Umbrella opening data generation method, system, terminal and computer readable storage medium

Abstract

The application discloses a parachute opening data generation method and system, a terminal and a computer readable storage medium. The method comprises the following steps: when a sampling signal is received, a barometric pressure sensor is controlled to enter a full-speed mode to acquire a barometric pressure sensor value in real time, and a first height value is generated according to the barometric pressure sensor value; it is judged whether an IMU enters a measurement mode, if yes, the IMU is calibrated, IMU data is acquired in real time, and first acceleration and attitude data are calculated; according to the first height value, the first acceleration and the attitude data, a fusion algorithm is adopted to obtain parachute opening data. The data acquired by the barometric pressure sensor and the IMU is fused, and accurate parachute opening data for parachute opening judgment can be obtained.

Description

Technical Field

[0001] This invention relates to the field of parachute control technology, and in particular to a method, system, terminal, and computer-readable storage medium for generating parachute deployment data. Background Technology

[0002] With the gradual development of the low-altitude economy, skydiving, as an important part of general aviation, makes safety technology particularly crucial. During a skydive, in addition to the main parachute, a reserve parachute is used to ensure safety and facilitate a safe landing should the main parachute malfunction.

[0003] Currently, the deployment of the backup parachute is usually determined based on altitude and speed. However, the current methods for obtaining the deployment altitude, acceleration, and speed are not accurate, making it impossible to achieve accurate deployment of the backup parachute.

[0004] Therefore, existing technologies still need improvement and development. Summary of the Invention

[0005] The main objective of this invention is to provide a method, system, terminal, and computer-readable storage medium for generating parachute deployment data. This invention aims to solve the problem that current methods for controlling the deployment of backup parachutes typically rely on altitude and speed to determine deployment, but the current methods for obtaining deployment altitude and speed are inaccurate, resulting in the inability to achieve accurate deployment of backup parachutes.

[0006] To achieve the above objectives, the present invention provides a method for generating parachute deployment data, the method comprising the following steps: When a sampling signal is received, the barometric pressure sensor is controlled to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and a first altitude value is generated based on the barometric pressure sensor values. Determine whether the IMU has entered measurement mode. If it has, calibrate the IMU, acquire IMU data in real time, and calculate the first acceleration and attitude data. Based on the first altitude value, the first acceleration, and the attitude data, a fusion algorithm is used to obtain the parachute deployment data.

[0007] Optionally, the step of controlling the calibrated barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time when a sampling signal is received, and generating a first altitude value based on the barometric pressure sensor values, further includes: Initialize the air pressure sensor and determine whether the reading range of the air pressure sensor is within the range. If the reading range of the barometric pressure sensor is within the range, then read the first preset number of calibration barometric pressure sensor values, calculate the height corresponding to each calibration barometric pressure sensor value, and determine whether the height range corresponding to all calibration barometric pressure sensor values ​​is within the first height range. If the altitude range corresponding to all calibrated barometric pressure sensor values ​​is within the first altitude range, then a second preset number of reference barometric pressure sensor values ​​are read every first preset time interval, an average barometric pressure sensor value is calculated based on all the reference barometric pressure sensor values, and the IMU is calibrated based on the average barometric pressure sensor value.

[0008] Optionally, when a sampling signal is received, controlling the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and generating a first altitude value based on the barometric pressure sensor values, specifically includes: When a sampling signal is received, the air pressure sensor is controlled to enter full-speed mode; The air pressure sensor acquires air pressure sensor values ​​in real time at a preset frequency, and calculates the corresponding first altitude value based on the air pressure sensor values.

[0009] Optionally, determining whether the IMU has entered measurement mode, and if so, calibrating the IMU, acquiring IMU data in real time, and calculating the first acceleration and attitude data, specifically includes: Determine whether the IMU has entered measurement mode; when the IMU enters measurement mode, read the raw IMU data. The static bias is obtained from the raw IMU data, and the IMU is calibrated based on the static bias. Based on the calibrated IMU, IMU data is acquired in real time, and first acceleration and attitude data are generated according to a preset output method.

