Method, device and system for measuring the height of an aircraft in flight

Abstract

The application provides a method, device and system for measuring the flight height of an aircraft. The method comprises: in response to the aircraft being in a flight state, obtaining the local position longitude and latitude corresponding to the current time, and determining the local elevation based on the local position longitude and latitude; receiving the height measurement data sent by at least one height measurement device at the current time; obtaining the to-be-fused height measurement data based on at least one of the height measurement data and the local elevation; and performing fusion calculation on the to-be-fused height measurement data to obtain the fused flight height at the current time. In the application, the measurement device can receive multiple height measurement data from multiple height measurement devices, and the fused flight height is obtained based on at least one height measurement data, so that the fused flight height is considered from multiple aspects, the limitations and single nature of the fused flight height are reduced, the actual flight height of the aircraft can be more accurately reflected, and the effectiveness of the fused flight height is improved.

Description

Technical Field

[0001] This application relates to aviation technology, and more particularly to a method, device and system for measuring the flight altitude of an aircraft. Background Technology

[0002] With the continuous development of aviation technology, the degree of automation in aircraft flight control is becoming increasingly higher. The accuracy of flight altitude parameter measurement affects the control and safety of aircraft flight. This is especially true during takeoff, landing, and terrain avoidance, when altitude measurement is of paramount importance.

[0003] In existing technologies, aircraft altitude measurement is primarily achieved using an onboard altimeter. The altimeter receives altimeter data from the altimeter and determines the aircraft's altitude and relative altitude from this data.

[0004] However, currently, aircraft are equipped with only one type of altimeter. If this altimeter malfunctions or its accuracy deviates from the acceptable range, the aircraft will not obtain accurate and valid altitude information. Even when two altimeters are used to overcome the limitations of a single device, the data from one is the primary source, with the other used as a backup. The altitude data from both devices cannot be effectively and fully utilized. Therefore, this approach cannot meet the requirements for high-precision aircraft altitude measurement over a wide range from low to high altitudes, unaffected by external environmental conditions, with strong anti-interference capabilities and a certain degree of fault tolerance. Consequently, the effectiveness and accuracy of the altitude and relative altitude obtained by the aircraft are relatively low. Summary of the Invention

[0005] This application provides a method, device, and system for measuring the flight altitude of an aircraft, in order to solve the problems that the altimeter equipment carried by the aircraft is prone to failure during flight, and that the altimeter data measured by a single altimeter equipment is limited and therefore has low effectiveness and accuracy in obtaining the altitude and relative altitude of the aircraft.

[0006] In a first aspect, this application provides a method for measuring the flight altitude of an aircraft, characterized in that the method includes:

[0007] In response to the aircraft being in flight, the local latitude and longitude of the current location are obtained, and the local elevation is determined based on the local latitude and longitude.

[0008] Receive height measurement data sent by at least one height measurement device at the current moment;

[0009] The altimetry data to be fused is obtained based on at least one of the aforementioned altimetry data and the local elevation.

[0010] The altimeter data to be fused is fused and calculated to obtain the fused flight altitude at the current moment.

[0011] In one approach, determining the local elevation based on the local location's latitude and longitude includes:

[0012] Obtain a map elevation map; the map elevation map includes the latitude and longitude of each preset location and its corresponding preset elevation;

[0013] Query the preset location latitude and longitude that matches the local location latitude and longitude on the map elevation map;

[0014] The preset elevation corresponding to the consistent preset location latitude and longitude is determined as the local elevation.

[0015] In one embodiment, the at least one altimeter is at least one of an atmospheric altimeter, a satellite positioning altimeter, and a radio altimeter; the altimeter data includes at least one of atmospheric altimeter data, satellite altimeter data, and radio altimeter data.

[0016] In one embodiment, the atmospheric altimetry data includes atmospheric altitude; the satellite altimetry data includes satellite altitude; the radio altimetry data includes radio relative altitude; the altimetry data to be fused includes altitude to be fused and relative altitude to be fused; the altitude to be fused includes at least one of atmospheric altitude, satellite altitude, and radio altitude; the relative altitude to be fused includes at least one of atmospheric relative altitude, satellite relative altitude, and radio relative altitude.

[0017] The process of obtaining the altimetry data to be fused based on at least one of the altimetry data and the local elevation includes:

[0018] If multiple altimetry data include atmospheric altimetry data, then the atmospheric relative altitude is calculated based on the atmospheric altitude and the local elevation.

[0019] If multiple altimetry data include satellite altimetry data, the satellite relative altitude is calculated based on the satellite altitude and the local elevation.

[0020] If multiple sets of altimetry data include radio altimetry data, then the radio altitude is calculated based on the radio relative altitude and the local elevation.

[0021] In one approach, calculating the relative atmospheric altitude based on the atmospheric altitude and the local elevation includes:

[0022] Calculate the difference between the atmospheric altitude and the local elevation to obtain the relative atmospheric altitude;

[0023] The calculation of the satellite's relative altitude based on the satellite's altitude and the local elevation includes:

[0024] Calculate the difference between the satellite's altitude and the local elevation to obtain the satellite's relative altitude;

[0025] The calculation of radio altitude based on the radio relative altitude and local elevation includes:

[0026] The radio altitude is obtained by summing the relative radio altitude and the local elevation.

[0027] In one approach, the step of performing fusion calculations on the altimetry data to be fused to obtain the fused flight altitude at the current moment includes:

[0028] The fusion calculation is performed based on the altitude to be fused to obtain the current fused flight altitude.

[0029] The fusion calculation is performed based on the relative altitude to be fused to obtain the fused flight relative altitude at the current moment.

[0030] In one approach, the altitude to be fused includes the altitude at the current moment;

[0031] The process of performing fusion calculations based on the altitude to be fused to obtain the fused flight altitude includes:

[0032] Effectively determine the altitude to be fused;

[0033] In response to the fact that at least one of the current altitudes to be fused is valid, all valid current altitudes are input into the preset fusion altitude algorithm, and the preset fusion altitude algorithm is used to calculate and output the current fused flight altitude.

[0034] In one approach, effectively determining the altitude to be fused includes:

[0035] Obtain the previous altitude corresponding to at least one current altitude among the altitudes to be fused;

[0036] For each current altitude, if the altitude difference between the current altitude and the corresponding previous altitude is within the preset altitude difference range, then the current altitude is determined to be valid.

[0037] For each current altitude, if the altitude difference between the current altitude and the corresponding previous altitude is not within the preset altitude difference range, then the current altitude is determined to be invalid.

