Barometer height dynamic compensation method and device, and computer storage medium

A dynamic compensation, barometer technology, applied in measurement devices, altitude/level measurement, instruments, etc., to solve problems such as navigation altitude distortion

Active Publication Date: 2020-10-23
EHANG INTELLIGENT EQUIP GUANGZHOU CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention provides a dynamic compensation method for barometer height in order to overcome the problem of navigation altitude distortion caused by the influence of airflow when relying solely on the barometer for altitude estimation described in the prior art

Method used

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  • Barometer height dynamic compensation method and device, and computer storage medium
  • Barometer height dynamic compensation method and device, and computer storage medium

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0037] This embodiment provides a method for dynamic compensation of barometer height, such as Figure 1-2 As shown, the method includes the following steps:

[0038] S1: Determine the current flight status of the carrier, including level flight and non-level flight;

[0039] S2: According to the current flight state of the carrier, adjust the weight of air pressure altitude data and GPS altitude data in data fusion, and then estimate the measurement error of GPS and barometer in real time through data fusion;

[0040] S3: When the flight state of the carrier switches, use the estimated measurement error to correct the barometer or GPS altitude to achieve smooth switching.

[0041] The determination of the flight state of the carrier is: when judging the flight of the carrier, the flight state of the carrier is determined by judging whether the horizontal speed of the carrier is greater than the preset horizontal speed threshold and whether the vertical speed is greater than ...

Embodiment 2

[0068] This embodiment provides a device for dynamic compensation of barometer altitude, the device includes a memory, a processor, and a program stored on the memory and executable on the processor, when the program is executed by the processor The steps of implementing the method for dynamic compensation of barometer height described in Embodiment 1.

Embodiment 3

[0070] This embodiment provides a computer storage medium for computer-readable storage, where a barometer height dynamic compensation program is stored on the computer storage medium; when the barometer height dynamic compensation program is executed by a processor, the method described in Embodiment 1 is implemented. The steps of the barometer height dynamic compensation method described above.

[0071] The terms describing the positional relationship in the accompanying drawings are only used for exemplary illustration, and should not be construed as a limitation on this patent;

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Abstract

The invention relates to a barometer height dynamic compensation method and device, and a computer storage medium. According to the method, different flight states of an aircraft are distinguished byground speed; the fusion weight of the GPS height is enhanced in a level flight state so as to weaken the barometric height distortion caused by air flow injection; and during vertical height climbing/falling, the fusion weight of the barometric height is enhanced, and the accuracy of the barometer height is fully utilized. Therefore, the advantage complementation of the GPS and the barometer height is realized. The height measurement rigidity during horizontal flight can be ensured, and the measurement accuracy during vertical change can also be ensured. The device provided by the invention can realize the method, and the computer storage medium comprises a program of the method. Under the condition that hardware cost is not increased, the problem of distortion of the barometric height generally existing in flight control on the market is effectively solved. And the phenomenon that the airplane falls high due to worry of customers in the past is obviously improved.

Description

technical field [0001] The present invention relates to the field of aircraft altitude determination, and more particularly, to a barometer altitude dynamic compensation method, device and computer storage medium. Background technique [0002] A digital barometer is an altitude measurement device that uses the physical relationship between atmospheric pressure and altitude to detect air pressure in real time and calculate altitude. It has the advantages of high resolution accuracy, good accuracy, and fast data update rate, and is the mainstream altitude observation instrument used in multi-rotor unmanned aerial vehicles. However, due to physical characteristics, the output of the barometric altimeter is easily "contaminated" by the airspeed. Especially during high-speed flight, the high-speed airflow is poured into the barometer measurement channel, and the introduction of airflow pressure will significantly interfere with the static pressure measurement, which will serious...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C5/06G01C5/00
CPCG01C5/06G01C5/005
Inventor 徐世科
Owner EHANG INTELLIGENT EQUIP GUANGZHOU CO LTD
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