Carrier height measuring device and method

Abstract

The invention belongs to the technical field of carrier height measurement, and discloses a carrier height measurement device and method. The method comprises the following steps: acquiring barometer data sequentially output by a plurality of barometers according to a preset time interval; converting the barometer data into height data, and determining predicted height data corresponding to the next frame of barometer data according to the barometer data; and acquiring predicted height data corresponding to the barometer data, and performing lever arm conversion and filtering processing on the predicted height data corresponding to the barometer data and the height data to obtain a height measurement result. Through the above mode, the plurality of barometers are distributed at different positions in the carrier cabin, the barometers are controlled to carry out asynchronous output according to equal time difference, and the asynchronously output data are fused to obtain the carrier height, so that the influence of the ambient temperature and air speed in the cabin on the height measurement of the barometers can be reduced, and the height measurement accuracy is improved; and the frequency can be changed by quantity, so that the output frequency is improved while the overall measurement performance is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle height measurement, and in particular to a vehicle height measurement device and method. Background Art

[0002] When measuring the height of a vehicle, a barometer can be used to measure the height. However, the barometer is usually affected by temperature and airspeed. The degree of temperature influence varies depending on the installation position on the vehicle. Especially for large vehicles, the temperature distribution at each position is uneven. At the same time, under the influence of the air pressure at the current height, the converted height will be inaccurate. Therefore, if a single barometer is used to measure the height of the vehicle, the accuracy is low. In addition, a single barometer is often loaded with a filter to reduce signal noise. This reduces the output frequency while pursuing high precision. When the vehicle moves at high speed, it often cannot meet the requirements.

[0003] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of the present invention is to provide a vehicle height measurement device and method, aiming to solve the technical problem in the prior art that when a single barometer measures the vehicle height, the height converted is inaccurate due to the influence of temperature and airspeed.

[0005] To achieve the above object, the present invention provides a vehicle height measuring device, the vehicle height measuring device comprises a distributed barometer module and a data processing module, the distributed barometer module comprises a plurality of barometers, the plurality of barometers are distributed at different positions in the vehicle cabin, the data processing module comprises an asynchronous processing module and a synchronous processing module, the asynchronous processing module and the synchronous processing module are connected via a parallel data bus, and the asynchronous processing module is connected to the plurality of barometers;

[0006] The asynchronous processing module is used to obtain the barometer data sequentially output by the multiple barometers according to preset time intervals;

[0007] The asynchronous processing module is further used to convert the barometer data into altitude data, and determine predicted altitude data corresponding to the next frame of barometer data according to the barometer data;

[0008] The synchronization processing module is used to obtain the predicted altitude data corresponding to the barometer data, perform lever arm conversion and filtering on the predicted altitude data corresponding to the barometer data and the altitude data, and obtain an altitude measurement result.

[0009] Optionally, the asynchronous processing module includes a time asynchronous control unit and a height prediction unit, and the time asynchronous control unit is connected to the plurality of barometers;

[0010] The time asynchronous control unit is used to determine the preset time interval according to the number of the plurality of barometers and the output time interval of each barometer, and asynchronously control the plurality of barometers to output the barometer data according to the preset time interval;

[0011] The altitude prediction unit is used to determine, when the barometer data is the first frame of barometer data, that the predicted altitude data corresponding to the next frame of barometer data is the altitude data of the first frame of barometer data;

[0012] The altitude prediction unit is further used to determine the predicted altitude data corresponding to the next frame of barometer data based on a preset autoregressive prediction model when the barometer data is not the first frame of barometer data.

[0013] Optionally, the asynchronous processing module further comprises a fault diagnosis unit, and the fault diagnosis unit is respectively connected to the altitude prediction unit and the plurality of barometers;

[0014] The fault diagnosis unit is used to perform fault diagnosis on the barometer data to obtain a diagnosis result when the barometer data is not the first frame of barometer data;

[0015] The fault diagnosis unit is further configured to determine that the barometer outputting the barometer data is faulty when the diagnosis result meets the preset isolation condition, and obtain the next frame of barometer data;

[0016] The fault diagnosis unit is further configured to determine that the barometer that outputs the barometer data is not faulty when the diagnosis result does not meet the preset isolation condition, and send the barometer data to the altitude prediction unit.

[0017] Optionally, the synchronization processing module includes a conversion filtering unit and a data cache unit;

[0018] The data cache unit is used to cache the predicted altitude data corresponding to the next frame of barometer data obtained by the asynchronous processing module;

[0019] The conversion and filtering unit is used to obtain the predicted altitude data corresponding to the barometer data from the data cache unit, and perform arm conversion and filtering on the predicted altitude data corresponding to the barometer data and the altitude data to obtain the altitude measurement result.

[0020] Optionally, the carrier height measuring device further includes a power supply module and an external interface module, wherein the power supply module is connected to the asynchronous processing module, and the external interface module is connected to the synchronous processing module.

