Detection method and device for unmanned aerial vehicle flight height, and unmanned aerial vehicle

Abstract

The invention discloses a detection method and device for unmanned aerial vehicle flight height, and an unmanned aerial vehicle, and relates to the technical field of the unmanned aerial vehicles. The method comprises the following steps: on the basis of second flight height detected by an ultrasonic wave height measurement device, determining a confidence coefficient of detection performed by the ultrasonic wave height measurement device; according to the confidence coefficient and first flight height and the second flight height detected by an air pressure height measurement device, determining the flight height. According to the detection method and device and the unmanned aerial vehicle provided by the invention, through the flight height detected by the ultrasonic wave height measurement device, the confidence coefficient of the detection performed by the ultrasonic wave height measurement device is obtained, a confidence coefficient value and the flight height detected by the air pressure height measurement device and the ultrasonic wave height measurement device are subjected to fusion calculation to generate a smooth fusion height value, the advantages of ultrasonic wave height measurement and barometer height measurement can be fully utilized, the problem of discontinuous flight height detection values in traditional fusion calculation can be solved, a phenomenon of sudden change of the flight height detection value is avoided, the accuracy of flight height measurement is improved, and unmanned aerial vehicle control stability is improved.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for detecting the flying height of an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. Obtaining instant and accurate altitude information is the key to controlling the position of the drone. Most drone altitude readings are obtained using barometric altimeters, which measure air pressure to determine altitude. Recently, schemes based on reflected waves to measure height, such as ultrasonic waves, have also been used. The barometer measures the altitude, but due to the unevenness of the device itself and the atmospheric pressure, the accuracy is not high, it is sensitive to air flow, and there is a phenomenon of slow drift of the measured value. Ultrasonic alti...

AI Technical Summary

Problems solved by technology

The existing height fusion technology has some obvious defects: switching will cause height discontinuity and affect the control effect; because of the drift of the barometer, there will be a sudden change in height during the switching process; outside the range, the ultrasonic measurement value will appear obvious noise , the noise will cause the altitude to switch incorrectly

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