[0038] In one approach, the relative height included in the relative height to be fused is the relative height at the current moment;

[0039] The process of performing fusion calculations based on the relative altitudes to be fused to obtain the fused flight relative altitudes includes:

[0040] Effectively determine the relative height to be fused;

[0041] In response to the fact that at least one of the relative altitudes to be fused is valid at the current moment, all valid relative altitudes at the current moment are input into the preset fusion relative altitude algorithm, and the preset fusion relative altitude algorithm is used to calculate and output the fused flight relative altitude at the current moment.

[0042] In one embodiment, the method further includes:

[0043] Obtain the confidence level corresponding to the current fused flight altitude calculated by the preset fused altitude algorithm; the preset fused altitude algorithm includes a preset fused altitude algorithm and a preset fused relative altitude algorithm.

[0044] Displays the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes.

[0045] Secondly, this application provides a device for measuring the flight altitude of an aircraft, including: a data acquisition unit, a fusion processor, and a secondary power supply board;

[0046] The collector is connected to the fusion processor;

[0047] The secondary power supply board is connected to the data acquisition unit and the fusion processor, respectively.

[0048] The data collector is used to obtain the local latitude and longitude of the current location in response to the aircraft being in flight, and to receive altitude data sent by at least one altimeter at the current time.

[0049] The fusion processor is configured to determine the local elevation based on the local location's latitude and longitude, obtain altimetry data to be fused based on at least one altimetry data and the local elevation, and perform fusion calculations on the altimetry data to be fused to obtain the fused flight altitude at the current moment.

[0050] The secondary power supply board is used to supply power to the data collector and the fusion processor so that the data collector and the fusion processor can work normally.

[0051] Thirdly, this application provides an aircraft flight altitude measurement system, including: an aircraft flight altitude measurement device as described in the second aspect above, an external integrated power supply, and an altitude measurement device;

[0052] The aircraft's flight altitude measuring device is connected to both the altimeter and the external integrated power supply.

[0053] The height measuring device is used to send height measurement data;

[0054] The external integrated power supply is used to provide power to the aircraft's altitude measurement equipment so that the equipment can operate normally.

[0055] This application provides a method, device, and system for measuring aircraft flight altitude. The aircraft flight altitude measuring device (hereinafter referred to as the measuring device) responds to the aircraft being in flight by obtaining the local latitude and longitude at the current moment, further determining the local elevation based on the local latitude and longitude, and then receiving altimeter data sent by at least one altimeter at the current moment. The measuring device obtains altimeter data to be fused based on at least one altimeter data and the local elevation, performs fusion calculations on the altimeter data to be fused, and thus obtains the fused flight altitude at the current moment. In this application, the measuring device can receive multiple altimeter data from multiple altimeter devices, and performs fusion calculations based on at least one altimeter data. Therefore, the fused flight altitude is considered from multiple perspectives, reducing the limitations and singularity of the fused flight altitude, thus allowing the fused flight altitude to more accurately reflect the actual flight altitude of the aircraft, thereby improving the effectiveness of the fused flight altitude. Attached Figure Description

[0056] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0057] Figure 1 An application scenario diagram of the aircraft flight altitude measurement method provided in this application;

[0058] Figure 2 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 1.

[0059] Figure 3 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 2.

[0060] Figure 4 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 4.

[0061] Figure 5 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 6.

[0062] Figure 6This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 8.

[0063] Figure 7 An interactive schematic diagram provided for Embodiment 10;

[0064] Figure 8 A schematic diagram of an aircraft flight altitude measuring device provided in Example 11;

[0065] Figure 9 A schematic diagram of another aircraft flight altitude measuring device provided in Example 11;

[0066] Figure 10 A schematic diagram of a fusion processor structure provided in Embodiment Eleven;

[0067] Figure 11 A schematic diagram of a data collector structure provided in Example 11;

[0068] Figure 12 A schematic diagram of a display structure provided in Embodiment Eleven;

[0069] Figure 13 This is a schematic diagram of a secondary power supply board structure provided in Embodiment Eleven;

[0070] Figure 14 This is a schematic diagram of an aircraft flight altitude measurement system provided in Example Twelve.

[0071] The accompanying drawings illustrate specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the concept in any way, but rather to illustrate the concept of this application to those skilled in the art through reference to particular embodiments. Detailed Implementation

[0072] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0073] In existing technologies, aircraft altitude measurement is primarily achieved using an onboard altimeter. The altimeter receives altimeter data from the altimeter and determines the aircraft's altitude and relative altitude from this data.

[0074] It should be noted that if the altimeter is an atmospheric altimeter, the altimeter data sent by the atmospheric altimeter includes the atmospheric altitude, and the atmospheric relative altitude is calculated based on the atmospheric altitude, thereby the measuring equipment determines the atmospheric altitude and atmospheric relative altitude of the aircraft.

[0075] However, the altimeter equipment carried by aircraft is prone to malfunction during flight, and the altimeter data measured by a single device is limited, resulting in low validity and accuracy of the altitude and relative altitude obtained by the aircraft.

[0076] To address the shortcomings of existing technologies, the inventors of this solution have creatively designed a new approach. This solution provides a method for measuring aircraft flight altitude. To overcome the limitation of single-source altimeter data, which leads to low effectiveness of the obtained altitude and relative altitude, this solution's measuring equipment, in response to the aircraft being in flight, obtains the local latitude and longitude at the current moment. Based on this, the local elevation is determined. The measuring equipment then receives altimeter data from at least one altimeter at the current moment. Thus, this solution can receive multiple altimeter data. Furthermore, based on at least one altimeter data and the local elevation, altimeter data to be fused is obtained. This data is then fused and calculated. Therefore, this solution considers flight altitude from multiple perspectives to obtain the fused flight altitude at the current moment. This reduces the single-source nature and limitations of the fused flight altitude, making the fused flight altitude more accurately reflect the aircraft's true flight altitude at the current moment. Therefore, the effectiveness and accuracy of the fused flight altitude are improved. Meanwhile, this solution deploys at least one altimeter, so if one altimeter fails, the altimeter data sent by the other altimeters can still be used to perform altitude fusion calculations and continuously output accurate fused flight altitudes.

[0077] The following describes the application scenarios of the method, equipment, and system for measuring aircraft flight altitude provided in this application.

[0078] Figure 1 This diagram illustrates an application scenario for the aircraft flight altitude measurement method provided in this application. Figure 1 As shown, the application scenario diagram includes aircraft 101.

[0079] Among them, aircraft 101 can be any machine flying in the air, such as drones, general aviation aircraft, and airships, etc., without any restrictions.

[0080] The aircraft 101 includes a measuring device 102 and at least one altimeter 103.

[0081] In this scenario, aircraft 101 is flying in the air. At least one altimeter 103 collects altimeter data at the current moment and sends it to measuring device 102. Measuring device 102 obtains the latitude and longitude of the local location and determines the local elevation based on the local latitude and longitude. Then, based on at least one altimeter data and the local elevation, altimeter data to be fused is obtained, and fusion calculation is performed to obtain the fused flight altitude at the current moment.