[0021] In addition, to achieve the above object, the present invention also proposes a carrier height measurement method, the carrier height measurement method is applied to the above carrier height measurement device, and the carrier height measurement method comprises the following steps:

[0022] Obtaining barometer data outputted sequentially by a plurality of barometers at preset time intervals;

[0023] Converting the barometer data into altitude data, and determining predicted altitude data corresponding to a next frame of barometer data based on the barometer data;

[0024] The predicted altitude data corresponding to the barometer data are obtained, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering to obtain an altitude measurement result.

[0025] Optionally, determining predicted altitude data corresponding to a next frame of barometer data according to the barometer data includes:

[0026] When the barometer data is the first frame of barometer data, determining that the predicted altitude data of the next frame of barometer data is the altitude data of the first frame of barometer data, and returning to execute the step of acquiring the barometer data outputted sequentially by multiple barometers at preset time intervals;

[0027] When the barometer data is not the first frame of barometer data, based on a preset autoregressive prediction model, the predicted altitude data corresponding to the next frame of barometer data is determined, the predicted altitude data corresponding to the barometer data is acquired, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering processing to obtain the altitude measurement result.

[0028] Optionally, before converting the barometer data into altitude data and determining predicted altitude data corresponding to a next frame of barometer data according to the barometer data, the method further includes:

[0029] When the barometer data is not the first frame of barometer data, performing fault diagnosis on the barometer data to obtain a diagnosis result;

[0030] When the diagnosis result meets the preset isolation condition, it is determined that the barometer outputting the barometer data is faulty, and the process returns to the step of acquiring the barometer data outputted in sequence by a plurality of barometers at preset time intervals;

[0031] When the diagnosis result does not meet the preset isolation condition, it is determined that the barometer that outputs the barometer data is not faulty, and the steps of converting the barometer data into altitude data and determining the predicted altitude data of the next frame of barometer data based on the barometer data are executed.

[0032] Optionally, the carrier height measurement method further includes:

[0033] The predicted altitude data corresponding to the next frame of barometer data is cached.

[0034] Optionally, the carrier height measurement method further includes:

[0035] Determining the preset time interval according to the number of the plurality of barometers and the output time interval of each barometer;

[0036] The plurality of barometers are asynchronously controlled to output the barometer data according to the preset time intervals.

[0037] In the present invention, the vehicle height measuring device includes a distributed barometer module and a data processing module. The distributed barometer module includes multiple barometers, and the multiple barometers are distributed at different positions in the vehicle cabin. The data processing module includes an asynchronous processing module and a synchronous processing module. The asynchronous processing module and the synchronous processing module are connected through a parallel data bus. The asynchronous processing module is connected to the multiple barometers. The asynchronous processing module is used to obtain barometer data output by the multiple barometers in sequence according to preset time intervals. The asynchronous processing module is also used to convert the barometer data into height data, and determine the predicted height data corresponding to the next frame of barometer data based on the barometer data. The synchronous processing module is used to obtain the predicted height data corresponding to the barometer data, and perform lever arm conversion and filtering processing on the predicted height data corresponding to the barometer data and the height data to obtain the height measurement result. The present invention distributes multiple barometers at different positions in the vehicle cabin, controls each barometer to output asynchronously with equal time difference, fuses the asynchronously output data, and obtains the vehicle altitude. Compared with using a single barometer to measure altitude, the present invention can reduce the influence of the cabin ambient temperature and airspeed on the barometer altitude measurement, and improve the accuracy of altitude measurement. Compared with the output frequency limited due to barometer noise reduction, the present invention can exchange quantity for frequency, ensure the overall measurement performance while improving the frequency of output measurement altitude. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a structural schematic diagram of a first embodiment of a vehicle height measuring device of the present invention;

[0039] Figure 2 It is a structural schematic diagram of a second embodiment of a vehicle height measuring device of the present invention;

[0040] Figure 3 It is a schematic structural diagram of a third embodiment of a vehicle height measuring device according to the present invention;

[0041] Figure 4 It is a schematic diagram of the overall structure of an embodiment of a vehicle height measuring device of the present invention;

[0042] Figure 5 It is a schematic diagram of the process of the first embodiment of the method for measuring the height of a carrier according to the present invention;

[0043] Figure 6 It is a schematic flow chart of a second embodiment of a method for measuring the height of a carrier according to the present invention;

[0044] Figure 7 Schematic diagram of the overall process of one embodiment of a method for measuring the height of a carrier according to the present invention.

[0045] Description of Figure Numbers:

[0046] Label name Label name 10 Distributed Barometer Module 202 Synchronous processing module 20 Data processing module 2011 Time Asynchronous Control Unit 30 Battery Module 2012 Height prediction unit 40 External interface module 2013 Fault diagnosis unit 101 Barometer 2021 Conversion filter unit 201 Asynchronous processing module 2022 Data Cache Unit

[0047] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0048] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. 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.

