value data corresponding to the first target mapping relationship and the second target mapping relationship; Value data to determine whether the first target mapping relationship and the second target mapping relationship are reasonable.
  • the device shown in FIG. 13 can execute the method of the embodiment shown in FIG. 11.
  • the unmanned aerial vehicle may include:
  • the power system 32 is arranged on the body 31 and used to provide power for the drone;
  • the height detecting device 33 is provided on the body 31.
  • FIG. 15 is a second structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention. referring to FIG. 14, as shown in FIG. 14, another unmanned aerial vehicle is provided in this embodiment.
  • the unmanned aerial vehicle may include:
  • the power system 42 is arranged on the body 41 and is used to provide power for the drone;
  • the compensation amount determining device 43 is provided on the body 41.
  • an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by electronic devices, which includes programs for executing the height detection method in the method embodiments shown in FIGS. 1 to 10 above. .
  • an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by an electronic device, which includes a program for executing the method for determining the compensation amount in the method embodiment shown in FIG. 11.
  • the disclosed related remote control device and method can be implemented in other ways.
  • the embodiments of the remote control device described above are merely illustrative.
  • the division of the modules or units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components. It can be combined or integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of the remote control device or unit, and may be in electrical, mechanical or other forms.
  • 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, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium.
  • the aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

Abstract

一种高度检测方法，包括：获取无人机的姿态信息，并获取与姿态信息相对应的当前检测高度（S101）；确定与姿态信息相对应的掉高补偿量（S102）；利用掉高补偿量对当前检测高度进行补偿，获得与姿态信息相对应的目标高度（S103）。通过获取与姿态信息相对应的当前检测高度和与姿态信息相对应的掉高补偿量，并利用掉高补偿量对当前检测高度进行补偿，有效地实现了融合无人机的姿态信息来估计与姿态信息相对应的掉高补偿量，并基于掉高补偿量在无人机的航线飞行中对气压计因运动、外部风吹气流导致的高度测量误差进行补偿，从而可以获取较为精确的高度信息，保证了该方法使用的稳定可靠性。还公开了一种高度检测装置，一种补偿量的确定方法、一种补偿量的确定装置和一种无人机。

Description

高度检测方法、补偿量的确定方法、装置和无人机 技术领域
本发明实施例涉及检测技术领域，尤其涉及一种高度检测方法、补偿量的确定方法、装置和无人机。
背景技术
气压计是可以用来测量大气压强(简称气压)的仪器，在通过气压计获取到气压之后，可以根据气压与海拔高度之间的关系来计算承载气压计的载体所在位置的高度信息。然而，在进行高度测量时，载体所在位置的气压容易受载体运动、外部气流扰动、温度等因素的影响，进而严重影响通过气压计进行测高的精度。
发明内容
本发明实施例提供了一种高度检测方法、补偿量的确定方法、装置和无人机，用于解决现有技术中存在的用于承载气压计的载体所在位置的气压容易受载体运动、外部气流扰动、温度等因素的影响，进而严重影响测高精度的问题。
本发明的第一方面是为了提供一种高度检测方法，包括：
获取无人机的姿态信息，并获取与所述姿态信息相对应的当前检测高度；
确定与所述姿态信息相对应的掉高补偿量；
利用所述掉高补偿量对所述当前检测高度进行补偿，获得与所述姿态信息相对应的目标高度。
本发明的第二方面是为了提供一种高度检测装置，包括：
存储器，用于存储计算机程序；
处理器，用于运行所述存储器中存储的计算机程序以实现：
获取无人机的姿态信息，并获取与所述姿态信息相对应的当前检测高度；
确定与所述姿态信息相对应的掉高补偿量；
利用所述掉高补偿量对所述当前检测高度进行补偿，获得与所述姿态信 息相对应的目标高度。
本发明的第三方面是为了提供一种计算机可读存储介质，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于第一方面所述的一种高度检测方法。
本发明提供了一种无人机，包括：
机体；
动力系统，设置于所述机体上，用于为所述无人机提供动力；
上述第二方面所述的高度检测装置，所述高度检测装置设置于所述机体上。
本发明的第四方面是为了提供一种补偿量的确定方法，包括：
获取无人机的姿态信息，并获取与所述姿态信息相对应的实际高度补偿量；
确定与所述无人机的速度信息相对应的第一映射关系，以及与所述无人机的方向信息相对应的第二映射关系，所述第一映射关系用于确定与所述速度信息相对应的速度补偿量，所述第二映射关系用于确定与所述方向信息相对应的方向补偿量；
根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确定所述无人机的理论高度补偿量；
根据所述理论高度补偿量与所述实际高度补偿量，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化所述理论高度补偿量与所述实际高度补偿量之间的差异。
本发明的第五方面是为了提供一种补偿量的确定装置，包括：
存储器，用于存储计算机程序；
处理器，用于运行所述存储器中存储的计算机程序以实现：
获取无人机的姿态信息，并获取与所述姿态信息相对应的实际高度补偿量；
确定与所述无人机的速度信息相对应的第一映射关系，以及与所述无人机的方向信息相对应的第二映射关系，所述第一映射关系用于确定与所述速度信息相对应的速度补偿量，所述第二映射关系用于确定与所述方向信息相对应的方向补偿量；
根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确 定所述无人机的理论高度补偿量；
根据所述理论高度补偿量与所述实际高度补偿量，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化所述理论高度补偿量与所述实际高度补偿量之间的差异。
本发明的第六方面是为了提供一种计算机可读存储介质，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于第四方面所述的补偿量的确定方法。
本发明提供了一种无人机，包括：
机体；
动力系统，设置于所述机体上，用于为所述无人机提供动力；
上述第五方面所述的补偿量的确定装置，所述补偿量的确定设置于所述机体上。
本发明实施例提供的高度检测方法、补偿量的确定方法、装置和无人机，通过获取无人机的姿态信息以及与所述姿态信息相对应的当前检测高度，确定与所述姿态信息相对应的掉高补偿量，而后利用所述掉高补偿量对所述当前检测高度进行补偿，从而有效地实现了融合无人机的姿态信息来估计与所述姿态信息相对应的掉高补偿量，并基于所述掉高补偿量在无人机的航线飞行中对气压计因运动、外部风吹气流导致的高度测量误差进行补偿，从而可以获取较为精确的高度信息，进一步保证了该方法使用的稳定可靠性。
附图说明
此处所说明的附图用来提供对本申请的进一步理解，构成本申请的一部分，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。在附图中：
图1为本发明实施例提供的一种高度检测方法的流程示意图；
图2为本发明实施例提供的一种高度检测方法的场景示意图；
图3为图1中提供的确定与所述姿态信息相对应的掉高补偿量的流程示意图；
图3a为图3中提供的基于姿态信息确定无人机的空速信息的示意图；
图3b为图3中提供的基于姿态信息确定无人机的方向信息的示意图；
图4为图3中提供的基于所述姿态信息确定所述无人机的空速信息的流程 示意图；
图5为图4中提供的基于所述第一映射关系和所述姿态信息，确定所述无人机的空速信息的流程示意图；
图6为图3中提供的确定与所述空速信息和所述方向信息相对应的掉高补偿量的流程示意图；
图7为图6中提供的获取与所述空速信息相对应的速度补偿量的流程示意图一；
图8为图6中提供的获取与所述空速信息相对应的速度补偿量的流程示意图二；
图9为图8中提供的获取与所述子速度相对应的速度补偿量的流程示意图；
