A barometer altitude dynamic compensation method, device, and computer storage medium

A dynamic compensation, barometer technology, applied in measurement devices, altitude/level measurement, instruments, etc., can solve problems such as navigation altitude distortion, achieve the effect of ensuring measurement accuracy, solving barometric altimeter distortion, and facilitating transplantation

Active Publication Date: 2022-03-29
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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  • A barometer altitude dynamic compensation method, device, and computer storage medium
  • A barometer altitude dynamic compensation method, device, and computer storage medium

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Experimental program
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Effect test

Embodiment 1

[0037] This embodiment provides a method for dynamic compensation of barometer altitude, 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: Adjust the weight of barometric altitude data and GPS altitude data in data fusion through the current flight status of the carrier, 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 is switched, use the estimated measurement error to correct the barometer or GPS altitude, so as to achieve smooth switching.

[0041] The determination of the flight state of the carrier is: when judging the flight of the carrier, determine the flight state of the carrier 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 barometer altitude dynamic compensation device, the device includes a memory, a processor, a program stored in the memory and operable on the processor, when the program is executed by the processor The steps of implementing the method for dynamic compensation of the barometer altitude described in Embodiment 1.

Embodiment 3

[0070] This embodiment provides a computer storage medium for computer-readable storage. The computer storage medium stores a barometer altitude dynamic compensation program; when the barometer altitude dynamic compensation program is executed by a processor, the implementation of Embodiment 1 is realized. The steps of the above-mentioned barometer altitude dynamic compensation method.

[0071] The terms describing the positional relationship in the drawings are only for illustrative purposes and cannot be interpreted as limitations on this patent;

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PUM

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Abstract

The invention relates to a method, device and computer storage medium for dynamic compensation of barometer height. The method of the invention distinguishes different flight states of aircraft by ground speed; under the level flight state, the fusion weight of GPS height is strengthened to weaken The distortion of the barometric altitude caused by the entry; the fusion of the barometric altitude is strengthened when the vertical altitude climbs / lands, and the accuracy of the barometer altitude is fully utilized. In this way, the complementary advantages of GPS and barometer altitude are realized. It can not only ensure the height measurement rigidity when flying horizontally, but also ensure the measurement accuracy when changing vertically. The device of the present invention can implement the method, and the computer storage medium includes the program of the method. The present invention effectively solves the problem of barometric altimeter distortion commonly existing in flight controllers on the market without increasing hardware costs. The phenomenon of aircraft "falling high" that has worried customers in the past has been significantly improved.

Description

technical field [0001] The invention relates to the field of altitude determination of aircraft, and more specifically, to a method, device and computer storage medium for dynamic compensation of the altitude of a barometer. Background technique [0002] The digital barometer is a kind of altitude measurement equipment that uses the physical relationship between atmospheric pressure and altitude to detect air pressure and calculate altitude in real time. With the advantages of high resolution precision, good accuracy, and fast data update rate, it is the mainstream altitude observation instrument applied to multi-rotor unmanned aerial vehicles. However, limited by physical characteristics, the output of the barometric altimeter is easily "contaminated" by airspeed. Especially during high-speed flight, the high-speed air flow is poured into the barometer measurement channel, and the introduction of air flow pressure will significantly interfere with static pressure measureme...

Claims

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Application Information

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Patent Type & Authority Patents(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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