[0050] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] Reference Figure 1 , Figure 1 The first embodiment of the vehicle height measuring device of the present invention is shown in FIG. The first embodiment of the vehicle height measuring device of the present invention is provided.

[0053] like Figure 1 As shown, in this embodiment, the vehicle height measuring device includes a distributed barometer module 10 and a data processing module 20, the distributed barometer module 10 includes a plurality of barometers 101, and the plurality of barometers 101 are distributed at different positions in the vehicle cabin, the data processing module 20 includes an asynchronous processing module 201 and a synchronous processing module 202, the asynchronous processing module 201 and the synchronous processing module 202 are connected via a parallel data bus, and the asynchronous processing module 201 is connected to the plurality of barometers 101.

[0054] It should be noted that the carrier is a space carrier, such as a rocket, which can be a large carrier or a small carrier, and can be any carrier that can use a carrier height measurement device, and this embodiment does not impose any limitation on this.

[0055] It can be understood that the barometer 101 is a device that measures the current atmospheric pressure and other information changes in the surrounding environment and converts them into electrical signals. In this embodiment, each barometer 101 is set at a different position in the vehicle cabin. In the specific implementation, the position of each barometer 101 in the vehicle cabin can be flexibly adjusted according to actual needs. A plurality of distributed barometers 101 can constitute the distributed barometer module 10 in this embodiment. These barometers 101 can be regarded as a whole, which can improve the reliability of the output data of a single barometer that does not have it, and effectively improve the overall accuracy and fault tolerance of the barometer vector array. These barometers 101 will output the corresponding data (i.e., barometer data) in sequence at a certain time interval. After all barometers 101 have finished outputting, they will continue to output the next round, and the cycle will repeat.

[0056] It should be understood that the asynchronous processing module 201 is used to obtain the barometer data output by the multiple barometers 101 in sequence at preset time intervals; the asynchronous processing module 201 is also used to convert the barometer data into altitude data, and determine the predicted altitude data corresponding to the next frame of barometer data based on the barometer data; the synchronous processing module 202 is used to obtain the predicted altitude data corresponding to the barometer data, perform arm conversion and filtering on the predicted altitude data corresponding to the barometer data and the altitude data, and obtain an altitude measurement result.

[0057] It should be noted that the preset time interval is the time interval between the barometers 101 outputting data, and the multiple barometers 101 sequentially output barometer data according to the preset time interval, and the output barometer data will be transmitted to the asynchronous processing module 201. Altitude data refers to the altitude directly converted according to the barometer data, that is, the measured altitude value. Generally speaking, the altitude directly converted according to the barometer data has a low accuracy. The next frame of barometer data refers to the barometer data output by the multiple barometers 101 next time, and the predicted altitude data refers to the predicted altitude, that is, the predicted altitude value. After the asynchronous processing module 201 obtains the barometer data, it will convert it into the corresponding altitude data. At the same time, it will also predict the altitude corresponding to the next output barometer data according to the currently obtained barometer data. That is to say, the asynchronous processing module 201 will predict the altitude corresponding to the next output barometer data every time it obtains the barometer data output by a barometer 101, that is, according to the jth output barometer data, determine the predicted altitude value corresponding to the j+1th output barometer data.

[0058] It can be understood that the arm conversion refers to converting the position center of the barometer installed in the vehicle cabin to a unified center, and the unified center is generally the center of mass of the vehicle. The filtering processing method can be a typical filtering method including Kalman filtering and its extended form, or it can be other suitable filtering methods, and this embodiment does not limit this. The height measurement result is the height of the vehicle finally determined. The predicted height data corresponding to the barometer data refers to the predicted height value of each barometer data. Each barometer data will predict the height corresponding to the next frame of barometer data. That is to say, except for the first output barometer data, other barometer data have corresponding predicted height values. Therefore, starting from the second output barometer data, the measured height value and the predicted height value are converted from the center of their respective positions to a unified center by the arm conversion, and then, the filtering fusion processing is performed to obtain the final output height.

[0059] In this embodiment, the carrier height measurement device includes a distributed barometer module 10 and a data processing module 20. The distributed barometer module 10 includes multiple barometers 101, and the multiple barometers 101 are distributed at different positions in the carrier cabin. The data processing module 20 includes an asynchronous processing module 201 and a synchronous processing module 202. The asynchronous processing module 201 and the synchronous processing module 202 are connected through a parallel data bus. The asynchronous processing module 201 is connected to the multiple barometers 101. The asynchronous processing module 201 is used to obtain barometer data output by the multiple barometers 101 in sequence according to a preset time interval. The asynchronous processing module 201 is also used to convert the barometer data into height data, and determine the predicted height data corresponding to the next frame of barometer data based on the barometer data. The synchronous processing module 202 is used to obtain the predicted height data corresponding to the barometer data, and perform arm conversion and filtering on the predicted height data corresponding to the barometer data and the height data to obtain the height measurement result. In this embodiment, multiple barometers are distributed at different positions in the vehicle cabin. Each barometer outputs asynchronously with equal time differences. The data of the asynchronous outputs are fused to obtain the vehicle altitude. Compared with using a single barometer to measure altitude, this embodiment can reduce the influence of the cabin ambient temperature and airspeed on the barometer altitude measurement, and improve the accuracy of altitude measurement. Compared with the barometer noise reduction that leads to limited output frequency, this embodiment can exchange quantity for frequency, thereby ensuring the overall measurement performance while increasing the frequency of output measurement altitude.

