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A double threshold correction method for UAV altitude error based on minimum detection cost

An unmanned aerial vehicle, dual-threshold technology, applied in measurement devices, mapping and navigation, altitude/horizontal measurement, etc., can solve problems such as positioning errors of users, random errors in altitude information measured by drones, etc., to reduce detection The number of times, reducing the detection cost, and the effect of low cost

Active Publication Date: 2019-02-15
PETROCHINA CO LTD +1
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Problems solved by technology

[0005] In order to solve the random error in the measurement of the elevation information of the existing UAV, which leads to an error when locating the user's position

Method used

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  • A double threshold correction method for UAV altitude error based on minimum detection cost
  • A double threshold correction method for UAV altitude error based on minimum detection cost
  • A double threshold correction method for UAV altitude error based on minimum detection cost

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Embodiment Construction

[0054] This specific embodiment adopts following technical scheme: it comprises the following steps:

[0055] Step 1: Measure the statistical parameters of the UAV's elevation error, the mean value, variance of the error and the coherence time of multiple detections. The statistical parameters of UAV elevation error are the core parameters in the dual-threshold detection algorithm, and accurate measurement of the mean and variance of the error is a necessary prerequisite for the algorithm. In the present invention, a set of measurement error data is obtained by using a drone to measure a series of points with known heights, and comparing the actual measurement value with the standard value. figure 2 is a histogram of the frequency at which height measurement errors occur as a function of the magnitude of the measurement errors. It can be seen that the curve presents symmetry, the frequency with higher error is concentrated near 0, and the frequency decreases as the error ran...

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Abstract

The invention discloses a double threshold correction method for the UAV altitude error based on minimum detection cost, relating to the field of signal detection technology. The correction method comprises the following steps of: step 1, measuring the statistical parameters of the UAV altitude error, the mean value and the variance of the error, and the coherence time in the multiple detections;step 2, setting the detection cost and the user positioning error cost; step 3, calculating the optimal detection threshold based on the minimum expected cost according to the measurement error and the detection cost of the UAV; step 4, setting the maximum number of detection iterations; and step 5, locating the user location based on the double threshold detection algorithm. According to the double threshold correction method for the UAV altitude error based on minimum detection cost, the total detection cost of the system and the number of detections can be effectively reduced, and the flexibility of detection is improved. Considering the cost of detection and the number of tests required, the overall cost of the system can be minimized.

Description

technical field [0001] The invention belongs to the technical field of signal detection, and in particular relates to a dual-threshold correction method for an elevation error of an unmanned aerial vehicle based on the minimum detection cost. Background technique [0002] In recent years, with the rapid development of my country's gas industry, the urban gas pipeline network has spread all over the country's large, medium and small towns, and urban gas accidents have occurred from time to time, and the leaked gas has seriously threatened the lives and property safety of people around the urban gas pipeline network. The top priority of preventing gas leakage is to improve the pipeline network monitoring system, strengthen the operation safety of the urban gas pipeline network and the safety of gas consumption by users, and realize the safe operation and stable gas supply of urban gas business. The use of gas inspections equipped with drones to replace traditional manual inspe...

Claims

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Application Information

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IPC IPC(8): G01C5/00
CPCG01C5/005
Inventor 王智学李阳张宏伟梁海滨李琦张伟明刘永滨杜华
Owner PETROCHINA CO LTD
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