[0010] Optionally, the step of acquiring IMU data in real time based on the calibrated IMU and generating first acceleration and attitude data according to a preset output method specifically includes: Based on the calibrated IMU, acquire IMU data in real time; The IMU data is processed according to the algorithm library to obtain the second acceleration and the first attitude data, and the IMU data is processed according to the rotation matrix to obtain the third acceleration and the second attitude data; Determine whether the error between the second acceleration and the third acceleration is less than a preset threshold or whether the IMU running time exceeds a time threshold within a second preset time period; Based on the judgment result, the target output method is selected to generate the first acceleration and attitude data.

[0011] Optionally, the step of selecting the target output method based on the judgment result to generate the first acceleration and attitude data specifically includes: When the error between the second acceleration and the third acceleration is less than a preset threshold within a second preset time or the IMU running time exceeds a time threshold, the algorithm library is selected as the target output method, and the first attitude data is used as attitude data. When the error between the second acceleration and the third acceleration is not less than a preset threshold within a second preset time period, and the IMU running time does not exceed the time threshold, the rotation matrix is ​​selected as the target output method, the third acceleration is used as the first acceleration, and the second attitude data is used as attitude data.

[0012] Optionally, obtaining parachute deployment data by employing a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data specifically includes: Obtain the altitude value from the previous parachute deployment data, convert the first acceleration to the world coordinate system as the target acceleration, and calculate the current estimated altitude and estimated velocity based on the estimator, according to the target acceleration and the altitude value from the previous parachute deployment data. Obtain the first height value, calculate the residual based on the first height value and the estimated height, and correct the estimated height and the estimated speed based on the residual to obtain the target height and the target speed. The target altitude, target velocity, first acceleration, and attitude data are combined to generate parachute deployment data.

[0013] Furthermore, to achieve the above objectives, the present invention also provides a parachute opening data generation system, wherein the parachute opening data generation system comprises: The barometric pressure sensor processing module is used to control the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time when a sampling signal is received, and to generate a first altitude value based on the barometric pressure sensor values. The IMU processing module is used to determine whether the IMU has entered the measurement mode. If it has, the IMU is calibrated, IMU data is acquired in real time, and the first acceleration and attitude data are calculated. The fusion module is used to obtain parachute deployment data by using a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data.

[0014] In addition, to achieve the above objectives, the present invention also provides a terminal, wherein the terminal includes: a memory, a processor, and a parachute data generation program stored in the memory and executable on the processor, wherein when the parachute data generation program is executed by the processor, it implements the steps of the parachute data generation method as described above.

[0015] In addition, to achieve the above objectives, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a parachute opening data generation program, which, when executed by a processor, implements the steps of the parachute opening data generation method as described above.

[0016] In this invention, upon receiving a sampling signal, the barometric pressure sensor is controlled to enter full-speed mode to acquire its value in real time, and a first altitude value is generated based on this value. It is then determined whether the IMU has entered measurement mode; if so, the IMU is calibrated, IMU data is acquired in real time, and first acceleration and attitude data are calculated. Based on the first altitude value, the first acceleration, and the attitude data, a fusion algorithm is used to obtain parachute deployment data. This invention achieves more accurate parachute deployment data by fusing data collected from the barometric pressure sensor and the IMU, which in turn allows for precise control of the backup parachute's activation. Attached Figure Description

[0017] Figure 1 This is a flowchart of a preferred embodiment of the umbrella opening data generation method of the present invention; Figure 2 This is a schematic diagram of the direction-of-arrival estimation model in the umbrella opening data generation method of the present invention; Figure 3 This is a schematic diagram of the spatial rectangular coordinate system in the umbrella opening data generation method of the present invention; Figure 4 This is a structural diagram of a preferred embodiment of the umbrella opening data generation system of the present invention; Figure 5 This is a structural diagram of a preferred embodiment of the terminal of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0019] With the gradual development of the low-altitude economy, skydiving, as an important part of general aviation, makes safety technology particularly crucial. During a skydive, to ensure safety, in addition to the main parachute, a reserve parachute is used to achieve a safe landing if the main parachute malfunctions. Currently, the deployment of the reserve parachute is usually determined based on altitude and velocity. However, the current methods for obtaining deployment altitude, acceleration, and velocity are not accurate, leading to inaccurate deployment of the reserve parachute.