图10为图6中提供的获取与所述方向信息相对应的方向补偿量的流程示意图；
图11为本发明实施例提供的一种补偿量的确定方法的流程示意图；
图12为本发明实施例提供的一种高度检测装置的结构示意图；
图13为本发明实施例提供的一种补偿量的确定装置的结构示意图；
图14为本发明实施例提供的一种无人机的结构示意图一；
图15为本发明实施例提供的一种无人机的结构示意图二。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，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，都属于本发明保护的范围。
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发明的技术领域的技术人员通常理解的含义相同。本文中在本发明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，不是旨在于限制本发明。
为了便于理解本申请的技术方案，下面对相关技术进行简要说明：
由于大气压强与高度之间存在对应关系，因此，气压高度计或大气高度计可以通过测量大气压强可获取高度信息。具体的，无人机、车辆或者其他类型的可移动平台均可以通过气压高度计获取海拔高度，跳伞玩家、登山者 也可通过系在手腕上或手持式的高度计来确定高度信息。
然而，在利用气压高度计来计算高度时，容易受以下因素的影响：绝对温度T、所处位置气压P、海平面处的大气压P0、重力加速度和空气的摩尔质量等等。基于上述影响因素，气压高度计所指示的数值容易发生瞬时气压的改变，从而容易使得气压计产生数百英尺的误差。此外，气压计的主要误差包括：气压漂移率误差、气压计绝对海拔测量误差等等，其中，气压温漂率误差是指气压计在静止放置时，由于温度变化以及其他等原因而导致的气压计的数据漂移；气压计绝对海拔测量误差是指器件的固有误差，例如：同一个地方不同传感器测量出来的高度不同。
下面以无人机为例进行说明，在使用气压高度计对无人机进行高度测量时，常见的误差包括：地面效应(由于无人机在接近地面的时候，无人机的螺旋桨吹拂地面，产生较大的正压，从而产生气压高度降低的效果)、航线高度气压计上冲或下冲(在无人机进行航线水平飞行时，由于对空速度以及螺旋桨影响，对气压计会产生很大负压，使得气压计会有较大的向上偏置或者向下偏置)、气压计刹车掉高/冲高(无人机在做刹车动作时，气压计会有较大的波动)。
为了解决上述技术问题，现有技术提出了一种高度测量方法，该方法的实现原理主要是利用气压计具有非线性误差的特性，通过多个气压计获得多个测量高度，而后基于多个测量高度确定目标高度，从而可以提高相对测量精度。具体的，在无人机上设置有第一气压计和第二气压计，其中，第一气压计和第二气压计分别设置于无人机的不同高度位置上，通过位于不同高度位置上的第一气压计和第二气压计来确定无人机所在的高度信息。
然而，上述高度测量方法主要适用于载体静止或低速运动的应用场景，在高速运动的应用场景中，通过上述方式所获得的高度信息的误差仍然较高。
为了解决上述因载体运动、外部气流扰动、温度等因素严重影响气压计的测高精度的问题，本实施例提供了一种高度检测方法、补偿量的确定方法、装置和无人机，该方法主要通过无人机传感器来获取无人机的姿态信息，基于姿态信息映射出无人机的空速信息，通过空速信息来估计无人机在各个速度区间和各个方向上所对应的高度补偿参数，而后基于高度补偿参数对气压计所测量的高度进行补偿操作，从而实现了可以实时在无人机的航线飞行中对气压计因运动、外部风吹气流导致的高度测量误差进行补偿，保证了获取 气压计高度信息的精确度；并且也有效地解决了在利用气压计进行高度测量的过程中，气压计存在误差的问题；此外，本实施例提供的方法还可以适用于高速运动的应用场景，即在高度运动的应用场景中，可以保证气压计所测量的高度信息的准确性，进而提高了该方法的适用范围。
下面结合附图，对本发明的一些实施方式作详细说明。在各实施例之间不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1为本发明实施例提供的一种高度检测方法的流程示意图；参考附图1所示，本实施例提供了一种高度检测方法，该方法的执行主体为高度检测装置，可以理解的是，该高度检测装置可以实现为软件、或者软件和硬件的组合。具体的，该高度检测方法可以包括：
步骤S101：获取无人机的姿态信息，并获取与姿态信息相对应的当前检测高度。
步骤S102：确定与姿态信息相对应的掉高补偿量。
步骤S103：利用掉高补偿量对当前检测高度进行补偿，获得与姿态信息相对应的目标高度。
下面对上述各个步骤进行详细阐述：
步骤S101：获取无人机的姿态信息，并获取与姿态信息相对应的当前检测高度。
其中，无人机的姿态信息可以包括以下至少之一：俯仰信息、横滚信息、偏航信息，上述的俯仰信息可以包括无人机的俯仰角，横滚信息可以包括无人机的横滚角，偏航信息可以包括无人机的航向角。另外，本实施例对于获取无人机的姿态信息的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如，在无人机上设置有姿态传感器，通过该姿态传感器可以在静态或动态下获知无人机的姿态信息。
举例来说，姿态传感器可以为惯性测量单元(Inertial Measurement Unit，简称IMU)，或者，姿态传感器可以包括加速度计和陀螺仪等等，只要能够使得通过姿态传感器可以获取无人机的飞行方向信息和无人机的姿态信息即可。当然的，本领域技术人员可以根据姿态传感器所能实现的功能作用对姿态传感器进行任意配置，在此不再赘述。
在获取到无人机的姿态信息之后，可以对无人机的姿态信息进行分析处理，以获取与姿态信息相对应的当前检测高度。具体的，本实施例对于当前 检测高度的具体获取方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，其中，一种可实现的方式为：预先设置有姿态信息与当前检测高度之间的映射关系，具体的，姿态信息与当前检测高度之间的映射关系可以为一对一的映射关系，在获取到无人机的姿态信息之后，可以基于映射关系确定与姿态信息相对应的当前检测高度。
另一种可实现的方式为，获取与姿态信息相对应的当前检测高度可以包括：
步骤S1011：通过设置于无人机上的气压计，获得与姿态信息相对应的当前检测高度。
具体的，无人机上设置有气压计，该气压计用于在无人机的姿态信息下，获取到姿态信息相对应的当前检测高度。可以理解的是，在无人机处于特定姿态信息时，可以对应有唯一的检测高度，举例来说，在无人机处于姿态信息A时，可以获得无人机所对应的当前检测高度信息为H1；在无人机处于姿态信息B时，可以获得无人机所对应的当前检测高度信息为H2。
本实施例中，通过设置于无人机上的气压计，不仅能够保证准确地获得与姿态信息相对应的当前检测高度，并且也提高了对当前检测高度进行获取的质量和效率。
步骤S102：确定与姿态信息相对应的掉高补偿量。
其中，在获取到姿态信息之后，可以对姿态信息进行分析处理，从而可以确定与姿态信息相对应的掉高补偿量，该掉高补偿量与当前检测高度所存在的误差信息相对应。具体的，本实施例对于掉高补偿量的具体确定方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：预先设置有姿态信息与掉高补偿量之间的映射关系，具体的，姿态信息与掉高补偿量可以为一对一的映射关系，基于上述的映射关系和姿态信息即可确定与姿态信息相对应的掉高补偿量。或者，预先配置有机器学习模型，该机器学习模型被训练为用于确定与姿态信息相对应的掉高补偿量，在获取到无人机的姿态信息之后，可以将无人机的姿态信息输入至机器学习模型中，从而可以确定与姿态信息相对应的掉高补偿量。
当然的，本领域技术人员也可以采用其他的方式来确定与姿态信息相对应的掉高补偿量，只要能够保证对掉高补偿量进行确定的准确可靠性即可，在此不再赘述。
步骤S103：利用掉高补偿量对当前检测高度进行补偿，获得与姿态信息相对应的目标高度。
由于掉高补偿量与当前检测高度所存在的误差信息相对应，因此，在获取到掉高补偿量之后，可以利用掉高补偿量可以对当前检测高度进行补偿，以减低或者消除与当前检测高度相对应的误差，从而可以获得与姿态信息相对应的、较为准确的目标高度。可以理解的是，掉高补偿量可以为大于零、等于零或者小于零的任意值，目标高度可以为当前检测高度与掉高补偿量的和值。
举例来说，参考附图2所示，无人机102通讯连接有终端设备101，终端设备101用于对无人机102的飞行进行控制，并且，无人机102上配置有IMU和气压计，通过IMU可以获取到无人机的姿态信息，通过气压计可以获取到与姿态信息相对应的当前检测高度h，在获取到无人机的姿态信息之后，可以确定与姿态信息相对应的掉高补偿量△h，而后可以利用掉高补偿量△h对当前检测高度h进行补偿，从而可以获得与姿态信息相对应的目标高度为△h+h，可以理解的是，△h可以大于零、等于零或者小于零。
可以理解，本实施例可以包括但不限于对气压计的检测高度的补偿，也可以应用于其它高度传感器的检测高度的补偿。
本实施例提供的高度检测方法，通过获取无人机的姿态信息以及与所述姿态信息相对应的当前检测高度，确定与所述姿态信息相对应的掉高补偿量，而后利用所述掉高补偿量对所述当前检测高度进行补偿，从而有效地实现了融合无人机的姿态信息来估计与所述姿态信息相对应的掉高补偿量，并且，由于无人机的姿态信息已经融合了在各个应用场景(低速飞行的应用场景、高速飞行的应用场景等)中气流对无人机所产生的影响，因此，通过姿态信息获取到掉高补偿量，并基于所述掉高补偿量在无人机的航线飞行中对气压计因运动、外部风吹气流导致的高度测量误差进行补偿，可以获取较为精确的高度信息，进一步保证了该方法使用的稳定可靠性。
图3为图1中提供的确定与姿态信息相对应的掉高补偿量的流程示意图；在上述实施例的基础上，继续参考附图3所示，本实施例对于确定与姿态信息相对应的掉高补偿量的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，较为优选的，本实施例中的确定与姿态信息相对应的掉高补偿量可以包括：
步骤S301：基于姿态信息确定无人机的空速信息以及无人机的方向信息。
其中，在获取到姿态信息之后，可以利用姿态信息确定无人机的空速信息以及方向信息。举例来说，在姿态信息包括无人机的俯仰角、横滚角和偏航角时，可以基于俯仰角、横滚角和偏航角来确定无人机的空速信息和方向信息，由于无人机在每一种姿态角时均会对应一个空速信息和方向信息，即无人机的姿态与空速信息、方向信息之间存在对应关系，根据上述的对应关系即可确定任一姿态角所对应的无人机的空速信息和方向信息。
需要说明的是，上述的对应关系可以通过以下方式获得：通过大量实验数据，确定无人机的姿态信息与无人机的空速信息和方向信息之间的对应关系。例如：在无风的条件下，地面站向无人机发送控制指令，该控制指令包括无人机的姿态信息，以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所包括的姿态角度，无人机接收到上述控制指令之后，可以执行上述控制指令，在无人机调整到该控制指令所对应的姿态角度，并且稳定的匀速飞行时，则说明此时的无人机已达到一个平衡态，此时无人机的飞行速度和方向信息即为该姿态角度所对应的无人机的空速信息以及无人机的方向信息。经过大量实验，即可获取到无人机的姿态角度与无人机的空速信息和无人机的方向信息之间的对应关系。另外，在无风的条件下检测的无人机的空速等于地速。