[0060] Reference Figure 2 , Figure 2 The present invention provides a second embodiment of a vehicle height measuring device.

[0061] like Figure 2 As shown, in this embodiment, the asynchronous processing module 201 includes a time asynchronous control unit 2011 and a height prediction unit 2012, and the time asynchronous control unit 2011 is connected to the multiple barometers 101. The synchronous processing module 202 includes a conversion filtering unit 2021 and a data cache unit 2022, and the data cache unit 2022 can be connected to the height prediction unit 2012.

[0062] It should be noted that the time asynchronous control unit 2011 is used to determine the preset time interval according to the number of the multiple barometers 101 and the output time interval of each barometer 101, and asynchronously control the multiple barometers 101 to output the barometer data according to the preset time interval.

[0063] It can be understood that the output time interval refers to the time interval for the barometer 101 to output data itself, and the output time interval of each barometer 101 in this embodiment is the same. In order to ensure that each barometer 101 outputs barometer data according to the output time interval, and the barometers need to maintain a preset time interval to output in sequence, therefore, this embodiment determines the corresponding preset time interval according to the number of barometers 101 in the distributed barometer module 10 and the output time interval of the barometer 101, and the preset time interval is equal to the output time interval divided by the number of barometers 101.

[0064] It should be understood that if there are N barometers 101, the output time interval of each barometer 101 is T, and the preset time interval is T / N, and the barometers 101 are controlled to output asynchronously according to the preset time interval T / N, so that the N barometers successively output barometer data at a time interval of T / N, and the height output frequency is N / T. This embodiment can exchange quantity for frequency, thereby ensuring the overall measurement performance while increasing the frequency of outputting the measured height.

[0065] It should be noted that the altitude prediction unit 2012 is used to determine, when the barometer data is the first frame of barometer data, that the predicted altitude data corresponding to the next frame of barometer data is the altitude data of the first frame of barometer data; the altitude prediction unit 2012 is also used to determine, when the barometer data is not the first frame of barometer data, based on a preset autoregressive prediction model, the predicted altitude data corresponding to the next frame of barometer data.

[0066] It can be understood that the first frame of barometer data refers to the first output barometer data, and the measured altitude value of the first frame of barometer data is directly used as the predicted altitude value of the next frame of barometer data (the barometer data output at the next T / N moment). Non-first frame barometer data refers to barometer data other than the first output, that is, all barometer data starting from the second output barometer data. For non-first frame barometer data, the predicted altitude value corresponding to the next frame of barometer data needs to be determined based on a preset autoregressive prediction model. The preset autoregressive prediction model is a model used to predict altitude values. This embodiment uses an autoregressive model (AR model) for prediction.

[0067] It should be understood that the data cache unit 2022 is used to cache the predicted altitude data of the next frame of barometer data obtained by the asynchronous processing module 201; the conversion filtering unit 2021 is used to obtain the predicted altitude data corresponding to the barometer data from the data cache unit 2022, and perform arm conversion and filtering processing on the predicted altitude data corresponding to the barometer data and the altitude data to obtain the altitude measurement result.

[0068] It should be noted that all the predicted altitude values ​​obtained will be cached in the data cache unit 2022. The conversion and filtering unit 2021 can find the predicted altitude value corresponding to each barometer data from the data cache unit 2022, thereby performing arm conversion and filtering processing on the predicted altitude value and the measured altitude value, and then obtaining the altitude of the vehicle.

[0069] In this embodiment, the asynchronous processing module 201 includes a time asynchronous control unit 2011 and a height prediction unit 2012, the time asynchronous control unit 2011 is connected to multiple barometers 101, and the synchronous processing module 202 includes a conversion filtering unit 2021 and a data cache unit 2022. The time asynchronous control unit 2011 is used to determine the preset time interval according to the number of multiple barometers 101 and the output time interval of each barometer 101, and asynchronously control the multiple barometers 101 to output barometer data according to the preset time interval. The height prediction unit 2012 is used to determine that the predicted height data corresponding to the next frame of barometer data is the height data of the first frame of barometer data when the barometer data is the first frame of barometer data, and when the barometer data is not the first frame of barometer data, the predicted height data corresponding to the next frame of barometer data is determined based on a preset autoregressive prediction model. The data cache unit 2022 is used to cache the predicted height data of the next frame of barometer data obtained by the asynchronous processing module 201. Compared with the use of a single barometer to measure altitude, this embodiment can reduce the impact of the cabin ambient temperature and airspeed on the barometer altitude measurement, and improve the accuracy of altitude measurement. Compared with the barometer noise reduction that leads to limited output frequency, this embodiment can exchange quantity for frequency, thereby ensuring the overall measurement performance while increasing the frequency of output measurement altitude.