[0020] To address one or more of the above-mentioned issues, this application, upon receiving a sampling signal, controls the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and generates a first altitude value based on the barometric pressure sensor values; determines whether the IMU has entered measurement mode, and if so, calibrates the IMU, acquires IMU data in real time, and calculates the first acceleration and attitude data; and obtains parachute deployment data by employing a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data.

[0021] The preferred embodiment of the umbrella opening data generation method of the present invention, such as... Figure 1 As shown, the method for generating umbrella opening data includes the following steps: Step S10: When a sampling signal is received, control the barometric pressure sensor to enter full-speed mode to acquire the barometric pressure sensor value in real time, and generate a first altitude value based on the barometric pressure sensor value.

[0022] It should be noted that in this invention, a high-precision barometric pressure sensor and an inertial measurement unit (IMU) are used, and data is acquired through corresponding data acquisition methods. Then, a fusion algorithm is used to obtain accurate parachute deployment data, ensuring that the parachutist can control the activation and release of the backup parachute based on the deployment data if the main parachute fails to open successfully, thus ensuring the safety of the parachutist.

[0023] In this invention, when the parachutist is on the ground, the current ambient pressure is automatically measured multiple times and "reset to zero" by the built-in barometric pressure sensor. This value is used as the ground reference altitude. Then, the atmospheric pressure is continuously monitored until the conditions for entering the takeoff unlocking phase are met. When the conditions for the takeoff unlocking phase are met, the parachute opening condition judgment triggering phase is entered. In this phase, the parachute opening data is accurately obtained through the parachute opening data generation method.

[0024] In this invention, when the parachute opening condition determination triggering stage is entered, a sampling signal will be received, which will then control the barometric pressure sensor and IMU to acquire the corresponding data. After data fusion, parachute opening data for determining whether to open the parachute is obtained.

[0025] Furthermore, the step of controlling the calibrated barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time upon receiving a sampling signal, and generating a first altitude value based on the barometric pressure sensor values, further includes: Initialize the air pressure sensor and determine whether the reading range of the air pressure sensor is within the range. If the reading range of the barometric pressure sensor is within the range, then read the first preset number of calibration barometric pressure sensor values, calculate the height corresponding to each calibration barometric pressure sensor value, and determine whether the height range corresponding to all calibration barometric pressure sensor values ​​is within the first height range. If the altitude range corresponding to all calibrated barometric pressure sensor values ​​is within the first altitude range, then a second preset number of reference barometric pressure sensor values ​​are read every first preset time interval, an average barometric pressure sensor value is calculated based on all the reference barometric pressure sensor values, and the IMU is calibrated based on the average barometric pressure sensor value.

[0026] Specifically, in this invention, before the barometric pressure sensor enters full-speed mode, it automatically measures and zeros the current ambient pressure to initialize the sensor and determines whether the reading is within its range. If the reading is within the range, it reads a first preset number of calibration barometric pressure sensor values ​​and calculates the altitude based on these values. It then determines whether the difference between the maximum and minimum altitude values ​​is within a first altitude range. If the difference is within the first altitude range, it reads a second preset number of reference barometric pressure sensor values ​​every first preset time interval and calculates the average value to calibrate the IMU. The first preset number, the first altitude range, and the second preset number are set by the user according to the corresponding barometric pressure sensor parameters.

[0027] Furthermore, when a sampling signal is received, controlling the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and generating a first altitude value based on the barometric pressure sensor values, specifically includes: When a sampling signal is received, the air pressure sensor is controlled to enter full-speed mode; The air pressure sensor acquires air pressure sensor values ​​in real time at a preset frequency, and calculates the corresponding first altitude value based on the air pressure sensor values.

[0028] Specifically, in this invention, upon receiving a sampling signal, indicating that the parachute opening condition judgment triggering stage has begun, the barometric pressure sensor is controlled to acquire barometric pressure sensor values ​​at a preset frequency, and the corresponding values ​​are converted into a first altitude value. In full-speed mode, the preset frequency of the barometric pressure sensor is a pre-set frequency.

[0029] Step S20: Determine whether the IMU has entered the measurement mode. If it has, calibrate the IMU, acquire IMU data in real time, and calculate the first acceleration and attitude data.