在又一些实例中，还可以采用上述相类似的方式，在有风的条件下，检测无人机的姿态角度与无人机的空速信息、无人机的方向信息之间的对应关系。
在基于姿态信息确定无人机的空速信息以及无人机的方向信息时，上述无人机的方向信息可以包括无人机的运动方向(运动方向可以根据无人机的俯仰角和横滚角来确定，即无人机的水平倾侧角)。在无人机的方向信息包括无人机的运动方向和无人机的航向信息(即以地球的北、东、地作为坐标轴的航向信息)时，也可以结合无人机的姿态信息和无人机上的检测装置来确定无人机的方向信息。具体的，无人机上的检测装置可以包括指南针，通过指南针和无人机的姿态信息可以精准地确定无人机的航向信息。或者，无人机上的检测装置可以包括全球定位系统GPS，通过GPS获取到的地理位置信息和无人机的姿态信息也可以精准地来确定无人机的航向信息。
具体实现时，在无风的条件下，飞行控制器可以根据大量的预设的姿态 角度自动调整无人机的飞行姿态，当其调整到预设的姿态角度且稳定后，飞行控制器可以通过GPS传感器检测到无人机的地速和方向信息，此时，无人机的地速等于空速，从而可以确定无人机的姿态角度和无人机的空速信息、无人机的方向信息之间的对应关系。
总结来说，无人机的不同姿态信息可以对应有不同的空速信息和方向信息，例如：在无人机的姿态信息为C1时，其可以对应有空速信息V1和空速信息V2、方向信息D1和方向信息D2。在无人机的姿态信息为C2时，其可以对应有空速信息V3和空速信息V4、方向信息D3和D4。具体的，如图3a所示，在无人机的姿态信息如图所示时，在获取到姿态信息之后，可以对姿态信息进行分析处理，确定无人机的空速信息V1和空速信息V2，可以理解的是，空速信息V1和空速信息V2的合速度方向与无人机的姿态信息对应的速度方向相一致。相类似的，如图3b所示，在无人机的姿态信息如图所示时，在获取到姿态信息之后，可以对姿态信息进行分析处理，也可以获取到无人机的方向信息D1和方向信息D2，可以理解的是，方向信息D1和方向信息D2的合方向与无人机的姿态信息对应的方向相一致。
当然的，本领域技术人员也可以采用其他的方式来实现基于姿态信息确定无人机的方向信息，只要能够保证对无人机的方向信息进行确定的准确可靠性即可，在此不再赘述。
在获取到无人机的姿态信息之后，可以基于姿态信息来确定无人机的空速信息。具体的，参考附图4所示，本实施例中的基于姿态信息确定无人机的空速信息可以包括：
步骤S3011：获取无人机的预设姿态信息与预设空速信息之间的第一映射关系。
步骤S3012：基于第一映射关系和姿态信息，确定无人机的空速信息。
其中，预先设置有无人机的预设姿态信息与预设空速信息之间的第一映射关系，该第一映射关系可以为一对一的映射关系，即一个预设姿态信息对应一个预设空速信息。具体的，本实施例对于第一映射关系的具体获取方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：第一映射关系可以存储在预设区域中，通过访问预设区域可以获取到无人机的预设姿态信息与预设空速信息之间的第一映射关系。或者，可以通过控制装置和检测装置来获取到无人机的预设姿态信息和预设空速信息，具 体的，控制装置可以控制无人机处于预设姿态信息，检测装置可以获取到位于预设姿态信息下的无人机的预设空速信息，而后可以建立无人机的预设姿态信息与预设空速信息之间的第一映射关系。
当然的，本领域技术人员也可以采用其他的方式来获取无人机的预设姿态信息与预设空速信息之间的第一映射关系，只要能够保证对第一映射关系进行获取的准确可靠性即可，在此不再赘述。
其中，第一映射关系可以是以映射表格的形式进行表征，也可以是以映射函数的形式进行表征，此处不做具体限定。
在获取到第一映射关系和姿态信息之后，可以对第一映射关系和姿态信息进行分析处理，以确定无人机的空速信息。具体的，参考附图5所示，本实施例中的基于第一映射关系和姿态信息，确定无人机的空速信息可以包括：
步骤S30121：基于第一映射关系，获取与姿态信息相对应的预设空速信息。
步骤S30122：对与姿态信息相对应的预设空速信息、以及与历史时段内获取的历史姿态信息相对应的预设空速信息进行低通滤波，获得无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系。
步骤S30123：基于第二映射关系和姿态信息，获取无人机的空速信息。
其中，历史时段为当前时刻之前的预设时长或当前时刻之前的无人机连续移动的时长，本实施例中对于预设时长或者是当前时刻之前的无人机连续移动的具体时长不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：预设时长可以为5min、10min或者15min等等，相类似的，在当前时刻之前的无人机连续移动的时长可以为3min、5min或者10min等等。
另外，由于第一映射关系可以用于标识姿态信息与预设空速信息之间的对应关系，因此，在获取到第一映射关系和姿态信息之后，可以获取与姿态信息相对应的预设空速信息。为了能够保证对无人机的空速信息进行获取的准确可靠性，可以实时地对第二映射关系进行更新。具体的，可以获取与历史时段内获取的历史姿态信息相对应的预设空速信息，而后对历史姿态信息所对应的预设空速信息和与姿态信息相对应的预设空速信息进行低通滤波处理，从而可以获得无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系，而后可以基于第二映射关系和姿态信息，获取无人机的空速信息， 该空速信息是与无人机的姿态信息相对应的实时空速信息。
举例来说，无人机的历史姿态信息为a0、与历史姿态信息相对应的预设空速信息为v0，通过第一映射关系可以获得与姿态信息a1相对应的预设空速信息v1，可以理解的是，在无人机由历史姿态信息a0变化到姿态信息a1时，无人机的姿态信息是由a0渐变到a1的，其中间可以包括多个过渡姿态信息，例如：a01、a02、a03等等；相类似的，无人机的预设空速信息是由v0渐变到v1，其中间可以包括过渡空速信息包括：与过渡姿态信息a01相对应的v01、与过渡姿态信息a02相对应的v02、与过渡姿态信息a03相对应的v03等等。
而后基于预设的低通滤波条件对与姿态信息相对应的预设空速信息进行低通滤波处理，从而可以获得无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系。
步骤S302：确定与空速信息和方向信息相对应的掉高补偿量。
在获取到空速信息和方向信息之后，可以对空速信息和方向信息进行分析处理，以确定与空速信息和方向信息相对应的掉高补偿量。具体的，参考附图6所示，确定与空速信息和方向信息相对应的掉高补偿量可以包括：
步骤S3021：获取与空速信息相对应的速度补偿量，并获取与方向信息相对应的方向补偿量。
步骤S3022：基于速度补偿量和方向补偿量，确定与空速信息和方向信息相对应的掉高补偿量。
其中，与空速信息和方向信息相对应的掉高补偿量可以包括与空速信息相对应的速度补偿量和与方向信息相对应的方向补偿量。因此，为了能够准确地获取到与空速信息和方向信息相对应的掉高补偿量，可以分别获取与空速信息相对应的速度补偿量和与方向信息相对应的方向补偿量，而后对速度补偿量和方向补偿量进行分析处理，从而可以确定与空速信息和方向信息相对应的掉高补偿量。
具体的，在获取到空速信息之后，可以将空速信息在预设方向上进行分解，从而可以获得与空速信息相对应的子速度Vbx和子速度Vby，而后可以按照以下公式获取与姿态信息相对应的掉高补偿量。
Figure PCTCN2020087201-appb-000001
其中，h e为与姿态信息相对应的掉高补偿量，v k-v k-1为预设的速度区间，g k-g k-1为与预设的速度区间相对应的速度补偿参数，v为空速信息，v bx为 与空速信息相对应的分解子速度，v by为与空速信息相对应的分解子速度,g t为预设前方向/预设后方向所对应的方向补偿参数，g 0为预设左方向/预设右方向所对应的方向补偿参数，
Figure PCTCN2020087201-appb-000002
为某一速度区间所对应的速度补偿增益(也即速度补偿量)，
Figure PCTCN2020087201-appb-000003
为某一方向所对应的方向补偿增益(也即方向补偿量)。
步骤S303：将与空速信息和方向信息相对应的掉高补偿量，确定为与姿态信息相对应的掉高补偿量。
在获取到与空速信息和方向信息相对应的掉高补偿量之后，可以将与空速信息和方向信息相对应的掉高补偿量确定为与姿态信息相对应的掉高补偿量。
本实施例中，通过姿态信息确定无人机的空速信息以及无人机的方向信息，确定与空速信息和方向信息相对应的掉高补偿量，而后将与空速信息和方向信息相对应的掉高补偿量确定为与姿态信息相对应的掉高补偿量，有效地实现了对与姿态信息相对应的掉高补偿量进行获取的准确可靠性，进一步提高了该方法使用的稳定可靠性。
图7为图6中提供的获取与空速信息相对应的速度补偿量的流程示意图；在上述实施例的基础上，继续参考附图7所示，本实施例对于获取与空速信息相对应的速度补偿量的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，其中，一种可实现的方式，本实施例中的获取与空速信息相对应的速度补偿量可以包括：
步骤S701：获取无人机的预设速度区间与预设速度补偿量之间的第三映射关系。
步骤S702：基于第三映射关系，确定与空速信息相对应的速度补偿量。
其中，预先配置有无人机的预设速度区间与预设速度补偿量之间的第三映射关系，该第三映射关系中可以包括多个不同的预设速度区间以及与预设速度区间相对应的预设速度补偿量，可以想到的是，不同的预设速度区间可以对应有不同的预设速度补偿量，或者，不同的预设速度区间可以对应有相同的预设速度补偿量。
另外，本实施例对于获取无人机的预设速度区间与预设速度补偿量之间的第三映射关系的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：第三映射关系可以存储在预设区域中，通过访问预设区域可以获取无人机的预设速度区间与预设速度补偿量之间的 第三映射关系。或者，第三映射关系可以存储在其他设备中，通过向其他设备中发送信息获取请求，以使得其他设备根据信息获取请求来将第三映射关系发送至高度检测装置，从而使得高度检测装置可以稳定地获取到第三映射关系。在获取到第三映射关系之后，可以确定与空速信息相对应的速度补偿量。
其中，第三映射关系可以是以映射表格的形式进行表征，也可以是以映射函数的形式进行表征，此处不做具体限定。
本实施例中，通过获取无人机的预设速度区间与预设速度补偿量之间的第三映射关系，而后基于第三映射关系确定与空速信息相对应的速度补偿量，这样不仅保证了对于空速信息相对应的速度补偿量进行获取的准确可靠性，并且也提高了对速度补偿量进行获取的质量和效率，进一步提高了该方法使用的稳定可靠性。
