The invention discloses a real-time landform following method for thunder field detection flight, which comprises three stages of initial fusion of measured values, real-time height fusion and flight control. The method is used for a thunder field detection unmanned aerial vehicle system composed of a flight control MCU, an attitude sensing module, a landform following module, a ground-air communication module, a power subsystem, an airborne thunder field detection subsystem and a power module. The method has the beneficial effects that a multi-sensor cooperative monitoring scheme is adopted, and the accuracy and reliability of data are improved through a processing mode of credibility evaluation, correction and height alignment of measured values; the flight height fusion method based on the sensor height measurement support degree is adopted to dynamically distribute fusion weights, the redundancy of data is reduced, the fusion data is more accurate, and the problems of sensor interference and the like caused by complex terrain structure and large amount of dense vegetation coverage of a field thunder field are effectively solved.
本发明公开了一种雷场探测飞行的实时地形地貌跟随方法,包括测量值初始融合、实时高度融合、飞行控制三个阶段,用于由飞控MCU、姿态感知模块、地形地貌跟随模块、地空通信模块、动力子系统、机载雷场探测子系统、电源模块组成的雷场探测无人机系统。本发明的有益效果在于:采用多传感器协同监测的方案,通过对测量值可信度评估、修正与高度对齐的处理方式,提升数据的准确性和可靠性;采用基于传感器高度测量支持度的飞行高度融合方法动态分配融合权重,降低了数据的冗余度,使得融合数据更加精确,有效的解决了野外雷场因地形结构复杂、大量茂密植被覆盖引起的传感器干扰等问题。
Real-time landform following method for thunder field detection flight
雷场探测飞行的实时地形地貌跟随方法
2023-01-06
Patent
Electronic Resource
Chinese
European Patent Office | 2023
|Automotive engineering | 2000
|Online Contents | 2013
Springer Verlag | 2013
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