Unmanned aerial vehicle accurate landing method based on differential barometer

Abstract

The invention discloses an unmanned aerial vehicle precise landing method based on a differential barometer, and the method comprises the following steps: starting ground base station equipment and an unmanned aerial vehicle, and enabling the ground base station equipment to collect air pressure data of a set time length at a first frequency; a reference value is calculated through a Kalman filtering algorithm according to the obtained multiple pieces of air pressure data; the ground base station equipment collects original air pressure data at a second frequency, and performs difference processing on the original air pressure data and the reference value to obtain a real-time difference value; the ground base station equipment sends the real-time difference value to the unmanned aerial vehicle through a wireless data transmission system, the unmanned aerial vehicle carries out difference value processing on the collected real-time air pressure value and the real-time difference value, and a real-time altitude value H of the unmanned aerial vehicle is obtained; and the unmanned aerial vehicle is guided to land autonomously through the real-time altitude value H. The problem that in the prior art, when a single-point satellite navigation mode is adopted for landing, the height error is large is solved.

Description

technical field [0001] The application belongs to the technical field of unmanned aerial vehicles, and in particular relates to a precise landing method for unmanned aerial vehicles based on a differential barometer. Background technique [0002] At present, when small UAVs land autonomously, they usually use single-point satellite navigation or differential satellite navigation to guide the fixed-wing landing, but both navigation methods have shortcomings. When the single-point satellite navigation method is used, there will be a certain height error when the UAV lands, which will lead to a heavy landing of the UAV or an early shutdown of the UAV. When using differential satellite navigation, it will increase the cost of the overall equipment, and at the same time, when the satellite navigation is interfered, there is a problem that it cannot land normally. Contents of the invention [0003] The embodiment of the present application provides a precise landing method for ...

AI Technical Summary

Problems solved by technology

[0003] The embodiment of the present application provides a precise landing method for UAVs based on differential barometers, which solves the problem of large height errors in the prior art when using single-point satellite navigation to land.

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