图8为图6中提供的获取与空速信息相对应的速度补偿量的流程示意图二；在上述实施例的基础上，继续参考附图8所示，本实施例提出了另一种获取与空速信息相对应的速度补偿量的实现方式，具体的，本实施例中的获取与空速信息相对应的速度补偿量可以包括：
步骤S801：基于方向信息将空速信息在预设方向上进行分解，获得与空速信息相对应的子速度。
步骤S802：获取与子速度相对应的速度补偿量。
步骤S803：基于与子速度相对应的速度补偿量，确定与空速信息相对应的速度补偿量。
其中，预设方向可以包括以下至少之一：在无人机的机身坐标系中的前方向、后方向、左方向、右方向。在获取到空速信息之后，可以基于姿态信息将空速信息在预设方向上进行分解，具体的，可以基于姿态信息确定无人机的方向信息，可以理解的是，上述的无人机的方向信息为无人机的运动方向，在获取到无人机的方向信息之后，可以基于无人机的方向信息将空速信息在预设方向上进行分解，从而可以获得与空速信息相对应的子速度，可以理解的是，与空速信息相对应的子速度的个数与预设方向相对应，在不同的预设方向上的子速度可以相同或不同，并且，在某一预设方向上的子速度可以为零。
另外，上述的子速度的表征形式可以包括以下之一：子速度的大小、子 速度的平方、子速度的开方。具体的，在子速度为子速度的大小时，所获得的空速信息包括空速大小信息，而后可以基于姿态信息将空速信息在预设方向上进行分解，从而可以获得与空速信息相对应的子速度的大小。在子速度为子速度的平方时，所获得的空速信息包括空速的平方信息，而后可以基于姿态信息将空速的平方在预设方向上进行分解，从而可以获得与空速的平方相对应的子速度的平方。在子速度为子速度的开方时，所获得的空速信息包括空速的开方信息，而后可以基于姿态信息将空速的开方在预设方向上进行分解，从而可以获得与空速的开方相对应的子速度的开方。当然，也可以是在基于空速信息得到子速度的大小后，再获得子速度的平方或子速度的开方。
在获取到子速度之后，可以对子速度进行分析处理，从而可以获得与子速度相对应的速度补偿量。如此，可以获取到各个预设方向的相应速度区间内的子速度对应的速度补偿量，再对各个预设方向的相应速度区间内的子速度对应的速度补偿量进行融合处理，例如：矢量合并，可以得到与空速信息相对应的速度补偿量。其中，各个预设方向的相应速度区间内的子速度对应的速度补偿量的确定方式可以参考前述公式，主要区别在于空速信息为子速度，这有利于各个预设方向的速度区间不同时，确定与空速信息相对应的速度补偿量。
具体的，参考附图9所示，本实施例中的获取与子速度相对应的速度补偿量可以包括：
步骤S901：获取无人机在预设方向上的预设子速度与预设速度补偿量之间的第四映射关系。
步骤S902：基于第四映射关系，确定与子速度相对应的速度补偿量。
其中，可以预先配置有无人机的预设速度区间与预设速度补偿量之间的第四映射关系，第四映射关系可以包括多个，每一第四映射关系对应无人机在一预设方向上的一个预设子速度区间，且用于标识一个预设子速度区间与预设速度补偿量之间的对应关系，可以想到的是，不同的预设子速度区间可以对应有不同的预设速度补偿量，或者，不同的预设子速度区间可以对应有相同的预设速度补偿量。
另外，本实施例对于获取无人机在预设方向上的预设子速度与预设速度补偿量之间的第四映射关系的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：第四映射关系可以存储在 预设区域中，通过访问预设区域可以获取无人机在预设方向上的预设子速度与预设速度补偿量之间的第四映射关系。或者，第四映射关系可以存储在其他设备中，通过向其他设备中发送信息获取请求，以使得其他设备根据信息获取请求来将第四映射关系发送至高度检测装置，从而使得高度检测装置可以稳定地获取到第四映射关系。在获取到第四映射关系之后，可以基于第四映射关系，确定与子速度相对应的速度补偿量；以便基于与子速度相对应的速度补偿量来确定与空速信息相对应的速度补偿量。
其中，第四映射关系可以是以映射表格的形式进行表征，也可以是以映射函数的形式进行表征，此处不做具体限定。
需要说明的是，第三映射关系可以包括第四映射关系。
本实施例中，通过获取无人机在预设方向上的预设子速度与预设速度补偿量之间的第四映射关系，而后基于第四映射关系确定与子速度相对应的速度补偿量，这样不仅保证了对与空速信息相对应的速度补偿量进行获取的准确可靠性，并且也提高了对速度补偿量进行获取的质量和效率，进一步提高了该方法使用的稳定可靠性。
图10为图6中提供的获取与方向信息相对应的方向补偿量的流程示意图；在上述实施例的基础上，继续参考附图10所示，本实施例对于获取与方向信息相对应的方向补偿量的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，较为优选的，本实施例中的获取与方向信息相对应的方向补偿量可以包括：
步骤S1001：根据方向信息获得与预设方向相对应的方向补偿量。
步骤S1002：基于与预设方向相对应的方向补偿量，确定与方向信息相对应的方向补偿量。
其中，预设方向可以包括以下至少之一：在无人机的机身坐标系中的前方向、后方向、左方向、右方向。在获取到方向信息之后，可以基于方向信息获得与预设方向相对应的方向补偿量。可以理解的是，与预设方向相对应的方向补偿量的个数与预设方向相对应，在不同的预设方向上的方向补偿量可以相同或不同，并且，在某一预设方向上的方向补偿量可以为零。在获取到与预设方向相对应的方向补偿量之后，可以基于与预设方向相对应的方向补偿量来确定与方向信息相对应的方向补偿量。
在另一些实例中，在基于与预设方向相对应的方向补偿量，确定与方向 信息相对应的方向补偿量之前，本实施例中的方法还可以包括：
步骤A：基于方向信息将空速信息在预设方向上进行分解，获得与空速信息相对应的子速度；
其中，本实施例中上述步骤A的具体实现过程和实现效果与上述实施例中的步骤S801的相同部分的具体实现过程和实现效果相类似，具体可参考上述陈述内容，在此不再赘述。
在上述实现方式的基础上，本实施例中的获得与预设方向相对应的方向补偿量可以包括：
步骤B：获取无人机的预设方向与预设方向补偿量之间的第五映射关系。
步骤C：基于第五映射关系和子速度信息，确定与预设方向相对应的方向补偿量。
其中，预先设置有无人机的预设方向与预设方向补偿量之间的第五映射关系，该第五映射关系可以为一对一的映射关系，即一个预设方向对应一个预设方向补偿量。具体的，本实施例对于第五映射关系的具体获取方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：第五映射关系可以存储在预设区域中，通过访问预设区域可以获取到无人机的预设方向与预设方向补偿量之间的第五映射关系。当然的，本领域技术人员也可以采用其他的方式来获取无人机的预设方向与预设方向补偿量之间的第五映射关系，只要能够保证对第五映射关系进行获取的准确可靠性即可，在此不再赘述。
其中，第五映射关系可以是以映射表格的形式进行表征，也可以是以映射函数的形式进行表征，此处不做具体限定。
在获取到第五映射关系之后，可以基于第五映射关系和子速度信息，确定与预设方向相对应的方向补偿量，实现了结合速度信息来获取到与预设方向相对应的方向补偿量，从而有效地保证了对方向补偿量进行获取的准确可靠性。
需要说明的是，对于无人机而言，无人机的空速信息和方向信息均可准确检测获得，因此，通过对速度信息和方向信息来实现对气压计实际测量参数的补偿操作，实现过程简单、容易操作，并且还可以有效地保证对气压计进行补偿操作的准确可靠性。
图11为本发明实施例提供的一种补偿量的确定方法的流程示意图；参考 附图11所示，本实施例提供了一种补偿量的确定方法，该方法的执行主体为补偿量的确定装置，可以理解的是，该补偿量的确定装置可以实现为软件、或者软件和硬件的组合。具体的，该补偿量的确定方法可以包括：
步骤S1101：获取无人机的姿态信息，并获取与姿态信息相对应的实际高度补偿量。
步骤S1102：确定与无人机的速度信息相对应的第一映射关系，以及与无人机的方向信息相对应的第二映射关系，第一映射关系用于确定与速度信息相对应的速度补偿量，第二映射关系用于确定与方向信息相对应的方向补偿量。
步骤S1103：根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿量。
步骤S1104：根据理论高度补偿量与实际高度补偿量，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化理论高度补偿量与实际高度补偿量之间的差异。
下面对上述各个步骤进行详细阐述：
步骤S1101：获取无人机的姿态信息，并获取与姿态信息相对应的实际高度补偿量。
其中，无人机的姿态信息可以包括以下至少之一：俯仰信息、横滚信息、偏航信息，上述的俯仰信息可以包括无人机的俯仰角信息，横滚信息可以包括无人机的横滚角，偏航信息可以包括无人机的航向角。另外，本实施例对于获取无人机的姿态信息的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如，在无人机上设置有姿态传感器，通过该姿态传感器可以在静态或动态下获知无人机的姿态信息。
举例来说，姿态传感器可以为惯性测量单元(Inertial Measurement Unit，简称IMU)，或者，姿态传感器可以包括加速度计和陀螺仪等等，只要能够使得通过姿态传感器可以获取无人机的飞行方向信息和无人机的姿态信息即可。当然的，本领域技术人员可以根据姿态传感器所能实现的功能作用对姿态传感器进行任意配置，在此不再赘述。
在实际应用中，在无人机出厂之前，可以控制无人机以不同的方向、不同的速度进行飞行，并在飞行过程中采集无人机的姿态信息以及与姿态信息相对应的采集高度数据、实际高度数据，也即姿态信息与采集高度数据、实 际高度数据在时间上对齐。由此，可以通过采集高度数据、实际高度数据确定与姿态信息对应的实际高度补偿量。
其中，采集高度数据可以是有气压计获取得到的，实际高度数据可以是由全球卫星定位系统GPS的定位结果、载波相位差分技术的定位结果或视觉定位结果来确定的。
在获取到姿态信息之后，可以对姿态信息进行分析处理，从而可以获得与姿态信息相对应的实际高度补偿量，具体的，获取与姿态信息相对应的实际高度补偿量可以包括：
步骤S11011：获取与姿态信息相对应的采集高度数据和实际高度数据。
步骤S11012：根据采集高度数据和实际高度数据，确定与姿态信息相对应的实际高度补偿量。
在获取到无人机的姿态信息之后，可以获得与姿态信息相对应的采集高度数据，该采集高度数据为与无人机的姿态信息相对应的理论高度数据，具体应用时，在通过控制器对无人机进行控制时，控制器可以向无人机发送控制指令，以使得无人机按照控制指令进行飞行。同时，可以通过设置于无人机上的不同于气压计的传感器获取到无人机的实际高度数据，并通过设置于无人机上的气压计获得到无人机的采集高度数据。在获取到采集高度数据和实际高度数据之后，即可以根据采集高度数据和实际高度数据来确定与姿态信息相对应的实际高度补偿量，具体的，可以将采集高度数据与实际高度数据之间的高度差确定为与姿态信息相对应的实际高度补偿量。
