Low-altitude airway flight height acquisition method and device, storage medium and electronic equipment

Abstract

The invention provides a low-altitude airway flight height acquisition method and device, a storage medium and electronic equipment, and the method comprises the steps: determining the current air pressure height of an aircraft relative to a reference plane according to the current air pressure of the aircraft; according to the current geodetic height of the aircraft, the current satellite-based height of the aircraft relative to the datum plane is determined, and the current geodetic height is the height, measured through a satellite-based positioner at the current moment, between the aircraft and the geodetic ellipsoid; and performing fusion processing according to the current air pressure height and the current satellite-based height of the reference surface to determine the current fusion height of the aircraft relative to the reference surface. By uniformly setting the reference surface, acquiring the current air pressure height and the current satellite-based height of the aircraft relative to the reference surface, and performing fusion processing on the current air pressure height and the current satellite-based height, the height measurement error is effectively reduced, and the current fusion height with uniform measurement reference and higher accuracy is obtained.

Description

Technical Field

[0001] The present invention relates to the field of measurement technology, and in particular to a method, device, storage medium and electronic equipment for acquiring a low-altitude route flight altitude. Background Art

[0002] With the development of low-altitude urban traffic, such as the widespread use of drones and vertical take-off and landing aircraft, the demand for traffic management in urban low-altitude airspace is increasing. During the flight of low-altitude aircraft, accurate altitude measurement is of vital importance to ensure flight safety.

[0003] The current method of measuring the altitude of low-altitude aircraft during the en-route flight phase lacks a unified altitude reference that is applicable to urban low-altitude airspace, resulting in differences in altitude measurement data between aircraft of different operators, which is not conducive to the unified management of urban low-altitude traffic. Therefore, it is necessary to propose a measurement method based on a unified altitude reference to improve the flight safety and management efficiency of low-altitude traffic. Summary of the invention

[0004] The purpose of the present invention is to provide a method, device, storage medium and electronic equipment for obtaining low-altitude route flight altitude to improve the above-mentioned problems.

[0005] In order to achieve the above purpose, the technical solution adopted by the embodiment of the present invention is as follows: In a first aspect, an embodiment of the present invention provides a method for acquiring a low-altitude route flight altitude, the method comprising: Determining the current pressure altitude of the aircraft relative to a reference surface based on the current aircraft pressure; Determine the current satellite-based altitude of the aircraft relative to a reference surface according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by a satellite-based locator at the current moment; A fusion process is performed according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine a current fusion altitude of the aircraft relative to the reference plane.

[0006] In a second aspect, an embodiment of the present invention provides a low-altitude route flight altitude acquisition device, the device comprising: A first processing unit, configured to determine a current pressure altitude of the aircraft relative to a reference surface according to a current aircraft pressure; The first processing unit is further used to determine the current satellite-based altitude of the aircraft relative to the reference surface according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment; The second processing unit is used to perform fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fusion altitude of the aircraft relative to the reference plane.

[0007] In a third aspect, an embodiment of the present invention provides a storage medium having a computer program stored thereon, and the computer program implements the above method when executed by a processor.

[0008] In a fourth aspect, an embodiment of the present invention provides an electronic device, comprising: a processor and a memory, wherein the memory is used to store one or more programs; when the one or more programs are executed by the processor, the above method is implemented.

[0009] Compared with the prior art, the low-altitude route flight altitude acquisition method, device, storage medium and electronic device provided in the embodiment of the present invention determine the current pressure altitude of the aircraft relative to the reference plane according to the current aircraft pressure; determine the current satellite-based altitude of the aircraft relative to the reference plane according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment; and perform fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fused altitude of the aircraft relative to the reference plane. By uniformly setting the reference plane, obtaining the current pressure altitude and the current satellite-based altitude of the aircraft relative to the reference plane, and fusion processing of the current pressure altitude and the current satellite-based altitude, the altitude measurement error is effectively reduced, and the current fused altitude with a unified measurement reference and higher accuracy is obtained.

