Miniaturized circuit for controlling the reliable opening and online detection of lifesaving parachutes

Abstract

The present invention discloses a miniaturized circuit for controlling the reliable opening of a life-saving parachute and online detection, comprising a plurality of air pressure sensors, a control module, a detection circuit, an ignition output module, a state storage module and a power supply module, wherein the control module is respectively connected to the plurality of air pressure sensors, the detection circuit, the ignition output module and the state storage module, and the power supply module is respectively connected to the plurality of air pressure sensors, the control module, the detection circuit, the ignition output module and the state storage module. The miniaturized circuit design for realizing the reliable opening and online detection of a life-saving parachute can be applied to controlling the opening of various life-saving parachutes, and can be widely used when passengers of large aircraft leave the aircraft to ensure that the electronic parachute opener circuit works normally.

Description

Technical Field

[0001] The invention relates to a miniaturized circuit for controlling the reliable opening and online detection of a lifesaving umbrella. Background Art

[0002] At present, mechanical parachute openers are usually used to control the opening of lifesaving parachutes. Mechanical parachute openers are large in size and heavy in weight. However, the current large aircraft design has particularly strict requirements on size and weight, and it is difficult to meet the use requirements with mechanical parachute openers. It is necessary to design a circuit with small size, light weight and high reliability to control the opening of lifesaving parachutes, and to perform self-check on each part of the circuit to ensure the reliable operation of the circuit. Summary of the invention

[0003] The technical problem to be solved by the present invention is that, in view of the above-mentioned defects in the prior art, a miniaturized circuit for controlling the reliable opening of a life-saving parachute and online detection is provided. The miniaturized circuit design for controlling the reliable opening of a life-saving parachute and online detection can be applied to controlling the opening of various life-saving parachutes, and can be widely used when passengers of large aircraft leave the aircraft to ensure that the electronic parachute opener circuit works normally.

[0004] The technical solution adopted by the present invention to solve the above technical problems is:

[0005] A miniaturized circuit for controlling the reliable opening and online detection of a lifesaving parachute comprises a plurality of air pressure sensors, a control module, a detection circuit, an ignition output module, a state storage module and a power supply module. The control module is respectively connected to the plurality of air pressure sensors, the detection circuit, the ignition output module and the state storage module. The power supply module is respectively connected to the plurality of air pressure sensors, the control module, the detection circuit, the ignition output module and the state storage module.

[0006] According to the above technical solution, the number of control modules, detection circuits, ignition output modules and status storage modules is 2 each, and they are divided into two groups. The control modules in each group are respectively connected to the detection circuit, ignition output module and status storage module of the corresponding group, and each air pressure sensor is respectively connected to the two control modules.

[0007] According to the above technical solution, the output end of the ignition output module is connected to the cutter of the lifesaving parachute.

[0008] According to the above technical solution, the control module includes an LC8051F500-A type 8-bit microprocessor.

[0009] According to the above technical solution, the air pressure sensor is a BMP280 digital pressure sensor.

[0010] According to the above technical solution, the number of air pressure sensors is 3.

[0011] According to the above technical solution, the method for opening the lifesaving parachute is implemented by using a miniaturized circuit for controlling the reliable opening of the lifesaving parachute and online detection, comprising the following steps:

[0012] 1) The control module performs initialization and power-on self-test, and reads the parachute opening delay time and parachute opening height set in the status storage module;

[0013] 2) Enter the monitoring program of the control module and press the self-test button. If the voltage value collected by the control module is less than the specified voltage value, it will enter the self-test state, otherwise it will enter the control parachute opening state;

[0014] 3) After entering the control parachute opening state, the current air pressure value is detected in real time through the air pressure sensor, so as to calculate the current altitude, judge whether the parachute opening delay time and the current altitude meet the parachute opening conditions, if the parachute opening conditions are met, the parachute is opened, if not, wait until the parachute opening conditions are met to open the parachute;

[0015] 4) After controlling the parachute to open, determine the falling speed. If the falling speed is less than 0.5m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed.

[0016] According to the above technical solution, in step 3), the parachute opening condition is: the current altitude drops below 3000m, and the falling speed is not less than 6m / s for 3 consecutive seconds after power-on.