步骤S1102：确定与无人机的速度信息相对应的第一映射关系，以及与无人机的方向信息相对应的第二映射关系，第一映射关系用于确定与速度信息相对应的速度补偿量，第二映射关系用于确定与方向信息相对应的方向补偿量。
其中，第一映射关系可以包括多个速度区间以及与多个速度区间相对应的速度补偿量，举例来说，
Figure PCTCN2020087201-appb-000004
其中，h ev为某一速度区间所对应的速度补偿增益(也即速度补偿量)，v k-v k-1为预设的速度区间，g k-g k-1为与预设的速度区间相对应的速度补偿参数，v为空速信息。
在一些实例中，第一映射关系包括的多个速度区间的范围相同或不同。在另一些实例中，第一映射关系包括的多个速度区间的范围和/或数量可调整。在又一些实例中，第一映射关系中包括的位于不同方向上的多个速度区间的个数相同或不同。并且，上述的无人机的速度信息可以包括以下至少之一： 速度大小、速度大小的平方值、速度大小的开方值。
相类似的，第二映射关系可以包括多个方向信息以及与多个方向信息相对应的方向补偿量。举例来说，
Figure PCTCN2020087201-appb-000005
其中，h ed为某一方向所对应的方向补偿增益(也即方向补偿量)，v bx为与空速信息相对应的分解子速度，v by为与空速信息相对应的分解子速度,g t为预设前方向/预设后方向所对应的方向补偿参数，g 0为预设左方向/预设右方向所对应的方向补偿参数。
在一些实例中，第二映射关系包括的多个方向信息可调整。
具体的，对于无人机而言，预先配置有与无人机的速度信息相对应的第一映射关系以及与无人机的方向信息相对应的第二映射关系，上述的第一映射关系可以用于确定与速度信息相对应的速度补偿量，第二映射关系可以确定与方向信息相对应的方向补偿量。具体的，本实施例对于确定第一映射关系和第二映射关系的具体实现方式不做限定，本领域技术人员可以根据具体的应用需求和设计需求进行设置，例如：可以对无人机进行多次的飞行控制，获取到多次飞行过程中速度信息与速度补偿量之间的对应关系，基于多组速度信息与速度补偿量可以建立第一映射关系。相类似的，可以获取到多次飞行过程中方向信息与方向补偿量之间的对应关系，基于多组方向信息与方向布产量可以建立第二映射关系。或者，第一映射关系和第二映射关系存储在预设区域中，通过访问预设区域即可以获取到第一映射关系和第二映射关系。
当然的，本领域技术人员也可以采用其他的方式来确定与无人机的速度信息相对应的第一映射关系，以及与无人机的方向信息相对应的第二映射关系，只要能够保证对第一映射关系和第二映射关系进行确定的准确可靠性即可，在此不再赘述。
步骤S1103：根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿量。
在获取到无人机的姿态信息、第一映射关系和第二映射关系之后，可以基于第一映射关系和第二映射关系对无人机的姿态信息进行分析处理，从而可以确定无人机的理论高度补偿量。具体的，根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿值可以包括：
步骤S11031：确定与姿态信息相对应的速度信息和方向信息。
其中，本实施例中上述步骤S11031的具体实现过程和实现效果与上述实施例中的步骤S301的具体实现过程和实现效果相类似，具体可参考上述陈述 内容，在此不再赘述。
步骤S11032：根据速度信息、方向信息、第一映射关系和第二映射关系，确定与姿态信息相对应的理论高度补偿量。
在确定与姿态信息相对应的速度信息和方向信息之后，可以根据第一映射关系和第二映射关系对速度信息和方向信息进行分析处理，以确定与姿态信息相对应的理论高度补偿量。具体的，根据速度信息、方向信息、第一映射关系和第二映射关系，确定与姿态信息相对应的理论高度补偿量可以包括：
步骤S110321：基于第一映射关系和速度信息，确定与速度信息相对应的速度补偿量。
步骤S110322：基于第二映射关系和方向信息，确定与方向信息相对应的方向补偿量。
步骤S110323：根据速度补偿量和方向补偿量，确定与姿态信息相对应的理论高度补偿量。
具体的，由于第一映射关系用于标识与速度信息相对应的速度补偿量，因此，在获取到第一映射关系和速度信息之后，可以确定与速度信息相对应的速度补偿量。同理的，由于第二映射关系用于标识与方向信息相对应的方向补偿量，因此，在获取到第二映射关系和方向信息之后，可以确定与方向信息相对应的方向补偿量。在获取到速度补偿量和方向补偿量之后，可以对速度补偿量和方向补偿量进行分析处理，以确定与姿态信息相对应的理论高度补偿量。
步骤S1104：根据理论高度补偿量与实际高度补偿量，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化理论高度补偿量与实际高度补偿量之间的差异。
实际应用中，在无人机出厂之前，可以控制无人机以不同的方向、不同的速度进行飞行，并在飞行过程中采集无人机的姿态信息以及与姿态信息相对应的采集高度数据、实际高度数据，也即姿态信息与采集高度数据、实际高度数据在时间上对齐。进一步的，可以按照预设策略将上述的不同方向和不同的速度进行划分，以获得多个不同的方向区间和不同的速度区间，而后对各个方向区间和各个速度区间所对应的姿态信息、采集高度数据和实际高速数据进行统计，以获取到用于标识与各个速度区间相对应的速度补偿量的第一映射关系、以及用于标识与各个方向区间相对应的方向补偿量的第二映 射关系。
其中，采集高度数据可以是有气压计获取得到的，实际高度数据可以是由全球卫星定位系统GPS的定位结果、载波相位差分技术的定位结果或视觉定位结果来确定的。
在获取到理论高度补偿量之后，可以基于理论高度补偿量和实际高度补偿量对第一映射关系和第二映射关系进行优化，从而可以获得第一目标映射关系和第二目标映射关系，这样可以最小化理论高度补偿量与实际高度补偿量之间的差异。具体的，根据理论高度补偿值与实际高度补偿值，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系可以包括：
步骤S11041：利用最小二乘算法对实际高度补偿量和理论高度补偿量进行处理，获得与实际高度补偿量和理论高度补偿量相对应的最小补偿差值。
步骤S11042：利用最小补偿差值对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系。
具体的，可以利用最小二乘算法对实际高度补偿量和理论高度补偿量进行处理，获得与实际高度补偿量和理论高度补偿量相对应的最小补偿差值，而后可以利用最小补偿差值对第一映射关系和第二映射关系进行优化，这样可以获得第一目标映射关系和第二目标映射关系，通过第一目标映射关系和第二目标映射关系可以获取到新的理论高度补偿量，新的理论高度补偿量与实际高度补偿量之间的补偿差值小于理论高度补偿量与实际高度补偿量之间的补偿差值。
本实施例提供的补偿量的确定方法，通过获取无人机的姿态信息，并获取与姿态信息相对应的实际高度补偿量，确定与无人机的速度信息相对应的第一映射关系，以及与无人机的方向信息相对应的第二映射关系，而后根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿量，从而可以根据理论高度补偿量与实际高度补偿量，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化理论高度补偿量与实际高度补偿量之间的差异，从而有效地提高了对高度补偿量进行获取的准确可靠性，进一步提高了该方法使用的稳定可靠性。
在上述实施例的基础上，在获得第一目标映射关系和第二目标映射关系之后，本实施例中的方法还可以包括：
步骤S1105：获取与第一目标映射关系和第二目标映射关系相对应的补偿值数据。
步骤S1106：利用补偿值数据，确定第一目标映射关系和第二目标映射关系是否合理。
在获取到第一目标映射关系和第二目标映射关系之后，可以基于第一目标映射关系和第二目标映射关系来确定与无人机的补偿值数据，可以理解的是，上述的补偿值数据可以为一个或多个，较为优选的，补偿值数据可以为多个，而后可以对多个补偿值数据进行分析识别，以判断第一目标映射关系和第二目标映射关系是否合理，具体的，可以将多个补偿值数据分别与预设阈值进行分析比较，在补偿值数据大于预设阈值时，则可以确定第一目标映射关系和第二目标映射关系不合理；在补偿值数据小于或等于预设阈值时，则可以确定第一目标映射关系和第二目标映射关系合理。
在一些实例中，当确定第一目标映射关系和第二目标映射关系为合理状态时，则说明上述的第一目标映射关系可以准确地反应出速度信息与速度补偿量之间的关系，第二目标映射关系可以准确地反应出方向信息与方向补偿量之间的关系，因此，可以基于上述的第一目标映射关系和第二目标映射关系来确定速度补偿量和方向补偿量。相反的，在确定第一目标映射关系和第二目标映射关系为不合理状态时，则说明上述的第一目标映射关系不可以准确地反应出速度信息与速度补偿量之间的关系，第二目标映射关系不可以准确地反应出方向信息与方向补偿量之间的关系，此时，则禁止利用上述的第一目标映射关系和第二目标映射关系来确定速度补偿量和方向补偿量，从而保证了对速度补偿量和方向补偿量进行确定的准确可靠性。
当然的，本领域技术人员也可以采用其他的方式来判断第一目标映射关系和第二目标映射关系是否合理，只要能够保证对第一目标应用关系和第二目标映射关系的合理性进行准确判断即可，在此不再赘述。
本实施例中，通过获取与第一目标映射关系和第二目标映射关系相对应的补偿值数据，而后利用补偿值数据，确定第一目标映射关系和第二目标映射关系是否合理，有效地实现了对第一目标映射关系和第二目标映射关系的合理性进行判断，从而避免了基于不合理的第一目标映射关系和第二目标映射关系进行高度补偿操作，进一步提高了该方法使用的稳定可靠性。
具体应用时，本应用实施例提供了一种高度补偿方法，该方法可以对气 压计实际测量的高度数据进行补偿，从而使得通过气压计所获得的高度测量值可以尽量接近实际高度，该方法可以适用于空间高度测量、气压计传感器、机载/车载导航设备、手持/可穿戴式设备等应用场景。
下面以应用在无人机上的气压计传感器为例，对高度补偿方法的实现原理进行简要说明：该方法通过获取无人机的姿态信息，利用预先测定的无人机的姿态-速度曲线来获取与姿态信息相对应的空速，该空速＝地速(预先配置的飞行速度)+风速。在获取到与姿态信息相对应的空速之后，与通过预先拟合出的空速-气压计高度误差之间的对应关系，获得与姿态信息相对应的掉高补偿量，而后可以基于该掉高补偿量对气压计所测量的高度信息进行补偿操作，进而可以避免在高速的应用场景下(速度大于或等于10m/s的应用场景)因气压波动而导致的气压计测量误差。具体的，该高度补偿方法可以包括以下步骤：
步骤1：获取无人机的姿态信息。
无人机上设置有IMU，通过IMU可以获取到无人机的姿态信息。
步骤2：根据无人机的姿态信息，确定无人机的速度信息(空速)。
预先配置有无人机的姿态信息与速度信息之间的一对一的映射关系，通过无人机的姿态信息和映射关系来确定无人机的速度信息(空速)。