[0010] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0012] Figure 1 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention.

[0013] Figure 2 A schematic diagram of the flow chart of a method for acquiring low-altitude route flight altitude provided in an embodiment of the present invention.

[0014] Figure 3 A schematic diagram of height and reference plane provided in an embodiment of the present invention.

[0015] Figure 4 A schematic diagram of a high-level fusion process of a federated Kalman filter provided in an embodiment of the present invention.

[0016] Figure 5 A schematic diagram of the units of a low-altitude route flight altitude acquisition device provided in an embodiment of the present invention.

[0017] In the figure: 10 - processor; 11 - memory; 12 - bus; 13 - communication interface; 501 - first processing unit; 502 - second processing unit. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. At the same time, in the description of the present invention, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0021] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0022] In the description of the present invention, it should be noted that the terms "upper", "lower", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, or are directions or positional relationships in which the product of the invention is usually placed when in use. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0023] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "disposed" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Some embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the absence of conflict, the following embodiments and features in the embodiments can be combined with each other.

[0025] The current method for measuring the altitude of low-altitude aircraft during the en-route flight phase lacks a unified altitude reference that is applicable to urban low-altitude airspace, resulting in differences in altitude measurement data between aircraft of different operators, which is not conducive to the unified management of urban low-altitude traffic. To this end, an embodiment of the present invention provides a method for obtaining the altitude of low-altitude en-route flight, which determines the reference plane corresponding to the altitude of urban low-altitude en-route flight, and realizes the unification and measurement of the operating altitude of low-altitude aircraft through a unified altitude reference and a fusion altitude measurement method.

[0026] Optionally, the plane where the airport elevation reference point corresponding to the transport airport closest to the target city where the aircraft is located is located can be determined as the reference plane corresponding to the height. The airport elevation reference point is the highest point in the available runway of the airport. The airport elevation is the height of the airport elevation reference point relative to the mean sea level.

[0027] The embodiment of the present invention provides an electronic device, which may be a central control unit of an aircraft, a low-altitude flight management server, or a user terminal device, such as a mobile phone, a computer, etc. Figure 1 , a schematic diagram of the structure of an electronic device. The electronic device includes a processor 10, a memory 11, and a bus 12. The processor 10 and the memory 11 are connected via the bus 12, and the processor 10 is used to execute an executable module stored in the memory 11, such as a computer program.

[0028] The processor 10 can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the low-altitude route flight altitude acquisition method can be completed by the hardware integrated logic circuit in the processor 10 or the software form of instructions. The above-mentioned processor 10 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0029] The memory 11 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk memory.

[0030] The bus 12 may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, or an EISA (Extended Industry Standard Architecture) bus. Figure 1 Although only one bidirectional arrow is used in the figure, it does not mean that there is only one bus 12 or only one type of bus 12 .

[0031] The memory 11 is used to store programs, such as programs corresponding to the low-altitude route flight altitude acquisition device. The low-altitude route flight altitude acquisition device includes at least one software function module that can be stored in the memory 11 in the form of software or firmware or fixed in the operating system (OS) of the electronic device. After receiving the execution instruction, the processor 10 executes the program to implement the low-altitude route flight altitude acquisition method.

[0032] Possibly, the electronic device provided by the embodiment of the present invention further includes a communication interface 13. The communication interface 13 is connected to the processor 10 via a bus.

[0033] It should be understood that Figure 1The structure shown is only a schematic diagram of a portion of the electronic device. The electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0034] A low-altitude route flight altitude acquisition method provided by an embodiment of the present invention can be applied to, but not limited to, Figure 1 For detailed procedures, please refer to the electronic equipment shown in Figure 2 The method for obtaining the low-altitude route flight altitude includes: S10, S20 and S30, which are specifically described as follows.