[0082] It should be noted that this application may include at least one altimeter. When multiple altimeters are included, if one altimeter fails, the remaining altimeters can send altimeter data to the aircraft's altitude measurement equipment, thereby enabling the aircraft to obtain more accurate and effective altitude information. Therefore, this application solves the problem of limited altimeter equipment.

[0083] It should be noted that this application utilizes at least one received height measurement data and employs a preset fusion height algorithm to fuse at least one height measurement data. Therefore, this application has a high utilization rate of height measurement data and utilizes all the relevant height measurement data.

[0084] It should be noted that this application effectively determines the altitude to be merged and the relative altitude to be merged, so the accuracy of the current time merged flight altitude and the current time merged flight relative altitude obtained by this application is high. Because effective determination can be achieved, this application improves the anti-interference capability.

[0085] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data must comply with relevant laws, regulations and standards, and corresponding operation entry points are provided for users to choose to authorize or refuse.

[0086] This application provides a method for measuring the flight altitude of an aircraft, which aims to solve the above-mentioned technical problems in the prior art.

[0087] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will now be described with reference to the accompanying drawings.

[0088] Example 1

[0089] The execution subject of Embodiments 1 to 10 of this application is an aircraft flight altitude measurement device.

[0090] Figure 2 This is a schematic flowchart illustrating a method for measuring aircraft flight altitude as provided in Example 1. Figure 2 As shown, the specific steps are as follows.

[0091] S201, in response to the aircraft being in flight, obtains the local latitude and longitude corresponding to the current moment, and determines the local elevation based on the local latitude and longitude.

[0092] Flight status refers to the state in which an aircraft is flying in the air and in flight operation.

[0093] The local location latitude and longitude refers to the latitude and longitude of the aircraft's current location on the map.

[0094] Local elevation refers to the terrain elevation at the location of the aircraft.

[0095] In one approach, the aircraft carries a navigation system that can measure and calculate the aircraft's current latitude and longitude and send it to a measuring device. The measuring device then uses the received latitude and longitude as the local location's latitude and longitude, thereby obtaining the local location's latitude and longitude.

[0096] S202, Receive height measurement data sent by at least one height measurement device at the current moment.

[0097] The at least one height measuring device can be at least one height measuring device of the same type, or at least one height measuring device of a different type. There can also be multiple height measuring devices of each type.

[0098] In one approach, at least one altimeter is mounted on an aircraft. This altimeter collects raw altimeter data in real time, calculates altimeter data from the raw data, and then sends the altimeter data to a measuring device. The measuring device can then receive the altimeter data sent by at least one altimeter at the current moment. The raw altimeter data refers to the basic data related to the altimeter data collected by the altimeter.

[0099] Altitude measurement data refers to any height-related data calculated by the altimeter based on the collected raw altimeter data.

[0100] S203, obtain the height measurement data to be fused based on at least one height measurement data and the local elevation.

[0101] Among them, the altimetry data to be fused refers to altimetry data that will be further used for fusion calculation.

[0102] In one approach, if an altimetry dataset includes atmospheric elevation, then the altimetry dataset to be fused is obtained based on the atmospheric elevation and the local elevation.

[0103] S204 performs fusion calculations on the altimetry data to be fused in order to obtain the fused flight altitude at the current moment.

[0104] The merged flight altitude refers to the flight altitude of the merged aircraft. This includes both the merged flight altitude and the merged flight relative altitude.

[0105] When performing fusion calculations on the altimetry data to be fused, a preset fusion height algorithm is used. This preset fusion height algorithm can be a dynamically weighted fault-tolerant height filtering algorithm, or other algorithms; no restrictions are placed here.

[0106] It should be noted that the preset fusion altitude algorithm can perform fault-tolerant processing on the altimetry data to be fused, and dynamically allocate weights based on the error characteristics of the altimetry data to be fused, thereby performing fusion altitude filtering calculation and calculating the fused flight altitude at the current moment. Therefore, this application can improve the fault tolerance rate.

[0107] This embodiment provides a method for measuring the flight altitude of an aircraft. The aircraft flight altitude measuring device (hereinafter referred to as the measuring device) responds to the aircraft being in flight by obtaining the local latitude and longitude at the current moment, and further determines the local elevation based on the local latitude and longitude. Then, it receives altimeter data sent by at least one altimeter at the current moment. The measuring device obtains altimeter data to be fused based on at least one altimeter data and the local elevation, and performs fusion calculation on the altimeter data to be fused to obtain the fused flight altitude at the current moment. In this application, the measuring device can receive multiple altimeter data from multiple altimeter devices, and perform fusion calculation based on at least one altimeter data. Therefore, the fused flight altitude is considered from multiple aspects, reducing the limitations and singularity of the fused flight altitude. As a result, the fused flight altitude can more accurately reflect the actual flight altitude of the aircraft, thus improving the effectiveness of the fused flight altitude.

[0108] Example 2

[0109] This embodiment is a further refinement of the first embodiment described above. This embodiment is an optional method for determining the local elevation based on the local location's latitude and longitude.

[0110] Figure 3 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 2. Figure 3 As shown, the specific steps are as follows.

[0111] S301, Obtain map elevation map; the map elevation map includes the latitude and longitude of each preset location and its corresponding preset elevation.

[0112] Among them, the map elevation map refers to the preset stored map of the latitude and longitude of the preset location and its corresponding preset elevation.

[0113] The preset location latitude and longitude refers to the latitude and longitude of a pre-set location. It should be noted that each preset location latitude and longitude corresponds to a preset elevation.

[0114] Among them, the preset elevation refers to the terrain height corresponding to the preset location's latitude and longitude.

[0115] In one approach, the measuring device acquires a map elevation locally.

[0116] S302, in the map elevation map, find the preset location latitude and longitude that are consistent with the local location latitude and longitude.

[0117] For example, suppose the map elevation map includes three preset location latitude and longitude and their corresponding preset elevations, namely the first preset location latitude and longitude and its corresponding first preset elevation, the second preset location latitude and longitude and its corresponding second preset elevation, and the third preset location latitude and longitude and its corresponding third preset elevation.

[0118] Assuming that the local location latitude and longitude are the same as the first preset location latitude and longitude, in this step, the measuring device searches among multiple preset location latitude and longitude and finds the first preset location latitude and longitude that is the same as the local location latitude and longitude.

[0119] S303 determines the preset elevation corresponding to the consistent preset location latitude and longitude as the local elevation.

[0120] Furthermore, the measuring equipment determines the first preset elevation corresponding to the latitude and longitude of the first preset location, which is the local elevation.