步骤3：根据无人机的姿态信息，确定无人机的方向信息。
具体的，可以基于无人机的机身坐标系中的前方向、后方向、左方向、右方向对无人机的姿态信息进行分解，从而可以确定无人机的方向信息。
步骤4：获取预先配置的不同方向上不同速度区间的补偿增益函数。
其中，补偿增益函数的速度区间的步长可以根据不同的应用场景和应用需求进行调整，并且，在不同方向上的速度区间的个数可以相同或不同。另外，不同方向上不同速度区间的补偿增益函数可以通过预设的机器学习算法或者卡尔曼滤波方法进行学习训练而获得。
举例来说，机身坐标系中的前方向上不同速度区间的掉高补偿量可以包括，在机身坐标系中的前方向上，V0-V1的速度区间对应掉高补偿量A1，V1-V2的速度区间对应掉高补偿量A2，V2-V3的速度区间对应掉高补偿量A3。在机身坐标系中的后方向上，V0-V1的速度区间对应掉高补偿量B1，V1-V2的速度区间对应掉高补偿量B2，V2-V3的速度区间对应掉高补偿量B3。在机身坐标系中的左方向上，V0-V1的速度区间对应掉高补偿量C1，V1-V2的速度区间对应掉 高补偿量C2，V2-V3的速度区间对应掉高补偿量C3。在机身坐标系中的右方向上，V0-V1的速度区间对应掉高补偿量D1，V1-V2的速度区间对应掉高补偿量D2,V2-V3的速度区间对应掉高补偿量D3。
步骤5：基于上述的补偿增益函数，确定与无人机的方向信息和速度信息相对应的掉高补偿量。
具体的，根据速度值与各个方向上补偿量之间的映射关系，可以获得与方向信息和速度信息相对应的掉高补偿量。举例来说：在预设方向包括无人机的机身坐标系中的前方向和左方向，无人机的速度信息可以包括与前方向相对应的Va和与左方向相对应的Vb，在Va属于V1-V2的速度区间时，则可以获取到与无人机的方向信息和速度信息相对应的掉高补偿量为A2，在Vb属于V0-V1的速度区间时，则可以获取到与无人机的方向信息和速度信息相对应的对应掉高补偿量为C1。
在获取到掉高补偿量A2和掉高补偿量C1之后，可以对掉高补偿量A2和掉高补偿量C1进行分析处理，从而可以获得与掉高补偿量A2和掉高补偿量C1相对应的目标掉高补偿量。
步骤6：利用目标掉高补偿量对气压计所测量的高度信息进行补偿，获得与无人机的姿态信息相对应的目标高度信息。
下面对不同方向上不同速度区间的补偿增益函数进行优化的过程进行说明，具体包括以下过程：
步骤11：获取利用补偿增益函数相对应的多个理论高度补偿量和与理论高度补偿量相对应的实际高度补偿量；
具体的，可以使用全球卫星定位系统GPS的定位结果来确定实际高度补偿量，或者，还可以使用载波相位差分技术的定位结果和视觉定位结果来获得实际高度补偿量。
步骤12：利用多个理论高度补偿量和实际高度补偿量对补偿增益函数进行优化。
具体的，利用最小二乘算法对实际高度补偿量和理论高度补偿量进行处理，获得与实际高度补偿量和理论高度补偿量相对应的最小补偿差值；利用最小补偿差值对预设的补偿增益函数进行优化，获得优化后的目标补偿增益函数。在另一些实例中，可以单独对不同方向上的补偿增益函数进行优化处理，以提高对高度补偿量进行获取的准确可靠性。
举例来说，实际高度补偿量为10m，所获得的理论高度补偿量为9.9m，从而可以获取到实际高度补偿量与理论高度补偿量之间的补偿误差为10m-9.9m＝0.1m，而后可以基于补偿误差对补偿增益函数进行优化，以降低实际高度补偿量与理论高度补偿量之间的补偿误差。
另外，在获取到补偿误差之后，可以基于补偿误差来判断补偿增益函数是否满足预设要求，在补偿增益函数不满足预设要求时，则可以禁止利用补偿增益函数来进行高度补偿操作。
本应用实施例提供的高度补偿方法，可以补偿由于载体运动、外部风吹气流等因素影响导致的气压计高度误差，实现了不依赖于外部设备以及其他外部先验信息，尤其在高速运动条件下的气压计高度的准确估计，进而提高了该方法的适用范围和应用场景；并且，本实施例中的方法可以适用于批量数据，从而有效地提高了该方法的适用范围；此外，通过该方法还可以使得在航线飞行过程中的气压计高度估计的质量和准确度得到提高，同时也降低了刹车过程中气压计波动带来的误差，进而提高了该方法使用的稳定可靠性。
图12为本发明实施例提供的一种高度检测装置的结构示意图；参考附图12所示，本实施例提供了一种高度检测装置，该装置可以执行上述图1所示的高度检测方法。具体的，该高度检测装置可以包括：
第一存储器12，用于存储计算机程序；
第一处理器11，用于运行第一存储器12中存储的计算机程序以实现：
获取无人机的姿态信息，并获取与姿态信息相对应的当前检测高度；
确定与姿态信息相对应的掉高补偿量；
利用掉高补偿量对当前检测高度进行补偿，获得与姿态信息相对应的目标高度。
其中，高度检测装置的结构中还可以包括第一通信接口13，用于电子设备与其他设备或通信网络通信。
在一些实例中，在第一处理器11获取与姿态信息相对应的当前检测高度时，第一处理器11用于：通过设置于无人机上的气压计，获得与姿态信息相对应的当前检测高度。
在一些实例中，在第一处理器11确定与姿态信息相对应的掉高补偿量时，第一处理器11用于：基于姿态信息确定无人机的空速信息以及无人机的方向信息；确定与空速信息和方向信息相对应的掉高补偿量；将与空速信息和方 向信息相对应的掉高补偿量，确定为与姿态信息相对应的掉高补偿量。
在一些实例中，在第一处理器11基于姿态信息确定无人机的空速信息时，第一处理器11用于：获取无人机的预设姿态信息与预设空速信息之间的第一映射关系；基于第一映射关系和姿态信息，确定无人机的空速信息。
在一些实例中，在第一处理器11基于第一映射关系和姿态信息，确定无人机的空速信息时，第一处理器11用于：基于第一映射关系，获取与姿态信息相对应的预设空速信息；对与姿态信息相对应的预设空速信息、以及与历史时段内获取的历史姿态信息相对应的预设空速信息进行低通滤波，获得无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系；基于第二映射关系和姿态信息，获取无人机的空速信息。
在一些实例中，历史时段为当前时刻之前的预设时长或当前时刻之前的无人机连续移动的时长。
在一些实例中，在第一处理器11确定与空速信息和方向信息相对应的掉高补偿量时，第一处理器11用于：获取与空速信息相对应的速度补偿量，并获取与方向信息相对应的方向补偿量；基于速度补偿量和方向补偿量，确定与空速信息和方向信息相对应的掉高补偿量。
在一些实例中，在第一处理器11获取与空速信息相对应的速度补偿量时，第一处理器11用于：获取无人机的预设速度区间与预设速度补偿量之间的第三映射关系；基于第三映射关系，确定与空速信息相对应的速度补偿量。
在一些实例中，在第一处理器11获取与空速信息相对应的速度补偿量时，第一处理器11用于：基于方向信息将空速信息在预设方向上进行分解，获得与空速信息相对应的子速度；获取与子速度相对应的速度补偿量；基于与子速度相对应的速度补偿量，确定与空速信息相对应的速度补偿量。
在一些实例中，在第一处理器11获取与子速度相对应的速度补偿量时，第一处理器11用于：获取无人机在预设方向上的预设子速度与预设速度补偿量之间的第四映射关系；基于第四映射关系，确定与子速度相对应的速度补偿量。
在一些实例中，第四映射关系包括多个，每一第四映射关系对应无人机在一预设方向上的一个预设子速度区间，且用于标识一个预设子速度区间与预设速度补偿量之间的对应关系。
在一些实例中，在第一处理器11获取与方向信息相对应的方向补偿量时， 第一处理器11用于：根据方向信息获得与预设方向相对应的方向补偿量；基于与预设方向相对应的方向补偿量，确定与方向信息相对应的方向补偿量。
在一些实例中，在根据方向信息获得与预设方向相对应的方向补偿量时，第一处理器11用于：基于方向信息将空速信息在预设方向上进行分解，获得与空速信息相对应的子速度信息；获取无人机的预设方向与预设方向补偿量之间的第五映射关系；基于第五映射关系和子速度信息，确定与预设方向相对应的方向补偿量。
在一些实例中，子速度信息的表征形式包括以下之一：子速度的大小、子速度的平方、子速度的开方。
在一些实例中，姿态信息包括以下至少之一：俯仰信息、横滚信息。
在一些实例中，预设方向包括以下至少之一：在无人机的机身坐标系中的前方向、后方向、左方向、右方向。
图12所示设备可以执行图1-图10所示实施例的方法，本实施例未详细描述的部分，可参考对图1-图10所示实施例的相关说明。该技术方案的执行过程和技术效果参见图1-图10所示实施例中的描述，在此不再赘述。
图13为本发明实施例提供的一种补偿量的确定装置的结构示意图；参考附图13所示，本实施例提供了一种补偿量的确定装置，该装置可以执行上述图11所示的补偿量的确定方法。具体的，该补偿量的确定装置可以包括：
第二存储器22，用于存储计算机程序；
第二处理器21，用于运行第二存储器22中存储的计算机程序以实现：
获取无人机的姿态信息，并获取与姿态信息相对应的实际高度补偿量；
确定与无人机的速度信息相对应的第一映射关系，以及与无人机的方向信息相对应的第二映射关系，第一映射关系用于确定与速度信息相对应的速度补偿量，第二映射关系用于确定与方向信息相对应的方向补偿量；
根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿量；
根据理论高度补偿量与实际高度补偿量，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化理论高度补偿量与实际高度补偿量之间的差异。
其中，补偿量的确定装置的结构中还可以包括第二通信接口23，用于电子设备与其他设备或通信网络通信。
在一些实例中，在第二处理器21获取与姿态信息相对应的实际高度补偿量时，第二处理器21用于：获取与姿态信息相对应的采集高度数据和实际高度数据；根据采集高度数据和实际高度数据，确定与姿态信息相对应的实际高度补偿量。
在一些实例中，在第二处理器21根据无人机的姿态信息、第一映射关系、第二映射关系确定无人机的理论高度补偿值时，第二处理器21用于：确定与姿态信息相对应的速度信息和方向信息；根据速度信息、方向信息、第一映射关系和第二映射关系，确定与姿态信息相对应的理论高度补偿量。
在一些实例中，在第二处理器21根据速度信息、方向信息、第一映射关系和第二映射关系，确定与姿态信息相对应的理论高度补偿量时，第二处理器21用于：基于第一映射关系和速度信息，确定与速度信息相对应的速度补偿量；基于第二映射关系和方向信息，确定与方向信息相对应的方向补偿量；根据速度补偿量和方向补偿量，确定与姿态信息相对应的理论高度补偿量。
在一些实例中，在第二处理器21根据理论高度补偿值与实际高度补偿值，对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系时，第二处理器21用于：利用最小二乘算法对实际高度补偿量和理论高度补偿量进行处理，获得与实际高度补偿量和理论高度补偿量相对应的最小补偿差值；利用最小补偿差值对第一映射关系和第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系。
在一些实例中，第一映射关系包括多个速度区间以及与多个速度区间相对应的速度补偿量；第二映射关系包括多个方向信息以及与多个方向信息相对应的方向补偿量。