[0035] S10, determining the current pressure altitude of the aircraft relative to a reference surface according to the current aircraft pressure.

[0036] It should be understood that a barometer can be set on the aircraft to obtain the current aircraft air pressure. Similarly, the current air pressure at the airport elevation reference point can also be obtained, also known as the current airport air pressure. As the altitude increases, the air density and air pressure gradually decrease. According to the relationship between atmospheric pressure and altitude, the air pressure at a certain point can be measured and compared with the air pressure of the site air pressure of the weather station closest to the aircraft to calculate the height difference of the point relative to the weather station. The current pressure altitude of the aircraft relative to the reference surface can be obtained by further combining the weather station elevation and the airport elevation.

[0037] exist Figure 2 On the basis of the content in S10, the embodiment of the present invention also provides an optional implementation method, please refer to the following, S10, the step of determining the current pressure altitude of the aircraft relative to the reference plane according to the current aircraft pressure, includes: S11 and S12, which are specifically described as follows.

[0038] S11, obtaining a first height difference between the aircraft and the weather station according to the current weather station temperature, the current weather station air pressure, and the current aircraft air pressure.

[0039] Among them, the current weather station temperature is the temperature of the weather station at the current moment, the current weather station air pressure is the temperature and air pressure of the weather station at the current moment, and the current aircraft air pressure is the air pressure of the aircraft at the current moment. The weather station selects the one closest to the aircraft at the current moment.

[0040] S12, determining the current pressure altitude of the aircraft relative to the reference surface according to the first altitude difference, the meteorological station altitude, and the airport altitude.

[0041] Please refer to Figure 3 , Figure 3Schematic diagram of altitude and reference surface provided by an embodiment of the present invention. The position of the aircraft is the flight altitude surface, the current pressure altitude of the aircraft relative to the reference surface is the surface pressure altitude shown in the figure, the airport elevation is the height of the airport elevation reference point relative to the mean sea level, the plane where the airport elevation reference point is located is the airport surface pressure surface, the meteorological station elevation is the height of the meteorological station relative to the mean sea level, the geoid altitude of the aircraft is the height from the flight altitude surface shown in the figure to the geoid ellipsoid surface (geoid altitude), the geoid surface represents the surface of the target city, the surface elevation represents the height of the surface in the target city relative to the mean sea level, and the distance between the geoid ellipsoid surface and the mean sea level is the geoid altitude difference.

[0042] Optionally, the current pressure altitude of the aircraft relative to the reference surface is calculated as follows:

[0043] in, Indicates the current air pressure altitude (unit, meter), represents the first height difference (unit, meter), Indicates the elevation of the weather station (unit, meter), Indicates the airport elevation (unit, meter), Indicates the current weather station temperature (unit: Kelvin, K), that is, the temperature of the weather station at the current moment, Indicates the current aircraft air pressure (unit: Pascal, Pa), that is, the air pressure of the aircraft at the current moment. It represents the current air pressure at the weather station (unit: Pascal, Pa), that is, the air pressure at the weather station at the current moment, L represents the rate of decrease of temperature with height (can be 0.0065 K / m), R represents the gas constant, its value can be 287.05 J / (kg·K), g is the standard acceleration of gravity, which is about 9.80665 m / s², and M is the average molar mass of air, which is about 0.028964 kg / mol.

[0044] exist Figure 2 On the basis of the content in S10, the embodiment of the present invention also provides an optional implementation method, please refer to the following, S10, the step of determining the current pressure altitude of the aircraft relative to the reference plane according to the current aircraft pressure, includes: S13, which is specifically described as follows.

[0045] S13, determining the current pressure altitude of the aircraft relative to the reference plane based on the current airport temperature, the current airport pressure, and the current aircraft pressure.

[0046] It should be understood that a temperature and air pressure measuring device may be provided at the airport elevation reference point (or the plane on which it is located) to obtain the current airport temperature and the current airport air pressure, wherein the current airport temperature is the temperature at the airport elevation reference point at the current moment, and the current airport air pressure is the air pressure at the airport elevation reference point at the current moment.