[0121] In one approach, if no preset location latitude and longitude matching the local location is found in the map elevation map, the local location latitude and longitude is determined to be invalid.

[0122] This embodiment provides a method for measuring the flight altitude of an aircraft. Based on a map elevation map including the latitude and longitude of each preset location and its corresponding preset elevation, the local elevation of the local location can be accurately determined.

[0123] Example 3

[0124] This embodiment is a further refinement of any of the above embodiments. In this embodiment, at least one altimeter is at least one of atmospheric altimeter equipment, satellite positioning altimeter equipment, and radio altimeter equipment; the altimeter data includes at least one of atmospheric altimeter data, satellite altimeter data, and radio altimeter data.

[0125] Example 4

[0126] This embodiment is a further refinement of any of the above embodiments. In this embodiment, the atmospheric altimetry data includes atmospheric altitude; the satellite altimetry data includes satellite altitude; the radio altimetry data includes radio relative altitude; the altimetry data to be fused includes the altitude to be fused and the relative altitude to be fused; the altitude to be fused includes at least one of atmospheric altitude, satellite altitude, and radio altitude; the relative altitude to be fused includes at least one of atmospheric relative altitude, satellite relative altitude, and radio relative altitude.

[0127] In this embodiment, it should be noted that if at least one altimeter includes an atmospheric altimeter, it receives atmospheric altimeter data sent by the atmospheric altimeter at the current time; if at least one altimeter includes a satellite positioning altimeter, it receives satellite altimeter data sent by the satellite positioning altimeter at the current time; if at least one altimeter includes a radio altimeter, it receives radio altimeter data sent by the radio altimeter at the current time.

[0128] Among them, atmospheric altimetry equipment refers to equipment that collects raw atmospheric altimetry data based on atmospheric pressure and calculates altimetry data based on the raw atmospheric altimetry data.

[0129] Among them, satellite positioning altimetry equipment refers to equipment that collects raw satellite altimetry data based on satellite positioning and calculates altimetry data based on the raw satellite altimetry data.

[0130] Among them, radio altimetry equipment refers to equipment that collects raw radio altimetry data based on radio waves and calculates altimetry data based on the raw radio altimetry data.

[0131] This embodiment is an optional method for obtaining the altimetry data to be fused based on at least one altimetry data and the local elevation.

[0132] Figure 4 This is a schematic flowchart illustrating a method for measuring aircraft flight altitude provided in Example 4. Figure 4 As shown, the specific steps are as follows.

[0133] S401, if multiple altimetry data include atmospheric altimetry data, then the relative atmospheric altitude is calculated based on the atmospheric altitude and the local elevation.

[0134] Altitude refers to the vertical distance between the aircraft's location during flight and the sea level.

[0135] Relative altitude refers to the difference in absolute altitude between two locations, specifically the vertical distance between the aircraft's position and a designated reference plane during flight. In this embodiment, the highest point of a mountain in the terrain can be used as the designated reference plane.

[0136] Atmospheric altitude refers to the altitude collected based on atmospheric pressure.

[0137] Atmospheric relative altitude refers to the relative altitude that is related to atmospheric pressure.

[0138] S402. If multiple altimetry data include satellite altimetry data, the satellite relative altitude is calculated based on the satellite altitude and the local elevation.

[0139] Among them, satellite altitude refers to the altitude collected based on satellite positioning.

[0140] Among them, satellite relative altitude refers to the relative altitude related to satellite positioning.

[0141] S403 If multiple altimetry data include radio altimetry data, the radio altitude is calculated based on the radio relative altitude and the local elevation.

[0142] Among them, radio relative altitude refers to the relative altitude based on radio data collection.

[0143] Among them, radio altitude refers to the altitude related to radio.

[0144] This embodiment provides a method for measuring the flight altitude of an aircraft. Based on different types of altimetry data, the corresponding relative altitude is calculated in a targeted manner. The altimetry data to be fused includes the altitude to be fused and the relative altitude to be fused. The altitude to be fused includes at least one of atmospheric altitude, satellite altitude, and radio altitude; the relative altitude to be fused includes at least one of atmospheric relative altitude, satellite relative altitude, and radio relative altitude. Therefore, this embodiment can calculate the altitude to be fused and the relative altitude to be fused differently.

[0145] Example 5

[0146] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method for calculating the relative atmospheric altitude based on atmospheric altitude and local elevation.

[0147] Calculate the difference between atmospheric altitude and local elevation to obtain the relative atmospheric altitude.

[0148] This embodiment also includes an optional method for calculating the satellite's relative altitude based on the satellite's altitude and the local elevation.

[0149] Calculate the difference between the satellite's altitude and the local elevation to obtain the satellite's relative altitude.

[0150] This embodiment also includes an optional method for calculating radio altitude based on radio relative altitude and local elevation.

[0151] Calculate the sum of the radio relative altitude and the local elevation to obtain the radio altitude.

[0152] This embodiment provides a method for measuring the flight altitude of an aircraft. Specifically, based on the local elevation, the atmospheric relative altitude, satellite relative altitude, and radio altitude are calculated.

[0153] Example 6

[0154] This embodiment is a further refinement of any of the above embodiments. This embodiment is an optional method for performing fusion calculations on the altimetry data to be fused in order to obtain the fused flight altitude at the current moment.

[0155] Figure 5 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 6. Figure 5 As shown, the specific steps are as follows.

[0156] S501 performs fusion calculations based on the altitude to be fused to obtain the current fused flight altitude.

[0157] S502 performs fusion calculations based on the relative altitude to be fused in order to obtain the fused flight relative altitude at the current moment.

[0158] This embodiment provides a method for measuring the flight altitude of an aircraft. In this embodiment, the fused flight altitude and fused flight relative altitude are calculated separately and selectively according to the different altimetry data to be fused.

[0159] Example 7

[0160] This embodiment is a further refinement of any of the above embodiments. The altitude to be merged in this embodiment includes the altitude at the current moment.

[0161] It should be noted that the altitude to be fused includes at least one of atmospheric altitude, satellite altitude, and radio altitude. In this embodiment, the altitude to be fused is the altitude at the current moment, which means that the atmospheric altitude, satellite altitude, and radio altitude are the altitudes at the current moment.

[0162] This embodiment is an optional method for obtaining the fused flight altitude by performing fusion calculations based on the altitude to be fused.

[0163] Effectively determine the altitude at which the fusion process takes place.

[0164] Among them, valid judgment refers to performing jump judgment, that is, judging whether the altitude to be merged is valid data.

[0165] In response to the fact that at least one of the current altitudes to be fused is valid, all valid current altitudes are input into the preset fusion altitude algorithm, and the preset fusion altitude algorithm is used to calculate and output the current fused flight altitude.