[0017] According to the above technical scheme, there are three air pressure sensors at a height. In the step 3), the current air pressure value is detected in real time by the air pressure sensor, so that the specific process of calculating the current height is as follows: if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are all less than the threshold, the height information is collected by taking the average value of the three-way air pressure sensor data as the effective value of the pressure. The absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are two groups less than the threshold, and one group greater than the threshold. The middle value of the three-way air pressure sensor data is taken as the effective value of the pressure; if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are one group less than the threshold, and two groups are greater than or equal to the threshold, the output static pressure is the average value of the two-way pressure signals whose differences are less than the threshold; if the three groups of differences between the static pressure values ​​of the three-way air pressure sensors are all greater than or equal to the threshold, the maximum value of the three-way air pressure sensor data is taken as the effective value.

[0018] According to the above technical solution, in the step 1), the parachute opening delay time is 3s and the parachute opening height is 3000m.

[0019] The present invention has the following beneficial effects:

[0020] The miniaturized circuit design for controlling the reliable opening of a life-saving parachute and online detection achieved by the present invention can be applied to controlling the opening of various life-saving parachutes, and can be widely used when passengers of large aircraft leave the aircraft. At the same time, the set height and time are adjustable, and the height and time can be adjusted according to actual needs; the information during the parachuting process is recorded, so as to facilitate data analysis when an electronic parachute opener fails; and online detection is performed on various parts of the circuit, so as to ensure that the electronic parachute opener circuit works normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the principle of a miniaturized circuit for controlling the reliable opening and online detection of a lifesaving parachute in an embodiment of the present invention;

[0022] Figure 2 is a block diagram of a connection circuit between a control module and a detection circuit in an embodiment of the present invention;

[0023] Figure 3 is a circuit block diagram of an air pressure sensor in an embodiment of the present invention;

[0024] Figure 4 is a circuit block diagram of a state storage module in an embodiment of the present invention;

[0025] Figure 5 is a circuit block diagram of an ignition output module in an embodiment of the present invention;

[0026] Figure 6 is a circuit block diagram of a power supply module in an embodiment of the present invention;

[0027] Figure 7 is a diagram of the built-in software external interface of the control module in an embodiment of the present invention;

[0028] Figure 8 is a flow chart of a parachute opening method according to an embodiment of the present invention; DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0030] Reference Figures 1 to 8 As shown, a miniaturized circuit for controlling the reliable opening and online detection of a lifesaving parachute in an embodiment provided by the present invention includes multiple air pressure sensors, a control module, a detection circuit, an ignition output module, a state storage module and a power supply module. The control module is respectively connected to the multiple air pressure sensors, the detection circuit, the ignition output module and the state storage module, and the power supply module is respectively connected to the multiple air pressure sensors, the control module, the detection circuit, the ignition output module and the state storage module.

[0031] Furthermore, the number of control modules, detection circuits, ignition output modules and status storage modules is 2 each, and they are divided into two groups. The control modules in each group are respectively connected to the detection circuits, ignition output modules and status storage modules of the corresponding group, and each air pressure sensor is respectively connected to the two control modules.

[0032] Furthermore, the power supply module is respectively connected to a plurality of air pressure sensors, two control modules, two detection circuits, two ignition output modules and two state storage modules.

[0033] Furthermore, each control module is connected to a detection port.

[0034] Furthermore, the output end of the ignition output module is connected to the cutter of the lifesaving parachute.

[0035] Furthermore, the control module includes an 8-bit microprocessor of type LC8051F500-A.

[0036] Furthermore, the air pressure sensor is a BMP280 digital pressure sensor.

[0037] Furthermore, the number of air pressure sensors is 3.

