Method and device for detecting flying height of unmanned aerial vehicle and unmanned aerial vehicle

Abstract

A method and a device for detecting the flight altitude of an unmanned aerial vehicle, and an unmanned aerial vehicle. The method for detecting the flight altitude of an unmanned aerial vehicle comprises: determining, on the basis of a second flight altitude detected by an ultrasonic altitude measuring device, the confidence of the detection using the ultrasonic altitude measuring device (103); and determining the flight altitude according to the confidence, a first flight altitude detected by an air pressure altitude measuring device, and the second flight altitude (104). The method and the device for detecting the flight altitude of an unmanned aerial vehicle and the unmanned aerial vehicle obtain the confidence of using the ultrasonic altitude measuring device by means of the flight altitude detected by the ultrasonic altitude measuring device, and perform fusion calculation of the confidence and the flight altitudes detected by the air pressure altitude measuring device and the ultrasonic altitude measuring device so as to generate a smooth fusion altitude value, making full use of the advantages of the ultrasonic altitude measurement and the air pressure altitude measurement, such that the problem of the discontinuity of flight altitude detection values in the existing fusion calculation can be solved, avoiding sudden changes in flight altitude detection values, improving the accuracy of the flight altitude measurement, and improving the stability of the control of the unmanned aerial vehicle.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a method and device for detecting the flying height of an unmanned aerial vehicle and an unmanned aerial vehicle. Background technique [0002] Unmanned aircraft, referred to as "UAV", is an unmanned aircraft controlled by radio remote control equipment and its own program control device. Obtaining instant and accurate altitude information is the key to controlling the position of the drone. Most drone altitude readings are obtained using barometric altimeters, which measure air pressure to determine altitude. Recently, schemes based on reflected waves to measure height, such as ultrasonic waves, have also been used. The barometer measures the altitude, but due to the unevenness of the device itself and the atmospheric pressure, the accuracy is not high, it is sensitive to air flow, and there is a phenomenon of slow drift of the measured value. Ultrasonic alti...

AI Technical Summary

Problems solved by technology

The existing height fusion technology has some obvious defects: switching will cause height discontinuity and affect the control effect; because of the drift of the barometer, there will be a sudden change in height during the switching process; outside the range, the ultrasonic measurement value will appear obvious noise , the noise will cause the altitude to switch incorrectly

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