[0166] For example, assuming that the altitude to be fused includes three altitudes: atmospheric altitude, satellite altitude, and radio altitude, in this embodiment, the above three altitudes are the current altitudes, and a jump judgment is performed on the above three current altitudes.

[0167] Furthermore, in one approach, if two of the current altitudes are valid, the two valid current altitudes are input into a preset fusion altitude algorithm, which is then used to calculate and output the current fusion flight altitude.

[0168] Among them, the preset fusion altitude algorithm belongs to the preset fusion altitude algorithm.

[0169] Among them, the preset fusion altitude algorithm is a pre-set algorithm that takes into account the effective current altitude and then calculates it.

[0170] In another approach, if three current altitude values ​​are valid, then these three valid current altitude values ​​are input into the preset fusion altitude algorithm.

[0171] In one approach, if only one current altitude among the altitudes to be fused is valid, then that current altitude is input into the preset fusion altitude algorithm.

[0172] In one approach, if none of the current altitudes in the altitudes to be merged are valid, then all invalid current altitudes are ignored or deleted, or a preset invalidation strategy is used to obtain the aircraft's flight altitude. For example, the merged altitude of the previous moment and the sum of the aircraft's celestial velocity of the previous moment are used as the merged altitude of the current moment.

[0173] This embodiment provides a method for measuring the flight altitude of an aircraft. In this embodiment, a valid judgment is first performed. Only at least one valid current altitude can be input into the preset fusion altitude algorithm. Therefore, this embodiment first performs a preliminary screening of the altitude to be fused. Thus, the fusion flight altitude calculated based on the valid current altitude after screening is more in line with reality.

[0174] Example 8

[0175] This embodiment is a further refinement of any of the above embodiments, and is an optional method for effectively determining the altitude to be merged.

[0176] Figure 6 This is a schematic flowchart of a method for measuring the flight altitude of an aircraft, provided in Example 8. Figure 6 As shown, the specific steps are as follows.

[0177] S601, obtain the previous altitude corresponding to at least one current altitude among the altitudes to be fused.

[0178] For example, assuming the altitude to be fused includes atmospheric altitude and satellite altitude, the measuring device obtains the previous altitude corresponding to the atmospheric altitude, i.e., the previous atmospheric altitude, and obtains the previous altitude corresponding to the satellite altitude, i.e., the previous satellite altitude.

[0179] Among them, atmospheric altitude and satellite altitude refer to the altitude at the current moment, that is, the atmospheric altitude and satellite altitude at the current moment, respectively.

[0180] S602, for each current altitude, if the altitude difference between the current altitude and the corresponding previous altitude is within the preset altitude difference range, then the current altitude is determined to be valid.

[0181] Furthermore, taking the current atmospheric altitude as an example, if the difference between the current atmospheric altitude and the corresponding atmospheric altitude at the previous moment is within the preset altitude difference range, the current atmospheric altitude is determined to be valid, that is, the atmospheric altitude in the altitude to be merged is valid.

[0182] The preset altitude difference range is a pre-defined, tolerable range of altitude differences. It should be noted that this refers to the altitude difference range during normal flight from the previous moment to the current moment. For example, if the aircraft was flying normally from the previous moment to the current moment, the normal range of the altitude difference from the previous position to the current position is between (-X, X). If the actual altitude difference is less than -X or greater than X, it indicates that the aircraft may not be flying normally. The normal altitude difference range (-X, X) is the preset altitude difference range.

[0183] S603, for each current altitude, if the altitude difference between the current altitude and the corresponding previous altitude is not within the preset altitude difference range, then the current altitude is determined to be invalid.

[0184] For example, if the altitude difference between the current altitude and the corresponding altitude at the previous time is no longer within the preset altitude difference range, i.e., within the normal range of altitude difference (-X, X), then the current altitude is determined to be invalid.

[0185] In this application, the numerical values ​​in the exemplary examples are only for illustrating the scheme and do not represent the actual situation.

[0186] This embodiment provides a method for measuring aircraft flight altitude. This embodiment uses a preset altitude difference range and the altitude difference between the current altitude and the corresponding previous altitude to determine whether the current altitude is valid or invalid. Specifically, if the altitude difference between the current altitude and the corresponding previous altitude is within the preset altitude difference range, it indicates that the flight from the previous moment to the current moment was normal, so the current altitude is valid. If the altitude difference between the current altitude and the corresponding previous altitude is not within the preset altitude difference range, it indicates that the flight from the previous moment to the current moment was abnormal, so the current altitude is invalid.

[0187] Example 9

[0188] This embodiment is a further refinement of any of the above embodiments. The relative height included in the relative height to be fused in this embodiment is the relative height at the current moment.

[0189] This embodiment is an optional method for obtaining the fused flight relative altitude by performing fusion calculations based on the relative altitude to be fused.

[0190] The algorithm effectively determines the relative altitude to be merged; in response to the fact that at least one of the relative altitudes to be merged is valid at the current moment, it inputs all valid relative altitudes at the current moment into the preset relative altitude fusion algorithm, calculates and outputs the current moment fused flight relative altitude using the preset relative altitude fusion algorithm.

[0191] The implementation method of this embodiment is the same as that of Embodiment Seven, and will not be described again here.

[0192] Among them, the preset fusion relative height algorithm belongs to the preset fusion height algorithm.

[0193] This embodiment provides a method for measuring the flight altitude of an aircraft. In this embodiment, a valid judgment is first made. Only at least one valid current relative altitude can be input into the preset fusion relative altitude algorithm. Therefore, this embodiment first performs a preliminary screening of the relative altitudes to be fused. Thus, the fusion flight relative altitude calculated based on the valid current relative altitudes after screening is more in line with reality.

[0194] One approach involves effectively determining the relative degree of fusion to be performed, specifically including:

[0195] Obtain the previous relative height corresponding to at least one current relative height among the relative heights to be fused;

[0196] For each current relative height, if the height difference between the current relative height and the corresponding previous relative height is within the preset relative height difference range, then the current relative height is determined to be valid.

[0197] For each current relative height, if the height difference between the current relative height and the corresponding previous relative height is not within the preset relative height difference range, then the current relative height is determined to be invalid.

[0198] Example 10

[0199] This embodiment is a further refinement of any of the above embodiments, including:

[0200] Obtain the confidence level corresponding to the current fused flight altitude calculated by the preset fused altitude algorithm; the preset fused altitude algorithm includes a preset fused altitude algorithm and a preset fused relative altitude algorithm; display the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes.

[0201] The current fused flight altitude includes both the current fused flight elevation and the current fused flight relative altitude. It should be noted that the current fused flight elevation and the current fused flight relative altitude each have corresponding confidence levels.