[0047] Optionally, the current pressure altitude of the aircraft relative to the reference surface is calculated as follows:

[0048] in, Indicates the current air pressure altitude (unit, meter), Indicates the current airport temperature (unit: Kelvin, K), Indicates the current aircraft air pressure (unit: Pascal, Pa), It represents the current airport air pressure (unit: Pascal, Pa), L represents the rate of decrease of temperature with altitude (can be 0.0065 K / m), R represents the gas constant, whose value can be 287.05 J / (kg·K), g is the standard acceleration of gravity, which is about 9.80665 m / s², and M is the average molar mass of air, which is about 0.028964 kg / mol.

[0049] S20: Determine the current satellite-based altitude of the aircraft relative to the reference plane according to the current geodetic altitude of the aircraft.

[0050] The current geodetic altitude is the height between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment. It should be understood that the aircraft is equipped with a satellite-based locator (also called a satellite-based navigation locator), so that the height between the aircraft and the geodetic ellipsoid can be measured, that is, the current geodetic altitude of the aircraft.

[0051] On this basis, regarding the content in S20, the embodiment of the present invention also provides an optional implementation method, please refer to the following, S20, the step of determining the current satellite-based altitude of the aircraft relative to the reference plane based on the current geodetic altitude of the aircraft, includes: S21, as follows.

[0052] S21, determining the current satellite-based altitude of the aircraft relative to the reference surface according to the current geoid altitude of the aircraft, the airport elevation, and the geoid height difference corresponding to the current position of the aircraft.

[0053] It should be understood that the current position of the aircraft can be acquired through positioning, and then the geoid height difference corresponding to the current position of the aircraft can be determined.

[0054] Optionally, the current satellite-based altitude of the aircraft relative to the reference plane is calculated as:

[0055] in, Indicates the current satellite base altitude. Indicates the current earth altitude. Indicates the airport elevation. represents the geoid height difference corresponding to the current position of the aircraft, and t represents the current time.

[0056] S30, performing fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fusion altitude of the aircraft relative to the reference plane.

[0057] In the low-altitude route flight altitude acquisition method provided in an embodiment of the present invention, a reference plane is uniformly set to obtain the current satellite-based altitude of the aircraft relative to the current pressure altitude of the reference plane, and the current pressure altitude and the current satellite-based altitude of the reference plane are fused, thereby effectively reducing the altitude measurement error and obtaining a current fused altitude with a unified measurement reference and higher accuracy.

[0058] The current fusion altitude of the aircraft relative to the reference plane obtained by the embodiment of the present invention can be used as reference data for low-altitude traffic management to ensure the safe flight of the aircraft in complex urban airspace.

[0059] On the basis of the foregoing, regarding the content in S30, the embodiment of the present invention also provides an optional implementation method, please refer to the following, S30, the step of performing fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fusion altitude of the aircraft relative to the reference plane, includes: S31 and S32, which are specifically described as follows.

[0060] S31, inputting the current pressure altitude, the current satellite-based altitude and the altitude change into the filter group.

[0061] The altitude change is the altitude difference of the aircraft at the current moment relative to the previous moment obtained based on inertial measurement.

[0062] Optionally, the height change is calculated as:

[0063] in, Indicates the height change, It represents the vertical acceleration of the aircraft, which can be measured by the inertial measurement device deployed on the aircraft. t is the current time, t-1 is the previous time, and t in the formula is greater than or equal to 1. When t is 1, t-1=0, indicating the initial time.

[0064] S32, the filter group performs processing according to the current pressure altitude, the current satellite-based altitude, and the altitude change to determine the current fusion altitude of the aircraft relative to the reference plane.