[0030] It should be noted that in this invention, upon receiving a sampling signal and determining that the IMU has entered measurement mode, the acceleration is calculated based on the acquired IMU data.

[0031] Furthermore, the step of determining whether the IMU has entered measurement mode, and if so, calibrating the IMU, acquiring IMU data in real time, and calculating the first acceleration and attitude data, specifically includes: Determine whether the IMU has entered measurement mode; when the IMU enters measurement mode, read the raw IMU data. The static bias is obtained from the raw IMU data, and the IMU is calibrated based on the static bias. Based on the calibrated IMU, IMU data is acquired in real time, and first acceleration and attitude data are generated according to a preset output method.

[0032] Specifically, such as Figure 2 As shown, the specific operation process of the IMU includes: Step S201: Begin; Step S202: Determine whether the IMU has entered measurement mode. If it has, proceed to step S207; otherwise, proceed to step S203. Step S203: The system enters standby mode; Step S204: Determine whether the current IMU is in standby mode. If it is in standby mode, end the process. If it is not in standby mode, proceed to step S205. Step S205: The IMU enters power-down mode; Step S206, End; Step S207: The system enters measurement mode; Step S208: Determine whether the current IMU is in measurement mode. If it is in measurement mode, proceed to step S210; otherwise, proceed to step S209. Step S209: The IMU enters power-on mode; Step S210: Read raw IMU data Step S211: Obtain the static deviation and then perform calibration; Step S212: Acquire IMU data; Step S213: Use the algorithm library to obtain the yaw angle, roll angle, pitch angle and three-cycle acceleration in Earth coordinates; Step S214: Use the rotation matrix to calculate only the acceleration along the z-axis of the Earth coordinate system; Step S215: Determine whether the error of the z-axis acceleration of the two algorithms within the second preset time is less than a preset threshold, or whether the time for the IMU to enter the measurement mode exceeds a time threshold; if the error of the z-axis acceleration of the two algorithms within the second preset time is less than the preset threshold, or the time for the IMU to enter the measurement mode exceeds the time threshold, proceed to step S215. Step S216: Use the algorithm library for acceleration; Step S217: Use rotation matrix acceleration; Step S218: Data assignment; Step S219: Determine whether to end the measurement mode. If it ends, proceed to step S206 to end the process. If it does not end, proceed to step S212 to acquire IMU data again for processing.

[0033] Specifically, when acquiring static deviation, within a third preset time period, if the difference between the maximum and minimum values ​​of the triaxial data is less than the first preset threshold, the intermediate value is taken as the current static deviation, and the IMU is calibrated according to the corresponding static deviation.

[0034] Furthermore, the step of acquiring IMU data in real time based on the calibrated IMU and generating first acceleration and attitude data according to a preset output method specifically includes: Based on the calibrated IMU, acquire IMU data in real time; The IMU data is processed according to the algorithm library to obtain the second acceleration and the first attitude data, and the IMU data is processed according to the rotation matrix to obtain the third acceleration and the second attitude data; Determine whether the error between the second acceleration and the third acceleration is less than a preset threshold or whether the IMU running time exceeds a time threshold within a second preset time period; Based on the judgment result, the target output method is selected to generate the first acceleration and attitude data.

[0035] Specifically, in this invention, after calibrating the IMU using static bias, IMU data is acquired. The IMU data is then processed using an algorithm library and a rotation matrix. The algorithm library uses a pre-set algorithm to obtain the yaw angle, roll angle, pitch angle, and three-axis acceleration (Earth coordinates) from the IMU data, and further obtains the Earth coordinate z-axis acceleration, i.e., the second acceleration. When using the rotation matrix, only the Earth coordinate z-axis acceleration, i.e., the third acceleration, is calculated. One of the second and third accelerations is selected as the first acceleration.

[0036] Furthermore, the step of selecting the target output method based on the judgment result to generate the first acceleration and attitude data specifically includes: When the error between the second acceleration and the third acceleration is less than a preset threshold within a second preset time or the IMU running time exceeds a time threshold, the algorithm library is selected as the target output method, and the first attitude data is used as attitude data. When the error between the second acceleration and the third acceleration is not less than a preset threshold within a second preset time period, and the IMU running time does not exceed the time threshold, the rotation matrix is ​​selected as the target output method, the third acceleration is used as the first acceleration, and the second attitude data is used as attitude data.