[0202] It should be noted that when using the preset fusion altitude algorithm to calculate the fusion flight altitude at the current moment, the preset fusion altitude algorithm will also be used to output the confidence level corresponding to the fusion flight altitude at the current moment; when using the preset fusion relative altitude algorithm to calculate the fusion flight relative altitude at the current moment, the preset fusion relative altitude algorithm will also be used to output the confidence level corresponding to the fusion flight relative altitude at the current moment.

[0203] This embodiment will display the current fused flight altitude and its corresponding confidence level, as well as all valid current altitudes and all valid current relative altitudes.

[0204] In this application, the current time-integrated flight altitude is referred to as the integrated flight altitude, and the current time-integrated flight relative altitude is referred to as the integrated flight relative altitude.

[0205] This embodiment provides a method for measuring aircraft flight altitude. In this embodiment, a pre-set confidence algorithm is used to calculate the confidence level corresponding to the current fused flight altitude. Then, the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes are displayed, which is convenient for viewing.

[0206] Figure 7 This is an interactive schematic diagram provided for Embodiment 10. For example... Figure 7 As shown, the system includes measuring equipment and three altimeter devices. In this embodiment, it is assumed that the altimeter data includes atmospheric altimeter data, satellite altimeter data, and wireless altimeter data, specifically including the following:

[0207] S701, the measuring equipment responds to the aircraft being in flight and obtains the local latitude and longitude of the current location.

[0208] S702, the measuring equipment determines the local elevation based on the latitude and longitude of the current location.

[0209] S703, three altimeter devices collect corresponding altimeter data.

[0210] S704: Three altimeter devices send corresponding altimeter data to the measuring equipment. The altimeter data includes atmospheric altimeter data, satellite altimeter data, and wireless altimeter data.

[0211] S705, the measuring equipment calculates the difference between atmospheric altitude and local elevation to obtain the atmospheric relative altitude.

[0212] S706, the measuring equipment calculates the difference between the satellite's altitude and the local elevation to obtain the satellite's relative altitude.

[0213] S707, the measuring equipment calculates the sum of radio relative altitude and local elevation to obtain radio altitude. The relative altitude to be fused includes atmospheric relative altitude, satellite relative altitude, and radio relative altitude.

[0214] S708: The measuring equipment makes a valid judgment on atmospheric altitude, satellite altitude, and radio altitude. If valid, proceed to S709; if invalid, proceed to S710.

[0215] S709, the measuring device responds to the fact that at least one current altitude is valid, inputs all valid current altitudes into the preset fusion altitude algorithm, calculates and outputs the current fusion flight altitude and its corresponding confidence level using the preset fusion altitude algorithm.

[0216] S710, the measuring device also saves invalid data.

[0217] S711: The measuring equipment makes a valid determination of the atmospheric relative altitude, satellite relative altitude, and radio relative altitude. If valid, proceed to S712; if invalid, proceed to S710.

[0218] S712, the measuring device responds to the fact that at least one current relative altitude is valid, inputs all valid current relative altitudes into the preset fusion relative altitude algorithm, calculates and outputs the current fusion flight relative altitude and its corresponding confidence level using the preset fusion relative altitude algorithm.

[0219] Example 11

[0220] This embodiment provides a device for measuring the flight altitude of an aircraft. Figure 8 This is a schematic diagram of an aircraft flight altitude measuring device provided in Example 11.

[0221] like Figure 8 As shown, the aircraft flight altitude measurement device 800 specifically includes: a data acquisition unit 801, a fusion processor 802, and a secondary power supply board 803.

[0222] The data collector 801 is connected to the fusion processor 802;

[0223] The secondary power supply board 803 is connected to the data collector 801 and the fusion processor 802 respectively;

[0224] The data acquisition unit 801 is used to obtain the local latitude and longitude of the current position in response to the aircraft being in flight, and to receive altitude measurement data sent by at least one altimeter at the current time.

[0225] The fusion processor 802 is used to determine the local elevation based on the local location latitude and longitude, obtain the altimetry data to be fused based on at least one altimetry data and the local elevation, and perform fusion calculations on the altimetry data to be fused to obtain the fused flight altitude at the current moment.

[0226] The secondary power supply board 803 is used to power the data acquisition unit and the fusion processor so that they can work normally.

[0227] It should be noted that the fusion processor 802 contains a preset fusion height algorithm.

[0228] In one way, Figure 9 This is a schematic diagram of another aircraft flight altitude measuring device provided in Example Eleven. Figure 9 As shown, the aircraft flight altitude measuring device may also include: a first plug-in 901, a second plug-in 902, and a display 903.

[0229] The first plug-in 901 is connected to the secondary power supply board 803 and the external integrated power supply 904.

[0230] The second plug-in 902 is connected to the data collector 801 and the height measuring device 905.

[0231] The display 903 is connected to the fusion processor 802 and the secondary power supply board 803.

[0232] In one way, Figure 10 This is a schematic diagram of a fusion processor structure provided in Embodiment Eleven. Figure 10As shown, an embedded architecture digital signal processor (DSP) 1001 + field-programmable gate array (FPGA) 1002 solution is adopted. The DSP 1001 is a Q6713 ​​type, a heterogeneous multi-core DSP digital signal processor composed of four high-performance DSP cores, with a single-core clock frequency of 500MHz and power consumption of less than 8W. Its connected power supply circuit 1003 receives external +5V and +15V power to power this unit. The clock circuit 1004 provides an external clock for the DSP and adopts noise reduction and suppression design to eliminate noise interference to the logic circuit section. The reset circuit 1005 resets and restarts the DSP 1001 when it malfunctions, restoring it to normal operating status. Synchronous Dynamic Random Access Memory (SDRAM) 1006 is used to store various cached data during system operation, and flash memory 1007 is used to store the system's running program. The DSP1001 transmits data and commands to the FPGA1002 circuit module via its internal data bus, control bus, and address bus. The FPGA1002 circuit module implements functions such as decoding of each module, sampling of discrete quantities, control logic of the 12-transmitter, 8-receiver ARINC429 conversion circuit 1008, control logic of the 8-channel RS422 conversion circuit 1009, and control logic of the 1-channel RS232 level conversion circuit 1011. Specifically, the data acquisition unit 801 sends 429 input signals to the FPGA1002 via the ARINC429 conversion circuit 1008 and the RS422 conversion circuit 1009, enabling the fusion processor 802 to receive multiple height measurement data sent by the data acquisition unit 801. The ±5V and ±15V power detection signals output from the secondary power supply board 803 are sequentially processed through the conditioning circuit 1014, the multiplexer 1015, the AD sampling 1016, and the power supply board level conversion 1017 before being input to the FPGA1002 to obtain the power supply's operating status. FPGA1002 sends the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes to display 903 via ARINC429 driver circuit 1009. It can also send time stamp signals via output level conversion circuit 1010. Connecting to external monitoring equipment via RS232 level conversion circuit 1011 allows for monitoring of the system's complete operational status. Pulse information is input via input level conversion circuit 1012. The 429 driver circuit 1013 sends the current fused flight altitude and its confidence level data to display 903.