[0070] Reference Figure 3 , Figure 3 Schematic diagram of the structure of the third embodiment of the vehicle height measuring device of the present invention. The present invention provides a third embodiment of the vehicle height measuring device.

[0071] like Figure 3 As shown, in this embodiment, the asynchronous processing module 201 further includes a fault diagnosis unit 2013, and the fault diagnosis unit 2013 is connected to the altitude prediction unit 2012 and the plurality of barometers 101 respectively.

[0072] It should be noted that the fault diagnosis unit 2013 is used to perform fault diagnosis on the barometer data to obtain a diagnosis result when the barometer data is not the first frame of barometer data, and when the diagnosis result meets the preset isolation condition, determine that the barometer that outputs the barometer data is faulty and obtain the next frame of barometer data; the fault diagnosis unit 2013 is also used to determine that the barometer that outputs the barometer data is not faulty and send the barometer data to the altitude prediction unit 2012 when the diagnosis result does not meet the preset isolation condition.

[0073] It is understandable that although the vehicle height measurement device has the function of removing some minor accidental errors, the final fusion output still cannot effectively overcome the influence of gross errors. For example, a barometer failure causes the value to increase sharply, so that the measurement result output after filtering and fusion seriously deviates from the true value. Therefore, this embodiment performs fault diagnosis before data fusion, which can effectively identify and isolate the faulty barometer. Among them, the fault diagnosis method can adopt the gross error detection method or the Kalman residual method. It can be any method of tracing and finding the fault through the existing barometer data. This embodiment does not limit this.

[0074] It should be understood that since the first frame of barometer data has no previous data to refer to, the first frame of barometer data is not subjected to fault diagnosis, and is directly cached as the predicted altitude value at the next T / N moment. All non-first frame barometer data need to be subjected to fault diagnosis, and the result obtained by the fault diagnosis is the diagnosis result.

[0075] It should be noted that the preset isolation condition refers to the condition for the barometer to fail. If the preset isolation condition is met, it means that the barometer corresponding to the barometer data fails and needs to be isolated. All subsequent steps are skipped and the next frame of barometer data is obtained for corresponding processing. If the preset isolation condition is not met, it means that the barometer corresponding to the barometer data is not faulty and does not need to be isolated. The next step of height conversion and prediction is continued. Among them, the preset isolation condition can be set according to the adopted fault diagnosis method, and this embodiment does not limit this.

[0076] Furthermore, if Figure 4 As shown, the carrier height measuring device further includes a power module 30 and an external interface module 40 . The power module 30 is connected to the asynchronous processing module 201 , and the external interface module 40 is connected to the synchronous processing module 202 .

[0077] It can be understood that the power module 30 is generally used to supply power to the vehicle height measuring device, and the external interface module 40 is generally used to connect an external interface.

[0078] In this embodiment, the asynchronous processing module 201 further includes a fault diagnosis unit 2013, which is connected to the altitude prediction unit 2012 and the plurality of barometers 101, respectively. The fault diagnosis unit 2013 is used to perform fault diagnosis on the barometer data when the barometer data is not the first frame of barometer data, obtain a diagnosis result, and when the diagnosis result meets the preset isolation condition, determine that the barometer outputting the barometer data is faulty, obtain the next frame of barometer data, and when the diagnosis result does not meet the preset isolation condition, determine that the barometer outputting the barometer data is not faulty, and send the barometer data to the altitude prediction unit 2012. Compared with directly performing filtering processing to reduce signal noise, this embodiment will perform fault diagnosis self-checking on the barometer, and can maintain output accuracy even when some barometers fail, have good fault tolerance, and further improve the accuracy of altitude measurement.

[0079] The embodiment of the present invention provides a method for measuring the height of a carrier, referring to Figure 5 , Figure 5 FIG. 4 is a flow chart of a first embodiment of a method for measuring the height of a carrier according to the present invention.

[0080] In this embodiment, the carrier height measurement method includes the following steps:

[0081] Step S10: Obtaining barometer data outputted sequentially by a plurality of barometers at preset time intervals.

[0082] It should be noted that the execution subject of this embodiment is a vehicle height measurement device, which includes a distributed barometer module and a data processing module. The distributed barometer module includes multiple barometers, which are distributed at different positions in the vehicle cabin. The specific structure can be referred to Figures 1 to 4 The carrier height measuring device is provided with a carrier height measuring program, and the carrier height is measured by running the carrier height measuring program.