[0038] Furthermore, a method for opening a lifesaving parachute implemented by a miniaturized circuit for controlling the reliable opening of the lifesaving parachute and online detection includes the following steps:

[0039] 1) The control module performs initialization and power-on self-test, and reads the parachute opening delay time and parachute opening height set in the status storage module;

[0040] 2) Enter the monitoring program of the control module and press the self-check button. If the voltage value collected by the control module is less than the specified voltage value (the voltage collection interface of the control module is the collection interface connecting the control module and the power supply module), it will enter the self-check state, otherwise it will enter the control parachute opening state;

[0041] 3) After entering the control parachute opening state, the current air pressure value is detected in real time through the air pressure sensor, so as to calculate the current altitude, judge whether the parachute opening delay time and the current altitude meet the parachute opening conditions, if the parachute opening conditions are met, the parachute is opened, if not, wait until the parachute opening conditions are met to open the parachute;

[0042] 4) After controlling the parachute to open, determine the falling speed. If the falling speed is less than 0.5m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed.

[0043] Further, in the step 2), the self-test process of entering the self-test state is: if the air pressure sensor value is between 26kPa and 110kPa, it is judged that the air pressure sensor is working normally; because the voltage value of the P3.3 port of the control module is less than 0.5V, it is judged that the energy storage module and the boost module are working normally; if the voltage value of the P3.2 port of the acquisition control module is between 2 and 3V, the battery and the voltage stabilizing circuit are working normally. At this time, the P3.0 and P3.1 ports of the control module output pulse signals, and the voltage value of the P3.4 port of the acquisition control module is not less than 0.2V, then the control module, the ignition output module and the cutter are working normally. Through the above online detection, each part of the electronic umbrella opener circuit is working normally.

[0044] Furthermore, in the step 3), the parachute opening condition is: the current altitude drops below 3000m, and the falling speed is not less than 6m / s for 3 consecutive seconds after power-on.

[0045] Furthermore, in the step 3), the specific process of judging whether the conditions for opening the parachute are met is as follows: judging whether the delay time for opening the parachute is 3s from the time when the power is turned on to the present moment, if the time is up, judging whether the height meets 3000m; if the time is not up, waiting until the time is up for 3s; and then judging whether the current height is greater than 3000m. If it is greater than 3000m, waiting to land at 3000m, and the falling speed is not less than 6m / s for 3s continuously after power-on, then the life-saving parachute is controlled to open; if it is not greater than 3000m, and the falling speed is not less than 6m / s for 3s continuously after power-on, then the life-saving parachute is controlled to open. After the parachute is controlled to open, the heights when the parachute is opened are stored in the EEPROM respectively.

[0046] Furthermore, there are three air pressure sensors at different heights. In the step 3), the current air pressure value is detected in real time by the air pressure sensor, and the specific process of calculating the current height is as follows: if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are all less than the threshold value (the threshold value is 3kPa), the height information is collected by taking the average value of the three-way air pressure sensor data as the effective value of the pressure. The absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are two groups less than the threshold value, and one group greater than the threshold value. The middle value of the three-way air pressure sensor data is taken as the effective value of the pressure; if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are one group less than the threshold value, and two groups of differences are greater than or equal to the threshold value, the output static pressure is the average value of the two-way pressure signals whose differences are less than the threshold value; if the three groups of differences between the static pressure values ​​of the three-way air pressure sensors are all greater than or equal to the threshold value, the maximum value of the three-way air pressure sensor data is taken as the effective value; the air pressure value is converted into height by using a table lookup method, and the converted height information is collected and stored in the state storage module EEPROM.

[0047] Furthermore, in the step 1), the parachute opening delay time is 3s and the parachute opening height is 3000m.

[0048] Figure 2 In the figure, J1 is the interface between the control module and the air pressure sensor module, the state storage module, the ignition output module, and the power supply module, and J4 is the interface for burning the program and the interface for TTL level communication. Due to the requirements of miniaturization design, the volume and weight should be reduced as much as possible while meeting the functional requirements. Considering that the self-test data acquisition requires 3 A / D channels, the LC8051F500-A 8-bit microprocessor is selected. The LC8051F500-A only needs a small amount of peripheral circuits to form a single-chip microcomputer system that integrates data acquisition, control and communication functions, which can effectively reduce the size of the circuit board, thereby reducing the volume of the entire processor unit.

[0049] Figure 3 In the figure, J2 is the interface between the air pressure sensor module and the control module and the power supply module; the altitude information is one of the key parameters for controlling the opening of the life-saving parachute. The present invention senses the current air pressure through the air pressure sensor module, and obtains the altitude through a certain conversion relationship, and then determines whether to control the opening of the life-saving parachute. Considering the miniaturized circuit design, the BMP280 digital pressure sensor is selected, which has its own temperature compensation and uses the I2C bus to transmit data.