[0233] In one way, Figure 11 This is a schematic diagram of a data collector structure provided in Example Eleven. Figure 11 As shown, the data acquisition unit 801 mainly includes a communication circuit 1101 and a data acquisition circuit 1102. The communication circuit 1101 includes an ARINC429 interface circuit 1103 and its peripheral drive / power supply circuits, an RS422 interface circuit 1104 and its peripheral drive / power supply circuits, and an RS232 interface circuit 1105 and its peripheral drive / power supply circuits. At least one altimeter is connected via a second plug-in 901. The ARINC429 interface circuit 1103 receives altimeter data from atmospheric altimeter equipment and satellite positioning altimeter equipment, transmitting and receiving data in a 12-channel transmit and 8-channel receive format. The RS422 interface circuit 1104 receives altimeter data from a radio altimeter equipment, transmitting and receiving data in an 8-channel format. The RS232 interface circuit 1105 receives external monitoring commands from the data acquisition unit and sends data acquisition unit status information, transmitting and receiving data in a 1-channel format. The ARINC429 interface circuit 1103 is also used to send the calculated current fused flight altitude. The DI conditioning circuit 1106 in the acquisition circuit 1102 conditions the externally acquired discrete signals (+28V / ground and power-down signals) into digital signals, which are then converted by the DI / O interface circuit 1107 and sent to the fusion processor 802 via the first bus interface 1108. The DO conditioning circuit 1109 converts the internal digital signals received by the first bus interface 1108 line into 28V / ground and power-down signals after conversion by the DI / O interface circuit 1107, and then conditions them by the DO conditioning circuit 1109 before sending them externally. The analog input circuit 1110 conditions the externally acquired analog signals, converts them into digital signals by the A / D conversion circuit 1111, and then sends them to the fusion processor 802 via the first bus interface 1108.

[0234] In one way, Figure 12 This is a schematic diagram of a display structure provided in Embodiment Eleven. Figure 12As shown, the display 903 mainly includes an altitude information integrated display circuit 1201 and an instruction data transmission circuit 1202, which respectively realize the altitude information integrated display function and the screen parameter setting function. The instruction data transmission circuit 1202 is equipped with an ARINC429 interface circuit 1203, which mainly communicates with the fusion processor 802. It receives the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes calculated by the fusion processor 802, and sends them to the altitude information integrated display area 1204 in the altitude information integrated display circuit 1201 for display. The instruction data transmission circuit 1202 also includes a DI / O conditioning circuit 1206 and a DI / O interface circuit 1207. The altitude information integrated display circuit 1201 consists of the altitude information integrated display area 1204 and the screen setting button 1205. The user changes the DI state by operating the parameter setting button next to the screen. The corresponding DI signal is transformed by the DI / O conditioning circuit 1206 and the DI / O interface circuit 1207, and then sent to the fusion processor 802 via the second bus interface 1208. The display 903 then sends the corresponding command to modify the screen parameters, which, after passing through the I / O conditioning circuit 1206 and the DI / O interface circuit 1207, changes the screen parameters. This function allows setting display parameters such as resolution, brightness, contrast, and system time. The I / O conditioning circuit 1206 and the screen setting button 1205 transmit signals via four channels.

[0235] In one way, Figure 13 This is a schematic diagram of a secondary power supply board structure provided in Embodiment Eleven. Figure 13As shown, the secondary power supply board 803 connects to the aircraft's 28V DC main power supply 1301 and 24V DC backup power supply 1302 via the first plug-in 901. Both power supplies are processed by a reverse connection protection circuit before entering the switching circuit 1303, thus achieving power switching. The power from the external integrated power supply 904 passes through the surge protection circuit 1304, power regulation and filtering 1305, power failure protection circuit 1306, energy storage capacitor 1307, the 28V DC main power supply 1301, and the 24V DC backup power supply 1302. Then, it passes through the 28V DC main power supply 1301 and the 24V DC backup power supply 1302 to the first buffer 1306 and the second buffer 1307. The first buffer 1306 outputs +15V, and the second buffer 1307 outputs +5V. Alternatively, it can directly output -15V and -5V through the 28V DC main power supply 1301 and the 24V DC backup power supply 1302. This provides power to the fusion processor 802, the data acquisition unit 801, and the display 903. The first conditioning detector 1308 and the second conditioning detector 1309 have output power detection functions. The first conditioning detector 1308 isolates and detects the +15V output power, outputting the conditioned signal as a discrete quantity (i.e., the +15V detection signal) to the fusion processor 802. The second conditioning detector 1309 conditions the ±5V output power, outputting the conditioned signal (i.e., the +5V detection signal) to the fusion processor 802 for A / D acquisition and real-time monitoring. If the 28VDC main power supply 1301 experiences an unexpected power failure, the power failure protection circuit provides 60ms power failure protection, automatically switching to the 24VDC backup power supply 1302, and simultaneously issuing a +28V power failure detection signal. The output on the secondary power supply board 803 is controlled by the "start signal". After receiving the discrete quantity of "start", the power delay circuit 1310 performs anti-jitter design for the transition of the "start signal". The "start signal" is isolated by optocoupler and then conditioned into a switching quantity transistor-transistor logic level (i.e. TTL level) output. In order to ensure good waveform edges, a Schmitt inverter is used for shaping.

[0236] Example 12

[0237] This embodiment provides a system for measuring the flight altitude of an aircraft.

[0238] Figure 14 This is a schematic diagram of an aircraft flight altitude measurement system provided in Example Twelve. Figure 14 As shown, the aircraft flight altitude measurement system 1400 includes: an aircraft flight altitude measurement device 800 as described in Example 11, an external integrated power supply 904, and an altimeter 905. The altimeter 905 includes an atmospheric altimeter 1401, a satellite positioning altimeter 1402, and a radio altimeter 1403.

[0239] The aircraft flight altitude measuring device 800 is connected to the altimeter 905 and the external integrated power supply 904 respectively;

[0240] Altimeter 905 is used to send altitude measurement data;

[0241] External integrated power supply 904 is used to provide power to the aircraft altitude measurement equipment so that the aircraft altitude measurement equipment can operate normally.

[0242] Other embodiments of this application will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this application are indicated by the following claims.

[0243] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.