[0065] Optionally, the filter group includes a first Kalman filter, a second Kalman filter and a main filter, wherein the first Kalman filter, the second Kalman filter and the main filter constitute a Federated Kalman Filter. The filter group can use a Federated Kalman filter algorithm to fuse the current pressure altitude, the current satellite-based altitude and the altitude change, eliminate their respective measurement errors, and obtain more accurate altitude data, that is, obtain the current fused altitude of the aircraft relative to the reference surface.

[0066] On this basis, regarding the contents in S31 and S32, the embodiment of the present invention also provides an optional implementation, please refer to the following.

[0067] S31, the step of inputting the current pressure altitude, the current satellite-based altitude and the altitude change into the filter group, comprises: S311 and S312, which are specifically as follows.

[0068] S311, input the current air pressure altitude and altitude change into the first Kalman filter.

[0069] S312, input the current satellite-based altitude and altitude change into a second Kalman filter.

[0070] S32, the filter group processes according to the current pressure altitude, the current satellite-based altitude and the altitude change to determine the current fused altitude of the aircraft relative to the reference plane, including: S321, S322 and S323, which are specifically described as follows.

[0071] S321, the first Kalman filter generates a current pressure altitude estimate and a current pressure altitude covariance estimate according to the current pressure altitude, altitude change, the fusion altitude at the last moment, and the fusion covariance at the last moment.

[0072] S322, the second Kalman filter generates a current satellite-based altitude estimate and a current satellite-based altitude covariance estimate according to the current satellite-based altitude, the altitude change, the fusion altitude at the last moment, and the fusion covariance at the last moment.

[0073] S323, the main filter determines the current fusion altitude and the current fusion covariance at the current moment according to the current pressure altitude estimate, the current pressure altitude covariance estimate, the current satellite-based altitude estimate, the current satellite-based altitude covariance estimate, and the altitude change.

[0074] Please refer to Figure 4 , Figure 4 A schematic diagram of a high-level fusion process of a federated Kalman filter provided in an embodiment of the present invention. Indicates the current air pressure altitude. Indicates the height change, Indicates the current satellite base altitude. Indicates the current pressure altitude estimate, Represents the estimated value of the current high and low pressure covariance, Indicates the current satellite-based altitude estimate, represents the current satellite-based height covariance estimate, Indicates the current fusion height, Represents the current fusion covariance.

[0075] like Figure 4 As shown, the altitude change is derived from the measurement data of the inertial measurement unit, the current pressure altitude is derived from the measurement data of the barometer, and the current satellite-based altitude is derived from the measurement data of the satellite-based locator. The current pressure altitude and altitude change are input into the first Kalman filter. The current satellite-based altitude and altitude change are input into the second Kalman filter. The main filter will feed back the obtained current fusion altitude and current fusion covariance to the first Kalman filter and the second Kalman filter. Therefore, the first Kalman filter and the second Kalman filter can obtain the fusion altitude and fusion covariance of the previous moment.

[0076] Then, the first Kalman filter generates a current pressure altitude estimate and a current pressure altitude covariance estimate according to the current pressure altitude, altitude change, fusion altitude at the last moment, and fusion covariance at the last moment. The second Kalman filter generates a current satellite-based altitude estimate and a current satellite-based altitude covariance estimate according to the current satellite-based altitude, altitude change, fusion altitude at the last moment, and fusion covariance at the last moment.

[0077] The first Kalman filter may send the current pressure altitude estimate and the current pressure altitude covariance estimate to the main filter, and the second Kalman filter may send the current satellite-based altitude estimate and the current satellite-based altitude covariance estimate to the main filter. The main filter determines the current fused altitude and the current fused covariance at the current moment according to the current pressure altitude estimate, the current pressure altitude covariance estimate, the current satellite-based altitude estimate, the current satellite-based altitude covariance estimate, and the altitude change.