[0050] Figure 4 In the figure, J3 is the interface between the state storage module and the control module and power supply module. The state storage module is used to store the data of the control chip, including the parachute delay time, the parachute opening height, the last three self-test status records, the latest parachute height, the parachute opening height, the total hovering time, and the falling time after the parachute is opened. The state storage module and the control module communicate using the SPI interface.

[0051] Figure 5 In the figure, J4 is the interface between the ignition output module and the control module and the power supply module. The ignition control circuit is composed of the pulse signal output from the I / O port of the control module, the integral detection circuit, the transistor switch circuit, and the relay. The pulse signal output from the I / O port is detected by the detection circuit to turn on the two switch transistors respectively, and the relay works to control the output of the ignition signal. The two relay contact ends are connected in series to avoid abnormal output of the ignition signal due to a short circuit of the switch transistor.

[0052] Figure 6In the figure, J6 is the interface between the power supply module and the control module, air pressure sensor module, state storage module, and ignition output module. Since the operating voltage of the control module, air pressure sensor module, and state storage module is 3.3V, a voltage stabilizing circuit is required to convert the battery voltage of 7.2V into 3.3V for power supply. Since the excitation energy of the cutter is a 200uf capacitor, it is charged to 15V and directly discharged to the two poles of the cutter, and the battery voltage is 7.2V, a boost circuit and a capacitor charging circuit are designed. The boost circuit and the capacitor charging circuit are collectively referred to as an energy storage module. Considering the wide operating temperature range of the product, long storage and service life, and considering the miniaturization design of the circuit, a lithium thionyl chloride primary battery is used as the power supply, and the rated voltage of the battery is 7.2V.

[0053] Working principle of the present invention:

[0054] The miniaturized circuit design for controlling the reliable opening of the lifesaving parachute and online detection, when the electronic parachute opener is powered on, it performs initialization and power-on self-test, and reads the opening time and opening height stored in the EEPROM, and then performs system monitoring. If it is to control the opening of the parachute, it will delay from the power-on timing to determine whether the opening height has been reached to open the parachute, and at the same time determine that the falling speed is not less than 6m / s for 3 consecutive seconds after the machine is launched. After power-on, it starts to continuously collect altitude information, and after controlling the opening of the parachute, it also determines the falling speed. If the falling speed is less than 0.5m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed. After pressing the self-test button, it is determined that the voltage value collected by the P3.3 port of the microprocessor is less than 0.5V, and then enters the self-test state.

[0055] The miniaturized circuit design for controlling the reliable opening of the lifesaving parachute and online detection includes the following steps:

[0056] (1) The electronic parachute opener is powered on and performs initialization and power-on self-test, and reads the parachute opening time and altitude stored in the EEPROM;

[0057] (2) Enter the system monitoring program and press the self-test button. If the voltage value collected by the P3.3 port of the microprocessor is less than 0.5V, it will enter the self-test state. Otherwise, it will enter the control parachute opening state.

[0058] (3) When entering the control parachute opening state, determine whether the parachute opening delay time and the parachute opening height meet the conditions, and whether the falling speed is not less than 6m / s for 3 consecutive seconds after power-on. If the conditions are met, the parachute is opened; if not, wait until the conditions are met to open the parachute;

[0059] (4) After the parachute is opened, the falling speed is determined. If the falling speed is less than 0.5 m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed;

[0060] (5) Enter the self-test state. If the air pressure sensor value is between [26kPa, 110kPa], it is judged that the air pressure sensor is working normally. Since the voltage value of P3.3 port is less than 0.5V, it is judged that the energy storage module and the boost module are working normally. If the voltage value of P3.2 port is between [2,3]V, the battery and the voltage stabilizing circuit are working normally. At this time, the P3.0 and P3.1 ports output pulse signals, and the voltage value of P3.4 port is not less than 0.2V, the control module, the ignition output module and the cutter are working normally. Through the above online detection, all parts of the electronic parachute opener circuit are working normally.

