Unmanned aerial vehicle radio-altimeter height and lifting speed self-correcting method

Abstract

The invention discloses an automatic method to correct height and lifting speed of a radio altimeter for unmanned aerial vehicle. The correcting method is as follows: the height Hcli and the lifting speed cli obtained from each radio altimeter on the aircraft are revolved to get the height Hzxi and the lifting speed«Úzxi at the center of gravity of the aircraft, and the signal-voting results of the height Hzxi and the lifting speed«Úzxi at the center of gravity of the aircraft are corrected through a system deviation Delta H after signal-voting. The system error of the radio altimeter in the course of using is eliminated through the method. The correcting method of the invention is applied in the automatic flight control of the unmanned aerial vehicle to obtain higher control precision, which is beneficial for flight safety, and provides a premise for radio altitude and signal redundancy management of the lifting speed of unmanned aerial vehicle with configuration of a plurality of radio altimeter, and increases system reliability.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle flight control, in particular to a method for automatically correcting the altitude and lifting speed of an unmanned aerial vehicle radio altimeter. Background technique [0002] The radio altimeter is an airborne radio device that measures the vertical distance from the aircraft to the ground, and is one of the important aircraft instruments. The aircraft transmits radio waves to the ground, and after being reflected by the ground, it is received by the aircraft receiver. The time it takes for the radio waves to travel twice the flight altitude is equal to the quotient of the twice the flight altitude divided by the propagation speed of the radio wave. The speed of electric wave propagation is a constant value, as long as this period of time is measured, the flight height can be obtained. The radio altimeter measures the rate of change of the altitude, that is, the ascending and descending...

AI Technical Summary

Problems solved by technology

During the flight of the aircraft, if there is a large attitude angle, the altitude output by different altimeters will be quite different. At this time, if the altimeter information is managed with redundancy based on the altimeter measurement accuracy and other criteria, because The measurement points of these measurements themselves are not the same, the information is not comparable, and wrong results are likely to appear after voting

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