[0083] It can be understood that the preset time interval is the time interval for setting the barometers to output data, and all barometers output barometer data in sequence according to the preset time interval. After one round of output is completed, the next round of output will continue, and the cycle will repeat.

[0084] Furthermore, before step S10, the method further includes: determining the preset time interval according to the number of the plurality of barometers and the output time interval of each barometer; and asynchronously controlling the plurality of barometers to output the barometer data according to the preset time interval.

[0085] It should be understood that the output time interval refers to the time interval for the barometer to output data, and the output time interval of each barometer in this embodiment is the same. In order to ensure that each barometer outputs barometer data according to the output time interval, and the barometers need to output in sequence at a preset time interval, the present embodiment determines the corresponding preset time interval according to the number of barometers and the output time interval of the barometers, and the preset time interval is equal to the output time interval divided by the number of barometers.

[0086] In a specific implementation, if there are N barometers in total, and the output time interval of each barometer is T, then the preset time interval is T / N, and the barometers are controlled to output asynchronously according to the preset time interval T / N, so that the N barometers successively output barometer data at a time interval of T / N, and the height output frequency is N / T. This embodiment can exchange quantity for frequency, thereby ensuring the overall measurement performance while increasing the frequency of outputting the measured height.

[0087] Step S20: converting the barometer data into altitude data, and determining predicted altitude data corresponding to the next frame of barometer data based on the barometer data.

[0088] It should be noted that the altitude data refers to the altitude directly converted from the barometer data, that is, the measured altitude value. Generally speaking, the altitude directly converted from the barometer data has a low accuracy. The next frame of barometer data refers to the barometer data output next time, and the predicted altitude data refers to the predicted altitude, that is, the predicted altitude value. After the barometer data is obtained, it will be converted into the corresponding altitude data. At the same time, the altitude corresponding to the next output of the barometer data will be predicted based on the currently obtained barometer data. In other words, each time a barometer data is obtained, the altitude corresponding to the next output of the barometer data will be predicted, that is, based on the j-th output of the barometer data, the predicted altitude value corresponding to the j+1-th output of the barometer data is determined.

[0089] Further, according to the barometer data, determining predicted altitude data corresponding to a next frame of barometer data, including: when the barometer data is the first frame of barometer data, determining the predicted altitude data of the next frame of barometer data as the altitude data of the first frame of barometer data, and returning to execute the step of obtaining barometer data outputted sequentially by multiple barometers at preset time intervals;

[0090] It can be understood that the first frame of barometer data refers to the first output barometer data, and the measured altitude value of the first frame of barometer data is directly used as the predicted altitude value of the next frame of barometer data (the barometer data output at the next T / N time).

[0091] Furthermore, based on the barometer data, predicted altitude data corresponding to the next frame of barometer data is determined, including: when the barometer data is not the first frame of barometer data, based on a preset autoregressive prediction model, the predicted altitude data corresponding to the next frame of barometer data is determined, the predicted altitude data corresponding to the barometer data is acquired, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering to obtain the altitude measurement result.

[0092] It should be understood that the non-first frame barometer data refers to the barometer data that is not the first output, that is, all barometer data starting from the second output barometer data. For the non-first frame barometer data, the predicted altitude value corresponding to the next frame barometer data needs to be determined according to the preset autoregressive prediction model, which is a model used to predict the altitude value. This embodiment uses the autoregressive model for prediction.

[0093] Step S30: obtaining predicted altitude data corresponding to the barometer data, performing lever-arm conversion and filtering processing on the predicted altitude data corresponding to the barometer data and the altitude data, and obtaining an altitude measurement result.

[0094] It should be noted that the height measurement result is the final determined height of the vehicle. The predicted height data corresponding to the barometer data refers to the predicted height value of each barometer data. Each barometer data will predict the height corresponding to the next frame of barometer data. That is to say, except for the first output barometer data, other barometer data have corresponding predicted height values. Therefore, starting from the second output barometer data, the measured height value and the predicted height value are transformed from the center of their respective positions to the unified center, and then filtered and fused to obtain the final output height.

[0095] It is understandable that after obtaining the predicted altitude data corresponding to the next frame of barometer data, the predicted altitude data corresponding to the next frame of barometer data is usually cached so that the corresponding altitude can be fused and outputted based on the predicted altitude value and the measured altitude value corresponding to each barometer data.

[0096] In this embodiment, barometer data outputted by multiple barometers in sequence at preset time intervals are obtained, the barometer data are converted into altitude data, and the predicted altitude data corresponding to the next frame of barometer data is determined based on the barometer data, the predicted altitude data corresponding to the barometer data is obtained, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering to obtain an altitude measurement result. In this embodiment, multiple barometers are distributed at different positions in the vehicle cabin, and each barometer outputs asynchronously according to equal time differences. The asynchronously output data are fused to obtain the vehicle altitude. Compared with the use of a single barometer to measure altitude, this embodiment can reduce the influence of the cabin ambient temperature and airspeed on the barometer altitude measurement, and improve the accuracy of altitude measurement. Compared with the output frequency limited due to the noise reduction of the barometer, this embodiment can exchange quantity for frequency, and ensure the overall measurement performance while increasing the frequency of output measurement altitude.