[0061] Furthermore, in order to ensure the reliable opening of the lifesaving parachute, each part of the control circuit adopts a redundant design; at the same time, miniaturized circuit design is ensured, and miniaturized surface mount devices are mainly used.

[0062] Furthermore, in order to ensure the accuracy and reliability of the height information collected by the electronic parachute opener, and considering the miniaturization design, the BMP280 digital air pressure sensor of Bosch is selected. The circuit is designed as a 3-way air pressure sensor. The absolute value of the difference between the three static pressure values ​​is less than the threshold value (3kPa). The height information is collected by taking the average value of the three data as the effective value of the pressure. The absolute value of the difference between the three static pressure values ​​is less than the threshold value, and one group is greater than the threshold value. The middle value of the three data is taken as the effective value of the pressure; if the absolute value of the difference between the three static pressure values ​​is less than the threshold value, and the difference between the two groups is greater than or equal to the threshold value, the output static pressure is the average value of the two pressure signals whose difference is less than the threshold value; if the difference between the three groups is greater than or equal to the threshold value, the maximum value of the three data is taken as the effective value. Therefore, even if any one of the air pressure sensors fails, it will not affect the normal operation of the electronic parachute opener.

[0063] Furthermore, in order to ensure the post-analysis of whether the electronic parachute opener is working normally, after the electronic parachute opener is powered on, the altitude information during parachuting is collected and stored in the EEPROM; after the lifesaving parachute is controlled to open, the altitude information during opening is collected and stored in the EEPROM; after determining the landing, the total hovering time and the falling time after opening the parachute are calculated and stored in the EEPROM.

[0064] Effect: The electronic parachute opener is guaranteed to work reliably through online detection and control the opening of the lifesaving parachute.

[0065] The working process of a specific embodiment provided by the present invention is as follows:

[0066] The miniaturized circuit design for controlling the reliable opening of the lifesaving parachute and online detection takes the opening height of 3000 and the delay time of 3s as an example, including:

[0067] Step 1: The electronic parachute opener is powered on, and two groups of microprocessors perform initialization and power-on self-test respectively, and read the parachute opening time 3s and parachute opening height 3000m stored in the EEPROM respectively; because there are three air pressure sensors, the air pressure value is calculated as follows: if the absolute value of the difference between the three static pressure values ​​is less than the threshold value (3kPa), the height information is collected by taking the average value of the three data as the effective value of the pressure. The absolute value of the difference between the three static pressure values ​​is less than the threshold value for two groups, and greater than the threshold value for one group. The middle value of the three data is taken as the effective value of the pressure; if the absolute value of the difference between the three static pressure values ​​is less than the threshold value for one group, and greater than or equal to the threshold value for two groups, the output static pressure is the average value of the two pressure signals whose difference is less than the threshold value; if the three groups of differences are greater than or equal to the threshold value, the maximum value of the three data is taken as the effective value. The air pressure value is converted into height using the table lookup method, and the converted height information is collected and stored in the EEPROM;

[0068] Step 2: Enter the system monitoring program and press the self-test button. If the voltage value collected by the P3.3 port of the two microprocessors is less than 0.5V, the system will enter the self-test state. Otherwise, the system will enter the control parachute opening state.

[0069] Step 3: When entering the control parachute opening state, the two groups of microprocessors make judgments respectively. Determine whether the parachute opening delay time has reached 3s from the power-on timing to this moment. If the time is up, determine whether the altitude meets 3000m; if the time is not up, wait until the time is up for 3s; then determine whether the current altitude is greater than 3000m. If it is greater than 3000m, wait for landing at 3000m, and the falling speed is not less than 6m / s for 3 consecutive seconds after power-on, then control the lifesaving parachute to open; if it is not greater than 3000m, and the falling speed is not less than 6m / s for 3 consecutive seconds after power-on, then control the lifesaving parachute to open. After the parachute is controlled to open, the altitude when the parachute is opened is stored in the EEPROM respectively.

[0070] Step 4: After the parachute is opened, the two microprocessors determine the falling speed. If the falling speed is less than 0.5m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed. The total hovering time and the falling time after the parachute is opened are calculated and stored in the EEPROM.