[0037] It should be noted that in this invention, the IMU needs a certain amount of time to go from power-on to full-speed operation in measurement mode. Therefore, when the filter in the algorithm library suddenly enters full-speed operation mode, the output data has not yet converged, and its output value is significantly different from the actual value. At this moment, the third acceleration output by the rotation matrix is ​​used as the first acceleration.

[0038] If the error between the z-axis accelerations of the two algorithms (i.e., the second acceleration and the third acceleration) within a second preset time period is less than a preset threshold, or if the current IMU running time exceeds the time threshold, it indicates that the data output by the filter in the algorithm library has converged, and the second acceleration is used as the first acceleration. If the error between the second acceleration and the third acceleration within the second preset time period is not less than the preset threshold, and the IMU running time has not exceeded the time threshold, it indicates that the filter in the algorithm library has not yet converged, and the third acceleration output by the algorithm library is used as the first acceleration.

[0039] Step S30: Based on the first altitude value, the first acceleration, and the attitude data, a fusion algorithm is used to obtain parachute opening data.

[0040] In this invention, a fusion algorithm is used to correct the first acceleration using the first altitude value, thereby obtaining accurate parachute opening data that can be used for parachute opening judgment.

[0041] Specifically, such as Figure 3 As shown, the implementation process of the fusion algorithm in this invention specifically includes: Step S301: Begin; Step S302: Determine whether the IMU is in measurement mode. If it is in measurement mode, proceed to step S303. If it is not in measurement mode, proceed to step S312. Step S303: Determine whether the predictor has been initialized. If the predictor has been initialized, proceed to step S305. If the predictor has not been initialized, proceed to step S304. Step S304: Initialize the predictor; Step S305: Update the height value; Step S306: Update the acceleration values ​​in the time coordinate system; Step S307: Calculate height and velocity using acceleration; Step S308: Correct the estimated altitude and speed using the barometric pressure sensor altitude error. Step S309: Correct the acceleration bias value; Step S310, release speed and height; Step S311: Clear the barometric pressure sensor update flag. Step S312, End.

[0042] In one embodiment of the present invention, the Madgwick AHRS algorithm is used as the fusion algorithm to correct the first acceleration and obtain the parachute deployment data. During the implementation of the fusion algorithm, it is first determined whether the IMU is in measurement mode. If the IMU is not in measurement mode, the process is terminated directly to prevent invalid data from participating in the fusion algorithm and causing an impact. The fusion algorithm is only used when the IMU is in measurement mode and can output stable angular velocity and acceleration.

[0043] Determine whether the predictor has completed initialization. If it has, then use the initialized predictor to perform data fusion based on the data collected by the IMU. If it has not completed initialization, then initialize the predictor first, and perform operations such as attitude initialization, altitude initialization, velocity initialization and error initialization.

[0044] Further, the step of obtaining parachute deployment data using a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data specifically includes: Obtain the altitude value from the previous parachute deployment data, convert the first acceleration to the world coordinate system as the target acceleration, and calculate the current estimated altitude and estimated velocity based on the estimator, according to the target acceleration and the altitude value from the previous parachute deployment data. Obtain the first height value, calculate the residual based on the first height value and the estimated height, and correct the estimated height and the estimated speed based on the residual to obtain the target height and the target speed. The target altitude, target velocity, first acceleration, and attitude data are combined to generate parachute deployment data.

[0045] Specifically, in this invention, after the estimator completes initialization, it acquires the altitude value from the previous parachute deployment data, uses it as the updated altitude value, and transforms the first acceleration into the world coordinate system to update the acceleration, thus obtaining the target acceleration. Based on the target acceleration and the updated altitude value, the estimator can obtain the current altitude and velocity, i.e., the estimated altitude and estimated velocity. The first altitude value, measured by the barometric pressure sensor, is used to correct the IMU error. The altitude error, i.e., the residual, can be calculated using the first altitude value and the estimated altitude. The residual is used to correct the estimated altitude and estimated velocity to obtain the target altitude and target velocity. The acceleration bias value is corrected based on the residual, thereby updating the zero-bias state of the estimator, making the next IMU use more accurate. Then, the target velocity and target altitude are published accordingly, and the barometric pressure sensor update flag is cleared. After the barometric pressure sensor acquires its value and generates the first altitude value, a new cycle is triggered to implement the fusion algorithm.