[0097] Reference Figure 6 , Figure 6 FIG. 4 is a flow chart of a second embodiment of a method for measuring the height of a carrier according to the present invention.

[0098] Based on the above embodiment, before step S20, the following step is further included:

[0099] Step S11: When the barometer data is not the first frame of barometer data, a fault diagnosis is performed on the barometer data to obtain a diagnosis result.

[0100] It should be noted that since the first frame barometer data has no previous data to refer to, the first frame barometer data is not subjected to fault diagnosis, and is directly cached as the predicted altitude value at the next T / N moment. All non-first frame barometer data need to be subjected to fault diagnosis, and the result obtained by the fault diagnosis is the diagnosis result.

[0101] Step S12: When the diagnostic result meets the preset isolation condition, it is determined that the barometer that outputs the barometer data is faulty, and the step of obtaining the barometer data output by multiple barometers in sequence at preset time intervals is returned to execute; when the diagnostic result does not meet the preset isolation condition, it is determined that the barometer that outputs the barometer data is not faulty, and the step of converting the barometer data into altitude data is executed, and the predicted altitude data of the next frame of barometer data is determined based on the barometer data.

[0102] It can be understood that the preset isolation condition refers to the condition for the barometer to fail. If the preset isolation condition is met, it means that the barometer corresponding to the barometer data fails and needs to be isolated. All subsequent steps are skipped and the next frame of barometer data is obtained for corresponding processing. If the preset isolation condition is not met, it means that the barometer corresponding to the barometer data is not faulty and does not need to be isolated. The next step of height conversion and prediction is continued. Among them, the preset isolation condition can be set according to the adopted fault diagnosis method, and this embodiment does not limit this.

[0103] It should be understood that all parameter configurations in this embodiment, such as the operating environment of the barometer, the altitude conversion method, the number of barometers, the input frequency, the output frequency, the fault diagnosis method and the empirical thresholds involved in the filtering processing, etc., can be set in advance according to actual needs.

[0104] like Figure 7 As shown in the overall process diagram, first initialize the parameter configuration, then input the jth barometer data and perform altitude conversion. Since the first frame of barometer data has no reference to the previous frame, it is impossible to perform fault diagnosis, and it is directly used as the predicted altitude value cache at the next T / N moment. When the second barometer data arrives, the lever arm conversion and filtering processing are performed together, and the non-first frame barometer data is fault diagnosed. If the set isolation condition is met, it is considered that the barometer unit has a fault, skip all subsequent steps, and return to continue the input and processing of the next barometer data. If the set isolation condition is not met, the next step of altitude value prediction is performed, and the AR model is used to predict the barometer predicted altitude value at the (j+1)T / N moment, and the predicted value result is cached. The cached barometer predicted altitude value and the measured altitude value at the (j+1)T / N moment are converted from the center of their respective positions to a unified center through the lever arm conversion, and then filtered and fused to obtain the final output altitude.

[0105] In this embodiment, when the barometer data is not the first frame barometer data, the barometer data is diagnosed for a fault to obtain a diagnosis result. When the diagnosis result meets the preset isolation condition, it is determined that the barometer outputting the current barometer data is faulty. When the diagnosis result does not meet the preset isolation condition, it is determined that the barometer outputting the current barometer data is not faulty. Compared with directly performing filtering processing to reduce signal noise, this embodiment performs a fault diagnosis self-check on the barometer, and can maintain output accuracy even when some barometers fail, has good fault tolerance, and further improves the accuracy of altitude measurement.

[0106] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0107] It should be noted that the workflow described above is merely illustrative and does not limit the scope of protection of the present invention. In practical applications, technicians in this field can select part or all of them according to actual needs to achieve the purpose of the present embodiment, and no limitation is made here.

[0108] In addition, for technical details that are not described in detail in this embodiment, reference can be made to the carrier height measurement method provided in any embodiment of the present invention, and will not be repeated here.

[0109] In addition, it should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity 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, commodity or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, commodity or device including the element.

[0110] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0111] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as a read-only memory (ROM) / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present invention.