[0071] Step 5: Enter the self-test state, and the two groups of microprocessors perform self-tests respectively. If the air pressure sensor value is between [26kPa, 110kPa], it is judged that the air pressure sensor module is working normally; because the voltage value of P3.3 port is less than 0.5V, it is judged that the energy storage module is working normally; the voltage value collected at P3.2 port is between [2,3]V, then the battery and voltage stabilization circuit are working normally, at this time, P3.0 and P3.1 ports output pulse signals, and the voltage value collected at P3.4 port is not less than 0.2V, then the control module, ignition output module and cutter are working normally. Through the above online detection, the two groups of circuits of the electronic parachute opener are working normally.

[0072] The above are only preferred embodiments of the present invention, and certainly cannot be used to limit the scope of rights of the present invention. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the protection scope of the present invention.

Claims

1. A method for opening a lifesaving parachute using a miniaturized circuit for controlling reliable opening of the parachute and online detection, characterized in that: The miniaturized circuit for controlling the reliable opening of the lifesaving parachute and online detection comprises a plurality of air pressure sensors, a control module, a detection circuit, an ignition output module, a state storage module and a power supply module. The control module is respectively connected to the plurality of air pressure sensors, the detection circuit, the ignition output module and the state storage module. The power supply module is respectively connected to the plurality of air pressure sensors, the control module, the detection circuit, the ignition output module and the state storage module. The umbrella opening method comprises the following steps: Step 1) The control module performs initialization and power-on self-test, and reads the parachute opening delay time and parachute opening height set in the state storage module; Step 2) Enter the monitoring program of the control module and press the self-test button. If the voltage value collected by the control module is less than the specified voltage value, it will enter the self-test state, otherwise it will enter the control parachute opening state; Step 3) After entering the control parachute opening state, the current air pressure value is detected in real time through the air pressure sensor, so as to calculate the current altitude, judge whether the parachute opening delay time and the current altitude meet the parachute opening conditions, if the parachute opening conditions are met, the parachute is opened, if not, wait until the parachute opening conditions are met to open the parachute; The number of air pressure sensors is 3. In the step 3), the current air pressure value is detected in real time by the air pressure sensor, and the specific process of calculating the current altitude is as follows: if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors are all less than the threshold, the altitude information is collected by taking the average value of the three-way air pressure sensor data as the effective value of the pressure. The absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors have two groups less than the threshold and one group greater than the threshold, and the middle value of the three-way air pressure sensor data is taken as the effective value of the pressure; if the absolute values ​​of the differences between the static pressure values ​​of the three-way air pressure sensors have one group of differences less than the threshold and two groups of differences greater than or equal to the threshold, the output static pressure is the average value of the two-way pressure signals whose differences are less than the threshold; if the three groups of differences between the static pressure values ​​of the three-way air pressure sensors are all greater than or equal to the threshold, the maximum value of the three-way air pressure sensor data is taken as the effective value.

2. The method for opening a parachute according to claim 1, characterized in that: The number of control modules, detection circuits, ignition output modules and status storage modules are all 2, and they are divided into two groups. The control modules in each group are respectively connected to the detection circuits, ignition output modules and status storage modules of the corresponding group, and each air pressure sensor is respectively connected to two control modules.

3. The method for opening a parachute according to claim 1, characterized in that: The output end of the ignition output module is connected to the cutter of the lifesaving parachute.

4. The method for opening a parachute according to claim 1, characterized in that: The control module includes an 8-bit microprocessor type LC8051F500-A.

5. The method for opening a parachute according to claim 1, characterized in that: The air pressure sensor is a BMP280 digital pressure sensor.

6. The parachute opening method according to claim 1, characterized in that: The number of air pressure sensors is 3.

7. The parachute opening method according to claim 1, characterized in that: In the step 3), the parachute opening condition is: the current altitude drops below 3000m, and the falling speed is not less than 6m / s for 3 consecutive seconds after power-on.

8. The method for opening a parachute according to claim 1, characterized in that: In the step 1), the parachute opening delay time is 3s and the parachute opening height is 3000m; After step 3), the following steps are also included: after controlling the parachute to be opened, the falling speed is determined. If the falling speed is less than 0.5 m / s for 3 consecutive seconds, it is determined that the electronic parachute opener has landed.

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