[0078] It should be noted that when the aircraft enters the en-route phase Moments, covariance and Altitude estimation based on takeoff phase The en-route phase refers to the flight phase in which altitude measurement is performed using a barometer, satellite-based locator, and inertial measurement unit. During takeoff or landing outside of this phase, other altitude positioning equipment (including but not limited to laser rangefinders, visual positioning equipment, and ground-based altitude measurement equipment) may be used to perform altitude measurement.

[0079] See also Figure 5 , Figure 5 A low-altitude route flight altitude acquisition device is provided in an embodiment of the present invention. Optionally, the low-altitude route flight altitude acquisition device is applied to the electronic device described above.

[0080] The low-altitude route flight altitude acquisition device includes: a first processing unit 501 and a second processing unit 502 .

[0081] The first processing unit 501 is used to determine the current pressure altitude of the aircraft relative to the reference surface according to the current aircraft pressure; The first processing unit 501 is further used to determine the current satellite-based altitude of the aircraft relative to the reference surface according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment; The second processing unit 502 is used to perform fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fusion altitude of the aircraft relative to the reference plane.

[0082] It should be noted that the low-altitude route flight altitude acquisition device provided in this embodiment can execute the method flow shown in the above method flow embodiment to achieve the corresponding technical effect. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above embodiment.

[0083] The embodiment of the present invention further provides a storage medium, which stores computer instructions and programs, and when the computer instructions and programs are read and run, the method for obtaining the low-altitude route flight altitude of the above embodiment is executed. The storage medium may include a memory, a flash memory, a register, or a combination thereof.

[0084] The following provides an electronic device, which may be a central control unit of an aircraft, a low-altitude flight management server, or a user terminal device, such as a mobile phone, a computer, etc. The electronic device may be Figure 1 As shown, the above-mentioned low-altitude route flight altitude acquisition method can be implemented; specifically, the electronic device includes: a processor 10, a memory 11, and a bus 12. The processor 10 can be a CPU. The memory 11 is used to store one or more programs. When the one or more programs are executed by the processor 10, the low-altitude route flight altitude acquisition method of the above-mentioned embodiment is executed.

[0085] In summary, the embodiments of the present invention provide a method, device, storage medium and electronic device for obtaining the flight altitude of a low-altitude route. According to the current aircraft pressure, the current pressure altitude of the aircraft relative to the reference plane is determined; according to the current geodetic altitude of the aircraft, the current satellite-based altitude of the aircraft relative to the reference plane is determined, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment; according to the current pressure altitude and the current satellite-based altitude of the reference plane, a fusion process is performed to determine the current fused altitude of the aircraft relative to the reference plane. In the method for obtaining the flight altitude of a low-altitude route provided by the embodiments of the present invention, the current satellite-based altitude of the current pressure altitude of the aircraft relative to the reference plane is obtained by uniformly setting the reference plane, and the current pressure altitude and the current satellite-based altitude of the reference plane are fused, thereby effectively reducing the altitude measurement error and obtaining a current fused altitude with a unified measurement reference and higher accuracy.

[0086] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

[0087] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A method for obtaining a low-altitude route flight altitude, characterized in that: The method comprises: Determining the current pressure altitude of the aircraft relative to a reference surface based on the current aircraft pressure; Determine the current satellite-based altitude of the aircraft relative to a reference surface according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by a satellite-based locator at the current moment; Performing fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine a current fusion altitude of the aircraft relative to the reference plane; The step of performing fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fusion altitude of the aircraft relative to the reference plane comprises: Input the current pressure altitude, the current satellite-based altitude and the altitude change into a filter group, wherein the altitude change is the altitude difference of the aircraft at the current moment relative to the previous moment obtained based on inertial measurement; The filter group performs processing according to the current pressure altitude, the current satellite-based altitude, and the altitude change to determine a current fused altitude of the aircraft relative to a reference surface.