[0112] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A carrier height measuring device, characterized in that: The carrier height measuring device comprises a distributed barometer module and a data processing module, wherein the distributed barometer module comprises a plurality of barometers, and the plurality of barometers are distributed at different positions in the carrier cabin, and the data processing module comprises an asynchronous processing module and a synchronous processing module, wherein the asynchronous processing module and the synchronous processing module are connected via a parallel data bus, and the asynchronous processing module is connected to the plurality of barometers; The asynchronous processing module is used to obtain the barometer data sequentially output by the multiple barometers according to a preset time interval; The asynchronous processing module is further used to convert the barometer data into altitude data, and determine predicted altitude data corresponding to the next frame of barometer data according to the barometer data; The synchronization processing module is used to obtain the predicted altitude data corresponding to the barometer data, perform lever arm conversion and filtering on the predicted altitude data corresponding to the barometer data and the altitude data, and obtain an altitude measurement result.

2. The device according to claim 1, characterized in that The asynchronous processing module includes a time asynchronous control unit and a height prediction unit, and the time asynchronous control unit is connected to the plurality of barometers; The time asynchronous control unit is used to determine the preset time interval according to the number of the plurality of barometers and the output time interval of each barometer, and asynchronously control the plurality of barometers to output the barometer data according to the preset time interval; The altitude prediction unit is used to determine, when the barometer data is the first frame of barometer data, that the predicted altitude data corresponding to the next frame of barometer data is the altitude data of the first frame of barometer data; The altitude prediction unit is further used to determine the predicted altitude data corresponding to the next frame of barometer data based on a preset autoregressive prediction model when the barometer data is not the first frame of barometer data.

3. The device according to claim 2, characterized in that The asynchronous processing module further comprises a fault diagnosis unit, which is connected to the altitude prediction unit and the plurality of barometers respectively; The fault diagnosis unit is used to perform fault diagnosis on the barometer data to obtain a diagnosis result when the barometer data is not the first frame of barometer data; The fault diagnosis unit is further configured to determine that the barometer outputting the barometer data is faulty when the diagnosis result meets the preset isolation condition, and obtain the next frame of barometer data; The fault diagnosis unit is further configured to determine that the barometer that outputs the barometer data is not faulty when the diagnosis result does not meet the preset isolation condition, and send the barometer data to the altitude prediction unit.

4. The device according to claim 1, characterized in that The synchronization processing module includes a conversion filter unit and a data cache unit; The data cache unit is used to cache the predicted altitude data corresponding to the next frame of barometer data obtained by the asynchronous processing module; The conversion and filtering unit is used to obtain the predicted altitude data corresponding to the barometer data from the data cache unit, and perform arm conversion and filtering on the predicted altitude data corresponding to the barometer data and the altitude data to obtain the altitude measurement result.

5. The device according to any one of claims 1 to 4, characterized in that The carrier height measuring device further comprises a power supply module and an external interface module. The power supply module is connected to the asynchronous processing module, and the external interface module is connected to the synchronous processing module.

6. A method for measuring the height of a carrier, characterized in that: Applied to the carrier height measurement device according to any one of claims 1 to 5, the carrier height measurement method comprises: Obtaining barometer data outputted sequentially by a plurality of barometers at preset time intervals; Converting the barometer data into altitude data, and determining predicted altitude data corresponding to a next frame of barometer data based on the barometer data; The predicted altitude data corresponding to the barometer data are obtained, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering to obtain an altitude measurement result.

7. The method according to claim 6, characterized in that The step of determining predicted altitude data corresponding to a next frame of barometer data according to the barometer data comprises: When the barometer data is the first frame of barometer data, determining that the predicted altitude data of the next frame of barometer data is the altitude data of the first frame of barometer data, and returning to execute the step of acquiring the barometer data outputted sequentially by multiple barometers at preset time intervals; When the barometer data is not the first frame of barometer data, based on a preset autoregressive prediction model, the predicted altitude data corresponding to the next frame of barometer data is determined, the predicted altitude data corresponding to the barometer data is acquired, and the predicted altitude data corresponding to the barometer data and the altitude data are subjected to lever arm conversion and filtering processing to obtain the altitude measurement result.

8. The method according to claim 6, characterized in that Before converting the barometer data into altitude data and determining predicted altitude data corresponding to the next frame of barometer data according to the barometer data, the method further includes: When the barometer data is not the first frame of barometer data, performing fault diagnosis on the barometer data to obtain a diagnosis result; When the diagnosis result meets the preset isolation condition, it is determined that the barometer outputting the barometer data is faulty, and the process returns to the step of acquiring the barometer data outputted in sequence by a plurality of barometers at preset time intervals; When the diagnosis result does not meet the preset isolation condition, it is determined that the barometer that outputs the barometer data is not faulty, and the steps of converting the barometer data into altitude data and determining the predicted altitude data of the next frame of barometer data based on the barometer data are executed.

9. The method according to claim 6, characterized in that The carrier height measurement method further comprises: The predicted altitude data corresponding to the next frame of barometer data is cached.

10. The method according to any one of claims 6 to 9, characterized in that: The carrier height measurement method further comprises: Determining the preset time interval according to the number of the plurality of barometers and the output time interval of each barometer; The plurality of barometers are asynchronously controlled to output the barometer data according to the preset time intervals.

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