在一些实例中，第一映射关系包括的多个速度区间的范围相同或不同。
在一些实例中，第一映射关系包括的多个速度区间的范围和/或数量可调整。
在一些实例中，第一映射关系中包括的位于不同方向上的多个速度区间的个数相同或不同。
在一些实例中，速度信息包括以下至少之一：速度大小、速度大小的平方值、速度大小的开方值。
在一些实例中，在获得第一目标映射关系和第二目标映射关系之后，第二处理器21用于：获取与第一目标映射关系和第二目标映射关系相对应的补 偿值数据；利用补偿值数据，确定第一目标映射关系和第二目标映射关系是否合理。
图13所示设备可以执行图11所示实施例的方法，本实施例未详细描述的部分，可参考对图11所示实施例的相关说明。该技术方案的执行过程和技术效果参见图11所示实施例中的描述，在此不再赘述。
图14为本发明实施例提供的一种无人机的结构示意图一；参考附图14所示，本实施例提供了一种无人机，具体的，该无人机可以包括：
机体31；
动力系统32，设置于机体31上，用于为无人机提供动力；
上述图12所示实施例中的高度检测装置33，高度检测装置33设置于机体31上。
图15为本发明实施例提供的一种无人机的结构示意图二；参考附图14所示，本实施例提供了另一种无人机，具体的，该无人机可以包括：
机体41；
动力系统42，设置于机体41上，用于为无人机提供动力；
上述图13所示实施例中的补偿量的确定装置43，补偿量的确定装置43设置于机体41上。
另外，本发明实施例提供了一种计算机存储介质，用于储存电子设备所用的计算机软件指令，其包含用于执行上述图1-图10所示方法实施例中的高度检测方法所涉及的程序。
另外，本发明实施例提供了一种计算机存储介质，用于储存电子设备所用的计算机软件指令，其包含用于执行上述图11所示方法实施例中的补偿量的确定方法所涉及的程序。
以上各个实施例中的技术方案、技术特征在与本相冲突的情况下均可以单独，或者进行组合，只要未超出本领域技术人员的认知范围，均属于本申请保护范围内的等同实施例。
在本发明所提供的几个实施例中，应该理解到，所揭露的相关遥控装置和方法，可以通过其它的方式实现。例如，以上所描述的遥控装置实施例仅仅是示意性的，例如，所述模块或单元的划分，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，遥控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，在本发明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，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得计算机处理器(processor)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁盘或者光盘等各种可以存储程序代码的介质。
以上所述仅为本发明的实施例，并非因此限制本发明的专利范围，凡是利用本发明说明书及附图内容所作的等效结构或等效流程变换，或直接或间接运用在其他相关的技术领域，均同理包括在本发明的专利保护范围内。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，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发明各实施例技术方案的范围。

Claims (58)

  1. 一种高度检测方法，其特征在于，包括：
    获取无人机的姿态信息，并获取与所述姿态信息相对应的当前检测高度；
    确定与所述姿态信息相对应的掉高补偿量；
    利用所述掉高补偿量对所述当前检测高度进行补偿，获得与所述姿态信息相对应的目标高度。
  2. 根据权利要求1所述的方法，其特征在于，所述获取与所述姿态信息相对应的当前检测高度，包括：
    通过设置于所述无人机上的气压计，获得与所述姿态信息相对应的当前检测高度。
  3. 根据权利要求1所述的方法，其特征在于，所述确定与所述姿态信息相对应的掉高补偿量，包括：
    基于所述姿态信息确定所述无人机的空速信息以及所述无人机的方向信息；
    确定与所述空速信息和所述方向信息相对应的掉高补偿量；
    将与所述空速信息和所述方向信息相对应的掉高补偿量，确定为与所述姿态信息相对应的掉高补偿量。
  4. 根据权利要求3所述的方法，其特征在于，所述基于所述姿态信息确定所述无人机的空速信息，包括：
    获取所述无人机的预设姿态信息与预设空速信息之间的第一映射关系；
    基于所述第一映射关系和所述姿态信息，确定所述无人机的空速信息。
  5. 根据权利要求4所述的方法，其特征在于，所述基于所述第一映射关系和所述姿态信息，确定所述无人机的空速信息，包括：
    基于所述第一映射关系，获取与所述姿态信息相对应的预设空速信息；
    对与所述姿态信息相对应的预设空速信息、以及与历史时段内获取的历史姿态信息相对应的预设空速信息进行低通滤波，获得所述无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系；
    基于所述第二映射关系和所述姿态信息，获取所述无人机的空速信息。
  6. 根据权利要求5所述的方法，其特征在于，所述历史时段为当前时刻之前的预设时长或当前时刻之前的所述无人机连续移动的时长。
  7. 根据权利要求3所述的方法，其特征在于，所述确定与所述空速信息 和所述方向信息相对应的掉高补偿量，包括：
    获取与所述空速信息相对应的速度补偿量，并获取与所述方向信息相对应的方向补偿量；
    基于所述速度补偿量和方向补偿量，确定与所述空速信息和所述方向信息相对应的掉高补偿量。
  8. 根据权利要求7所述的方法，其特征在于，所述获取与所述空速信息相对应的速度补偿量，包括：
    获取所述无人机的预设速度区间与预设速度补偿量之间的第三映射关系；
    基于所述第三映射关系，确定与所述空速信息相对应的速度补偿量。
  9. 根据权利要求7所述的方法，其特征在于，所述获取与所述空速信息相对应的速度补偿量，包括：
    基于所述方向信息将所述空速信息在预设方向上进行分解，获得与所述空速信息相对应的子速度；
    获取与所述子速度相对应的速度补偿量；
    基于与所述子速度相对应的速度补偿量，确定与所述空速信息相对应的速度补偿量。
  10. 根据权利要求9所述的方法，其特征在于，所述获取与所述子速度相对应的速度补偿量，包括：
    获取所述无人机在所述预设方向上的预设子速度与预设速度补偿量之间的第四映射关系；
    基于所述第四映射关系，确定与所述子速度相对应的速度补偿量。
  11. 根据权利要求10所述的方法，其特征在于，所述第四映射关系包括多个，每一所述第四映射关系对应所述无人机在一所述预设方向上的一个预设子速度区间，且用于标识一个所述预设子速度区间与预设速度补偿量之间的对应关系。
  12. 根据权利要求7所述的方法，其特征在于，所述获取与所述方向信息相对应的方向补偿量，包括：
    根据所述方向信息获得与预设方向相对应的方向补偿量；
    基于与所述预设方向相对应的方向补偿量，确定与所述方向信息相对应的方向补偿量。
  13. 根据权利要求12所述的方法，其特征在于，所述根据所述方向信息 获得与预设方向相对应的方向补偿量，包括：
    基于所述方向信息将所述空速信息在预设方向上进行分解，获得与所述空速信息相对应的子速度信息；
    获取所述无人机的所述预设方向与预设方向补偿量之间的第五映射关系；
    基于所述第五映射关系和所述子速度信息，确定与所述预设方向相对应的方向补偿量。
  14. 根据权利要求13所述的方法，其特征在于，所述子速度信息的表征形式包括以下之一：
    所述子速度的大小、所述子速度的平方、所述子速度的开方。
  15. 根据权利要求8或13所述的方法，其特征在于，所述姿态信息包括以下至少之一：俯仰信息、横滚信息。
  16. 根据权利要求9-14中任意一项所述的方法，其特征在于，所述预设方向包括以下至少之一：在所述无人机的机身坐标系中的前方向、后方向、左方向、右方向。
  17. 一种补偿量的确定方法，其特征在于，包括：
    获取无人机的姿态信息，并获取与所述姿态信息相对应的实际高度补偿量；
    确定与所述无人机的速度信息相对应的第一映射关系，以及与所述无人机的方向信息相对应的第二映射关系，所述第一映射关系用于确定与所述速度信息相对应的速度补偿量，所述第二映射关系用于确定与所述方向信息相对应的方向补偿量；
    根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确定所述无人机的理论高度补偿量；
    根据所述理论高度补偿量与所述实际高度补偿量，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化所述理论高度补偿量与所述实际高度补偿量之间的差异。
  18. 根据权利要求17所述的方法，其特征在于，所述获取与所述姿态信息相对应的实际高度补偿量，包括：
    获取与所述姿态信息相对应的采集高度数据和实际高度数据；
    根据所述采集高度数据和所述实际高度数据，确定与所述姿态信息相对应的实际高度补偿量。
  19. 根据权利要求17所述的方法，其特征在于，所述根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确定所述无人机的理论高度补偿值，包括：
    确定与所述姿态信息相对应的速度信息和方向信息；
    根据所述速度信息、所述方向信息、所述第一映射关系和所述第二映射关系，确定与所述姿态信息相对应的理论高度补偿量。
  20. 根据权利要求19所述的方法，其特征在于，所述根据所述速度信息、所述方向信息、所述第一映射关系和所述第二映射关系，确定与所述姿态信息相对应的理论高度补偿量，包括：
    基于所述第一映射关系和所述速度信息，确定与所述速度信息相对应的速度补偿量；
    基于所述第二映射关系和所述方向信息，确定与所述方向信息相对应的方向补偿量；
    根据所述速度补偿量和所述方向补偿量，确定与所述姿态信息相对应的理论高度补偿量。
  21. 根据权利要求17所述的方法，其特征在于，所述根据所述理论高度补偿值与所述实际高度补偿值，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，包括：
    利用最小二乘算法对所述实际高度补偿量和所述理论高度补偿量进行处理，获得与所述实际高度补偿量和所述理论高度补偿量相对应的最小补偿差值；
    利用所述最小补偿差值对所述第一映射关系和所述第二映射关系进行优化，获得所述第一目标映射关系和所述第二目标映射关系。
  22. 根据权利要求17-21中任意一项所述的方法，其特征在于，
    所述第一映射关系包括多个速度区间以及与多个所述速度区间相对应的速度补偿量；