2. The low-altitude route flight altitude acquisition method according to claim 1, characterized in that: The filter bank includes a first Kalman filter, a second Kalman filter and a main filter; The step of inputting the current pressure altitude, the current satellite-based altitude and the altitude change into a filter group comprises: Inputting the current air pressure altitude and the altitude change into the first Kalman filter; Inputting the current satellite-based altitude and the altitude change into the second Kalman filter; The step of processing, by the filter group, the current pressure altitude, the current satellite-based altitude, and the altitude change to determine the current fused altitude of the aircraft relative to a reference plane comprises: The first Kalman filter generates a current pressure altitude estimate and a current pressure altitude covariance estimate according to the current pressure altitude, the altitude change, the fusion altitude at the last moment, and the fusion covariance at the last moment; The second Kalman filter generates a current satellite-based altitude estimate and a current satellite-based altitude covariance estimate according to the current satellite-based altitude, the altitude change, the fused altitude at the last moment, and the fused covariance at the last moment; The main filter determines a current fused altitude and a current fused covariance at a current moment according to the current pressure altitude estimate, the current pressure altitude covariance estimate, the current satellite-based altitude estimate, the current satellite-based altitude covariance estimate, and the altitude change.

3. The low-altitude route flight altitude acquisition method according to claim 1, characterized in that: The step of determining the current pressure altitude of the aircraft relative to the reference surface according to the current aircraft pressure comprises: Acquire a first height difference between the aircraft and the weather station according to the current weather station temperature, the current weather station air pressure, and the current aircraft air pressure; The current pressure altitude of the aircraft relative to a reference surface is determined according to the first altitude difference, the meteorological station altitude and the airport altitude.

4. The low-altitude route flight altitude acquisition method according to claim 1, characterized in that: The step of determining the current pressure altitude of the aircraft relative to the reference surface according to the current aircraft pressure comprises: The current pressure altitude of the aircraft relative to a reference plane is determined based on the current airport temperature, the current airport pressure, and the current aircraft pressure.

5. The low-altitude route flight altitude acquisition method according to claim 1, characterized in that: The step of determining the current satellite-based altitude of the aircraft relative to a reference surface according to the current geodetic altitude of the aircraft comprises: The current satellite-based altitude of the aircraft relative to a reference plane is determined according to the current geoid altitude of the aircraft, the airport elevation, and the geoid height difference corresponding to the current position of the aircraft.

6. The low-altitude route flight altitude acquisition method according to claim 1, characterized in that: The current satellite-based altitude of the aircraft relative to the reference plane is calculated as: in, Indicates the current satellite base altitude. Indicates the current earth altitude. Indicates the airport elevation. represents the geoid height difference corresponding to the current position of the aircraft, and t represents the current time.

7. A low-altitude route flight altitude acquisition device, characterized in that: The device comprises: A first processing unit, configured to determine a current pressure altitude of the aircraft relative to a reference surface according to a current aircraft pressure; The first processing unit is further used to determine the current satellite-based altitude of the aircraft relative to the reference surface according to the current geodetic altitude of the aircraft, wherein the current geodetic altitude is the altitude between the aircraft and the geodetic ellipsoid measured by the satellite-based locator at the current moment; A second processing unit is used to perform fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine a current fusion altitude of the aircraft relative to the reference plane; The method of performing fusion processing according to the current pressure altitude and the current satellite-based altitude of the reference plane to determine the current fused altitude of the aircraft relative to the reference plane comprises: inputting the current pressure altitude, the current satellite-based altitude and the altitude change into a filter group, wherein the altitude change is the altitude difference of the aircraft at the current moment relative to the previous moment obtained based on inertial measurement; and the filter group performing processing according to the current pressure altitude, the current satellite-based altitude and the altitude change to determine the current fused altitude of the aircraft relative to the reference plane.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

9. An electronic device, characterized in that: include: A processor and a memory, the memory being used to store one or more programs; When the one or more programs are executed by the processor, the method according to any one of claims 1 to 6 is implemented.

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