[0046] When a sampling signal is received, this invention controls the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and generates a first altitude value based on these values. It then determines whether the IMU has entered measurement mode; if so, it calibrates the IMU, acquires IMU data in real time, and calculates first acceleration and attitude data. Based on the first altitude value, first acceleration, and attitude data, a fusion algorithm is used to obtain parachute deployment data. This invention fuses the data collected by the barometric pressure sensor and the IMU to obtain more accurate parachute deployment data, which can then be used to control the accurate activation of the backup parachute.

[0047] Furthermore, such as Figure 4 As shown, based on the above-described parachute opening data generation method, the present invention also provides a parachute opening data generation system, wherein the parachute opening data generation system includes: The barometric pressure sensor processing module 111 is used to control the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time when a sampling signal is received, and to generate a first altitude value based on the barometric pressure sensor values. IMU processing module 112 is used to determine whether the IMU has entered the measurement mode. If it has, the IMU is calibrated, IMU data is acquired in real time, and first acceleration and attitude data are calculated. The fusion module 113 is used to obtain parachute opening data by using a fusion algorithm based on the first altitude value, the first acceleration and the attitude data.

[0048] Furthermore, such as Figure 5 As shown, based on the above-described method and system for generating umbrella opening data, the present invention also provides a terminal, which includes a processor 10, a memory 20, and a display 30. Figure 5 Only some of the terminal components are shown; however, it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.

[0049] In some embodiments, the memory 20 may be an internal storage unit of the terminal, such as a hard disk or memory. In other embodiments, the memory 20 may be an external storage device of the terminal, such as a plug-in hard disk, smart media card (SMC), secure digital card (SD), flash card, etc. Further, the memory 20 may include both internal and external storage units. The memory 20 is used to store application software and various types of data installed on the terminal, such as the program code installed on the terminal. The memory 20 can also be used to temporarily store data that has been output or will be output. In one embodiment, the memory 20 stores a parachute data generation program 40, which can be executed by the processor 10 to implement the parachute data generation method of this application.

[0050] In some embodiments, the processor 10 may be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run program code stored in the memory 20 or process data, such as executing the umbrella opening data generation method.

[0051] In some embodiments, the display 30 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. The display 30 is used to display information on the terminal and to display a visual user interface. The components 10-30 of the terminal communicate with each other via a system bus.

[0052] In one embodiment, the steps in the above-described parachute data generation method are implemented when the processor 10 executes the parachute data generation program 40 in the memory 20.

[0053] The present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a parachute opening data generation program, which, when executed by a processor, implements the steps of the parachute opening data generation method as described above.

[0054] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal that includes that element.

[0055] Of course, those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.). The program can be stored in a computer-readable storage medium, and when executed, it can include the processes described in the above method embodiments. The computer-readable storage medium can be a memory, magnetic disk, optical disk, etc.

[0056] It should be understood that the application of the present invention is not limited to the examples above. Those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A method for generating umbrella opening data, characterized in that, The method for generating parachute opening data includes: When a sampling signal is received, the barometric pressure sensor is controlled to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and a first altitude value is generated based on the barometric pressure sensor values. Determine whether the IMU has entered measurement mode. If it has, calibrate the IMU, acquire IMU data in real time, and calculate the first acceleration and attitude data. Based on the first altitude value, the first acceleration, and the attitude data, a fusion algorithm is used to obtain the parachute deployment data.

2. The method for generating parachute opening data according to claim 1, characterized in that, The step of controlling the calibrated barometric sensor to enter full-speed mode to acquire barometric sensor values ​​in real time upon receiving a sampling signal, and generating a first altitude value based on the barometric sensor values, further includes: Initialize the air pressure sensor and determine whether the reading range of the air pressure sensor is within the range. If the reading range of the barometric pressure sensor is within the range, then read the first preset number of calibration barometric pressure sensor values, calculate the height corresponding to each calibration barometric pressure sensor value, and determine whether the height range corresponding to all calibration barometric pressure sensor values ​​is within the first height range. If the altitude range corresponding to all calibrated barometric pressure sensor values ​​is within the first altitude range, then a second preset number of reference barometric pressure sensor values ​​are read every first preset time interval, an average barometric pressure sensor value is calculated based on all the reference barometric pressure sensor values, and the IMU is calibrated based on the average barometric pressure sensor value.

