The invention provides an unmanned aerial vehicle height determination method and device, an unmanned aerial vehicle and a storage medium. The method comprises the following steps: receiving residualdata of the ultrasonic filter; obtaining a residual error from a k-1 moment to a k moment in the residual error data and a covariance of the residual error; obtaining chi-square distribution of the residual error based on the residual error and the covariance; based on the chi-square distribution, predicting a first topographic change of the position where the unmanned aerial vehicle is located; and based on the first terrain change, sending a first driving instruction to the driving device, so that the driving device controls the unmanned aerial vehicle to maintain the current flight height.By means of the mode, the unmanned aerial vehicle can still keep the current flight height even if it is detected that the terrain changes, and it is guaranteed that the unmanned aerial vehicle stablysets the height during outdoor operation.

    本申请提供一种无人机定高方法、装置、无人机及存储介质。该方法包括:接收所述超声波滤波器的残差数据;获取所述残差数据中k‑1时刻到k时刻的残差以及所述残差的协方差;基于所述残差以及所述协方差,得到所述残差的卡方分布;基于所述卡方分布,预测所述无人机所处位置的第一地形变化;基于所述第一地形变化,向所述驱动装置发送第一驱动指令,以使所述驱动装置控制所述无人机保持当前飞行高度。通过上述方式,使得无人机即使检测出地形出现变化也保持当前飞行高度,保证了无人机在户外作业时稳定的定高。


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    Title :

    Unmanned aerial vehicle height determination method and device, unmanned aerial vehicle and storage medium


    Additional title:

    一种无人机定高方法、装置、无人机及存储介质


    Publication date :

    2021-02-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B64C AEROPLANES , Flugzeuge



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