Claims

1. A method for measuring the flight altitude of an aircraft, characterized in that, The method includes: In response to the aircraft being in flight, the local latitude and longitude of the current location are obtained, and the local elevation is determined based on the local latitude and longitude. Receive altimeter data transmitted at the current moment from at least one altimeter; the altimeter data includes at least one of atmospheric altimeter data, satellite altimeter data, and radio altimeter data; the atmospheric altimeter data includes atmospheric altitude; the satellite altimeter data includes satellite altitude; and the radio altimeter data includes radio relative altitude. Altimetry data to be fused is obtained based on at least one of the aforementioned altimetry data and the local elevation; the altimetry data to be fused includes the altitude to be fused and the relative altitude to be fused; the altitude to be fused includes at least one of the atmospheric altitude, the satellite altitude, and the radio altitude; the relative altitude to be fused includes at least one of the atmospheric relative altitude, the satellite relative altitude, and the radio relative altitude. The altitude to be merged is effectively determined; if the altitude difference between at least one current altitude and the previous altitude is within a preset altitude difference range, then the current altitude is valid. In response to the fact that at least one of the current altitudes to be fused is valid, all valid current altitudes are input into a preset fusion altitude algorithm, and the preset fusion altitude algorithm is used to calculate and output the current fused flight altitude. The relative heights to be merged are effectively determined; if the height difference between the relative heights at least one of the relative heights to be merged at the current time and the relative heights at the previous time is within a preset range of relative height differences, then the relative heights at the current time are valid. In response to the fact that at least one of the relative altitudes to be fused is valid at the current moment, all valid relative altitudes at the current moment are input into the preset relative altitude fusion algorithm, and the preset relative altitude fusion algorithm is used to calculate and output the current moment fused flight relative altitude; The confidence level corresponding to the current fused flight altitude calculated by the preset fusion altitude algorithm is obtained; the preset fusion altitude algorithm includes a preset fusion altitude algorithm and a preset fusion relative altitude algorithm; the weights in the preset fusion altitude algorithm are dynamically allocated according to the error characteristics of the altimetry data to be fused. Displays the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes.

2. The method according to claim 1, characterized in that, Determining the local elevation based on the local location's latitude and longitude includes: Obtain a map elevation map; the map elevation map includes the latitude and longitude of each preset location and its corresponding preset elevation; Query the preset location latitude and longitude that matches the local location latitude and longitude on the map elevation map; The preset elevation corresponding to the consistent preset location latitude and longitude is determined as the local elevation.

3. The method according to claim 1, characterized in that, The at least one altimeter is at least one of atmospheric altimeter equipment, satellite positioning altimeter equipment, and radio altimeter equipment.

4. The method according to claim 3, characterized in that, The process of obtaining the altimetry data to be fused based on at least one of the altimetry data and the local elevation includes: If multiple altimetry data include atmospheric altimetry data, then the atmospheric relative altitude is calculated based on the atmospheric altitude and the local elevation. If multiple altimetry data include satellite altimetry data, the satellite relative altitude is calculated based on the satellite altitude and the local elevation. If multiple sets of altimetry data include radio altimetry data, then the radio altitude is calculated based on the radio relative altitude and the local elevation.

5. The method according to claim 4, characterized in that, The calculation of relative atmospheric altitude based on the atmospheric altitude and local elevation includes: Calculate the difference between the atmospheric altitude and the local elevation to obtain the relative atmospheric altitude; The calculation of the satellite's relative altitude based on the satellite's altitude and the local elevation includes: Calculate the difference between the satellite's altitude and the local elevation to obtain the satellite's relative altitude; The calculation of radio altitude based on the radio relative altitude and local elevation includes: The radio altitude is obtained by summing the relative radio altitude and the local elevation.

6. The method according to claim 1, characterized in that, The effective determination of the altitude to be fused also includes: Obtain the previous altitude corresponding to at least one current altitude among the altitudes to be fused; For each current altitude, if the altitude difference between the current altitude and the corresponding previous altitude is not within the preset altitude difference range, then the current altitude is determined to be invalid.

7. An aircraft flight altitude measuring device, comprising: Collector, fusion processor, and secondary power supply board; The collector is connected to the fusion processor; The secondary power supply board is connected to the data acquisition unit and the fusion processor, respectively. The data acquisition unit is configured to, in response to the aircraft being in flight, obtain the local latitude and longitude of the current location, and receive altimeter data transmitted by at least one altimeter at the current time; the altimeter data includes at least one of atmospheric altimeter data, satellite altimeter data, and radio altimeter data; the atmospheric altimeter data includes atmospheric altitude; the satellite altimeter data includes satellite altitude; and the radio altimeter data includes radio relative altitude. The fusion processor is configured to determine the local elevation based on the local location's latitude and longitude, obtain altimetry data to be fused based on at least one of the altimetry data and the local elevation, and the altimetry data to be fused includes the altitude to be fused and the relative altitude to be fused; the altitude to be fused includes at least one of atmospheric altitude, satellite altitude, and radio altitude; the relative altitude to be fused includes at least one of atmospheric relative altitude, satellite relative altitude, and radio relative altitude; The altitude to be merged is effectively determined; if the altitude difference between at least one current altitude and the previous altitude is within a preset altitude difference range, then the current altitude is valid. In response to the fact that at least one of the current altitudes to be fused is valid, all valid current altitudes are input into a preset fusion altitude algorithm, and the preset fusion altitude algorithm is used to calculate and output the current fused flight altitude. The relative heights to be merged are effectively determined; if the height difference between the relative heights at least one of the relative heights to be merged at the current time and the relative heights at the previous time is within a preset range of relative height differences, then the relative heights at the current time are valid. In response to the fact that at least one of the relative altitudes to be fused is valid at the current moment, all valid relative altitudes at the current moment are input into the preset relative altitude fusion algorithm, and the preset relative altitude fusion algorithm is used to calculate and output the current moment fused flight relative altitude; The confidence level corresponding to the current fused flight altitude calculated by the preset fusion altitude algorithm is obtained; the preset fusion altitude algorithm includes a preset fusion altitude algorithm and a preset fusion relative altitude algorithm; the weights in the preset fusion altitude algorithm are dynamically allocated according to the error characteristics of the altimetry data to be fused. Displays the current fused flight altitude and its corresponding confidence level, all valid current altitudes, and all valid current relative altitudes; The secondary power supply board is used to supply power to the data collector and the fusion processor so that the data collector and the fusion processor can work normally.

8. A system for measuring the flight altitude of an aircraft, characterized in that, include: The aircraft flight altitude measuring device, external integrated power supply, and altimeter as described in claim 7; The aircraft's flight altitude measuring device is connected to both the altimeter and the external integrated power supply. The height measuring device is used to send height measurement data; The external integrated power supply is used to provide power to the aircraft's altitude measurement equipment so that the equipment can operate normally.

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