    所述第二映射关系包括多个方向信息以及与多个所述方向信息相对应的方向补偿量。
  23. 根据权利要求22所述的方法，其特征在于，所述第一映射关系包括的多个速度区间的范围相同或不同。
  24. 根据权利要求22所述的方法，其特征在于，所述第一映射关系包括 的多个速度区间的范围和/或数量可调整。
  25. 根据权利要求22所述的方法，其特征在于，所述第一映射关系中包括的位于不同方向上的多个速度区间的个数相同或不同。
  26. 根据权利要求17-21中任意一项所述的方法，其特征在于，所述速度信息包括以下至少之一：速度大小、速度大小的平方值、速度大小的开方值。
  27. 根据权利要求17-21中任意一项所述的方法，其特征在于，在所述获得第一目标映射关系和第二目标映射关系之后，所述方法还包括：
    获取与所述第一目标映射关系和所述第二目标映射关系相对应的补偿值数据；
    利用所述补偿值数据，确定所述第一目标映射关系和所述第二目标映射关系是否合理。
  28. 一种高度检测装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于运行所述存储器中存储的计算机程序以实现：
    获取无人机的姿态信息，并获取与所述姿态信息相对应的当前检测高度；
    确定与所述姿态信息相对应的掉高补偿量；
    利用所述掉高补偿量对所述当前检测高度进行补偿，获得与所述姿态信息相对应的目标高度。
  29. 根据权利要求28所述的装置，其特征在于，在所述处理器获取与所述姿态信息相对应的当前检测高度时，所述处理器用于：
    通过设置于所述无人机上的气压计，获得与所述姿态信息相对应的当前检测高度。
  30. 根据权利要求28所述的装置，其特征在于，在所述处理器确定与所述姿态信息相对应的掉高补偿量时，所述处理器用于：
    基于所述姿态信息确定所述无人机的空速信息以及所述无人机的方向信息；
    确定与所述空速信息和所述方向信息相对应的掉高补偿量；
    将与所述空速信息和所述方向信息相对应的掉高补偿量，确定为与所述姿态信息相对应的掉高补偿量。
  31. 根据权利要求30所述的装置，其特征在于，在所述处理器基于所述姿态信息确定所述无人机的空速信息时，所述处理器用于：
    获取所述无人机的预设姿态信息与预设空速信息之间的第一映射关系；
    基于所述第一映射关系和所述姿态信息，确定所述无人机的空速信息。
  32. 根据权利要求31所述的装置，其特征在于，在所述处理器基于所述第一映射关系和所述姿态信息，确定所述无人机的空速信息时，所述处理器用于：
    基于所述第一映射关系，获取与所述姿态信息相对应的预设空速信息；
    对与所述姿态信息相对应的预设空速信息、以及与历史时段内获取的历史姿态信息相对应的预设空速信息进行低通滤波，获得所述无人机的实时姿态信息与滤波后的空速信息之间的第二映射关系；
    基于所述第二映射关系和所述姿态信息，获取所述无人机的空速信息。
  33. 根据权利要求32所述的装置，其特征在于，所述历史时段为当前时刻之前的预设时长或当前时刻之前的所述无人机连续移动的时长。
  34. 根据权利要求30所述的装置，其特征在于，在所述处理器确定与所述空速信息和所述方向信息相对应的掉高补偿量时，所述处理器用于：
    获取与所述空速信息相对应的速度补偿量，并获取与所述方向信息相对应的方向补偿量；
    基于所述速度补偿量和方向补偿量，确定与所述空速信息和所述方向信息相对应的掉高补偿量。
  35. 根据权利要求34所述的装置，其特征在于，在所述处理器获取与所述空速信息相对应的速度补偿量时，所述处理器用于：
    获取所述无人机的预设速度区间与预设速度补偿量之间的第三映射关系；
    基于所述第三映射关系，确定与所述空速信息相对应的速度补偿量。
  36. 根据权利要求34所述的装置，其特征在于，在所述处理器获取与所述空速信息相对应的速度补偿量时，所述处理器用于：
    基于所述方向信息将所述空速信息在预设方向上进行分解，获得与所述空速信息相对应的子速度；
    获取与所述子速度相对应的速度补偿量；
    基于与所述子速度相对应的速度补偿量，确定与所述空速信息相对应的速度补偿量。
  37. 根据权利要求36所述的装置，其特征在于，在所述处理器获取与所述子速度相对应的速度补偿量时，所述处理器用于：
    获取所述无人机在所述预设方向上的预设子速度与预设速度补偿量之间的第四映射关系；
    基于所述第四映射关系，确定与所述子速度相对应的速度补偿量。
  38. 根据权利要求37所述的装置，其特征在于，所述第四映射关系包括多个，每一所述第四映射关系对应所述无人机在一所述预设方向上的一个预设子速度区间，且用于标识一个所述预设子速度区间与预设速度补偿量之间的对应关系。
  39. 根据权利要求34所述的装置，其特征在于，在所述处理器获取与所述方向信息相对应的方向补偿量时，所述处理器用于：
    根据所述方向信息获得与预设方向相对应的方向补偿量；
    基于与所述预设方向相对应的方向补偿量，确定与所述方向信息相对应的方向补偿量。
  40. 根据权利要求39所述的装置，其特征在于，在所述根据所述方向信息获得与预设方向相对应的方向补偿量时，所述处理器用于：
    基于所述方向信息将所述空速信息在预设方向上进行分解，获得与所述空速信息相对应的子速度信息；
    获取所述无人机的所述预设方向与预设方向补偿量之间的第五映射关系；
    基于所述第五映射关系和所述子速度信息，确定与所述预设方向相对应的方向补偿量。
  41. 根据权利要求40所述的装置，其特征在于，所述子速度信息的表征形式包括以下之一：
    所述子速度的大小、所述子速度的平方、所述子速度的开方。
  42. 根据权利要求35或39所述的装置，其特征在于，所述姿态信息包括以下至少之一：俯仰信息、横滚信息。
  43. 根据权利要求36-39中任意一项所述的装置，其特征在于，所述预设方向包括以下至少之一：在所述无人机的机身坐标系中的前方向、后方向、左方向、右方向。
  44. 一种补偿量的确定装置，其特征在于，包括：
    存储器，用于存储计算机程序；
    处理器，用于运行所述存储器中存储的计算机程序以实现：
    获取无人机的姿态信息，并获取与所述姿态信息相对应的实际高度补偿 量；
    确定与所述无人机的速度信息相对应的第一映射关系，以及与所述无人机的方向信息相对应的第二映射关系，所述第一映射关系用于确定与所述速度信息相对应的速度补偿量，所述第二映射关系用于确定与所述方向信息相对应的方向补偿量；
    根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确定所述无人机的理论高度补偿量；
    根据所述理论高度补偿量与所述实际高度补偿量，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系，以最小化所述理论高度补偿量与所述实际高度补偿量之间的差异。
  45. 根据权利要求44所述的装置，其特征在于，在所述处理器获取与所述姿态信息相对应的实际高度补偿量时，所述处理器用于：
    获取与所述姿态信息相对应的采集高度数据和实际高度数据；
    根据所述采集高度数据和所述实际高度数据，确定与所述姿态信息相对应的实际高度补偿量。
  46. 根据权利要求44所述的装置，其特征在于，在所述处理器根据所述无人机的姿态信息、所述第一映射关系、所述第二映射关系确定所述无人机的理论高度补偿值时，所述处理器用于：
    确定与所述姿态信息相对应的速度信息和方向信息；
    根据所述速度信息、所述方向信息、所述第一映射关系和所述第二映射关系，确定与所述姿态信息相对应的理论高度补偿量。
  47. 根据权利要求46所述的装置，其特征在于，在所述处理器根据所述速度信息、所述方向信息、所述第一映射关系和所述第二映射关系，确定与所述姿态信息相对应的理论高度补偿量时，所述处理器用于：
    基于所述第一映射关系和所述速度信息，确定与所述速度信息相对应的速度补偿量；
    基于所述第二映射关系和所述方向信息，确定与所述方向信息相对应的方向补偿量；
    根据所述速度补偿量和所述方向补偿量，确定与所述姿态信息相对应的理论高度补偿量。
  48. 根据权利要求44所述的装置，其特征在于，在所述处理器根据所述 理论高度补偿值与所述实际高度补偿值，对所述第一映射关系和所述第二映射关系进行优化，获得第一目标映射关系和第二目标映射关系时，所述处理器用于：
    利用最小二乘算法对所述实际高度补偿量和所述理论高度补偿量进行处理，获得与所述实际高度补偿量和所述理论高度补偿量相对应的最小补偿差值；
    利用所述最小补偿差值对所述第一映射关系和所述第二映射关系进行优化，获得所述第一目标映射关系和所述第二目标映射关系。
  49. 根据权利要求44-48中任意一项所述的装置，其特征在于，
    所述第一映射关系包括多个速度区间以及与多个所述速度区间相对应的速度补偿量；
    所述第二映射关系包括多个方向信息以及与多个所述方向信息相对应的方向补偿量。
  50. 根据权利要求49所述的装置，其特征在于，所述第一映射关系包括的多个速度区间的范围相同或不同。
  51. 根据权利要求49所述的装置，其特征在于，所述第一映射关系包括的多个速度区间的范围和/或数量可调整。
  52. 根据权利要求49所述的装置，其特征在于，所述第一映射关系中包括的位于不同方向上的多个速度区间的个数相同或不同。
  53. 根据权利要求44-48中任意一项所述的装置，其特征在于，所述速度信息包括以下至少之一：速度大小、速度大小的平方值、速度大小的开方值。
  54. 根据权利要求44-48中任意一项所述的装置，其特征在于，在所述获得第一目标映射关系和第二目标映射关系之后，所述处理器用于：
    获取与所述第一目标映射关系和所述第二目标映射关系相对应的补偿值数据；
    利用所述补偿值数据，确定所述第一目标映射关系和所述第二目标映射关系是否合理。
  55. 一种无人机，其特征在于，包括：
    机体；
    动力系统，设置于所述机体上，用于为所述无人机提供动力；
    权利要求28-43中任意一项所述的高度检测装置，所述高度检测装置设置 于所述机体上。
  56. 一种无人机，其特征在于，包括：
    机体；
    动力系统，设置于所述机体上，用于为所述无人机提供动力；
    权利要求44-54中任意一项所述的补偿量的确定装置，所述补偿量的确定装置设置于所述机体上。
  57. 一种计算机可读存储介质，其特征在于，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求1-16中任意一项所述的高度检测方法。
  58. 一种计算机可读存储介质，其特征在于，所述存储介质为计算机可读存储介质，该计算机可读存储介质中存储有程序指令，所述程序指令用于实现权利要求17-27中任意一项所述的补偿量的确定方法。
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