3. The method for generating parachute opening data according to claim 1, characterized in that, When a sampling signal is received, the barometric pressure sensor is controlled to enter full-speed mode to acquire barometric pressure sensor values ​​in real time, and a first altitude value is generated based on the barometric pressure sensor values. Specifically, this includes: When a sampling signal is received, the air pressure sensor is controlled to enter full-speed mode; The air pressure sensor acquires air pressure sensor values ​​in real time at a preset frequency, and calculates the corresponding first altitude value based on the air pressure sensor values.

4. The method for generating parachute opening data according to claim 1, characterized in that, The process of determining whether the IMU has entered measurement mode, and if so, calibrating the IMU, acquiring IMU data in real time, and calculating the first acceleration and attitude data, specifically includes: Determine whether the IMU has entered measurement mode; when the IMU enters measurement mode, read the raw IMU data. The static bias is obtained from the raw IMU data, and the IMU is calibrated based on the static bias. Based on the calibrated IMU, IMU data is acquired in real time, and first acceleration and attitude data are generated according to a preset output method.

5. The method for generating parachute opening data according to claim 4, characterized in that, The process involves acquiring IMU data in real time based on the calibrated IMU, and generating first acceleration and attitude data according to a preset output method, specifically including: Based on the calibrated IMU, acquire IMU data in real time; The IMU data is processed according to the algorithm library to obtain the second acceleration and the first attitude data, and the IMU data is processed according to the rotation matrix to obtain the third acceleration and the second attitude data; Determine whether the error between the second acceleration and the third acceleration is less than a preset threshold or whether the IMU running time exceeds a time threshold within a second preset time period; Based on the judgment result, the target output method is selected to generate the first acceleration and attitude data.

6. The method for generating parachute opening data according to claim 5, characterized in that, The step of selecting the target output method based on the judgment result to generate the first acceleration and attitude data specifically includes: When the error between the second acceleration and the third acceleration is less than a preset threshold within a second preset time or the IMU running time exceeds a time threshold, the algorithm library is selected as the target output method, and the first attitude data is used as attitude data. When the error between the second acceleration and the third acceleration is not less than a preset threshold within a second preset time period, and the IMU running time does not exceed the time threshold, the rotation matrix is ​​selected as the target output method, the third acceleration is used as the first acceleration, and the second attitude data is used as attitude data.

7. The method for generating umbrella opening data according to claim 1, characterized in that, The process of obtaining parachute deployment data using a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data specifically includes: Based on the first height value, the first acceleration, and the attitude data, the current estimated height and estimated acceleration are calculated using the estimator. Acquire a first height value, a first acceleration, and the attitude data; calculate a residual based on the first height value and the estimated height; correct the estimated height and the estimated velocity based on the residual to obtain the target height and the target velocity. The target altitude, target velocity, first acceleration, and attitude data are combined to generate parachute deployment data.

8. A parachute opening data generation system, characterized in that, The parachute opening data generation system includes: The barometric pressure sensor processing module is used to control the barometric pressure sensor to enter full-speed mode to acquire barometric pressure sensor values ​​in real time when a sampling signal is received, and to generate a first altitude value based on the barometric pressure sensor values. The IMU processing module is used to determine whether the IMU has entered the measurement mode. If it has, the IMU is calibrated, IMU data is acquired in real time, and the first acceleration and attitude data are calculated. The fusion module is used to obtain parachute deployment data by using a fusion algorithm based on the first altitude value, the first acceleration, and the attitude data.

9. A terminal, characterized in that, The terminal includes: a memory, a processor, and a parachute data generation program stored in the memory and executable on the processor, wherein when the parachute data generation program is executed by the processor, it implements the steps of the parachute data generation method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a parachute opening data generation program, which, when executed by a processor, implements the steps of the parachute opening data generation method as described in any one of claims 1-7.

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