Flight control method and aircraft
Flight control method and aircraft
 CN 106,647,777 A
 Filed: 03/09/2017
 Published: 05/10/2017
 Est. Priority Date: 03/09/2017
 Status: Active Application
First Claim
1. a kind of flight control method, it is characterised in that methods described is applied to aircraft, the aircraft includes that n is used forThe height sensor of the altitude information of the aircraft is gathered, n is the positive integer more than or equal to 2, and methods described includes：
 Obtain the target flight height of the aircraft；
Obtain the altitude information of the n height sensor collection；
Merge the altitude information of the n height sensor, obtain the first fusion height；
According to the described first fusion height and the height error of target flight high computational first；
The flying height of the aircraft is adjusted according to first height error.
Chinese PRB Reexamination
Abstract
The invention relates to a flight control method and an aircraft. The method is applied to the aircraft. The aircraft comprises n height sensors for collecting height data of the aircraft, wherein n is a positive integer which is greater than or equal to 2. The method comprises the following steps: acquiring a target flight height of the aircraft; acquiring the height data collected by the n height sensors; fusing the height data of the n height sensors to obtain a first fused height; calculating a first height error according to the first fused height and the target flight height; and adjusting the flight height of the aircraft according to the first height error. By adopting the scheme, the true flight height of the current aircraft can be acquired, and the data accuracy is higher; therefore, when the first height error is calculated, an eclectic first height error can be obtained, so that frequent height jittering is avoided when the flight height is adjusted according to the first height error.

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14 Claims

1. a kind of flight control method, it is characterised in that methods described is applied to aircraft, the aircraft includes that n is used forThe height sensor of the altitude information of the aircraft is gathered, n is the positive integer more than or equal to 2, and methods described includes：

Obtain the target flight height of the aircraft； Obtain the altitude information of the n height sensor collection； Merge the altitude information of the n height sensor, obtain the first fusion height； According to the described first fusion height and the height error of target flight high computational first； The flying height of the aircraft is adjusted according to first height error.


2. method according to claim 1, it is characterised in that the altitude information of the fusion n height sensor,The first fusion height is obtained, including：
Merge the altitude information of the n height sensor using Kalman filtering algorithm, obtain the first fusion height.

3. method according to claim 2, it is characterised in that the altitude information of the n height sensor collection is n dimensionsVector, the measurement noise covariance of the n height sensor is R, the prediction noise covariance of the Kalman filtering algorithmMatrix is P, and process noise covariance matrix is Q, and state transition equation is X.

4. method according to claim 3, it is characterised in that the first fusion height calculated melts for the k momentHeight is closed, the use Kalman filtering algorithm merges the altitude information of the n height sensor, obtain first fusionHighly, including：

According to the fusion height and the height X at state transition equation precomputation current k moment at k1 moment_{k}； According to the prediction noise covariance matrix P at k1 moment_{k1}, the process noise covariance equation Q and k moment shapeState equation of transfer Jacobian matrix F_{k}, it is contemplated that calculate the prediction noise covariance matrix Ppre at k moment_{k}； The prediction noise covariance at the k moment calculated on the estimation, the measurement equation Jacobian matrix H at k moment_{k}, it is contemplated that calculate KalmanGain K； According to Kalman gain K, the height X at the k moment_{k}, the k moment Kalman'"'"'s measurement non trivial solution and the k moment measureActual height, it is contemplated that calculate the first fusion height.


5. method according to claim 4, it is characterised in that it is estimated calculate the first fusion height after, it is describedMethod also includes：
According to the described first fusion height, the prediction noise covariance matrix Ppre at the k moment_{k}And the measurement at the k momentEquation Jacobian matrix H_{k}, it is contemplated that calculate the prediction noise covariance P at k moment_{k}, the prediction noise covariance P at k moment_{k}For calculatingThe fusion height at k+1 moment.

6. according to the arbitrary described method of claim 15, it is characterised in that in the fusion n height sensorAltitude information, after obtaining the first fusion height, in the flight that the aircraft is adjusted according to first height errorBefore height, methods described also includes：

The first current throttle increment of the aircraft according to the described first fusion high computational； The flying height that the aircraft is adjusted according to first height error, including： The flying height of aircraft according to the first throttle increasing amount adjustment.


7. method according to claim 6, it is characterised in that described to fly according to the described first fusion high computationalThe first current throttle increment of device, including：

Using increasable algorithm, according to the described first fusion height, the second throttle of first height error and last calculatingThe second height error during increment calculates the first throttle increment； Wherein, the first throttle increment is：
K_{p}*Δ
h+k_{i}*Δ
h+K_{d}* (Δ
hΔ
h'"'"')/Δ
t, wherein, Δ
h represents that first is highDegree error, Δ
h'"'"' represents second height error, and Δ
t represents that this calculates the moment of the first throttle increment apart from upper oneTime difference between the secondary moment for calculating the second throttle increment, K_{p}、
K_{i}、
K_{d}Represent the coefficient of increasable algorithm.


8. a kind of aircraft, it is characterised in that the aircraft includes that processing unit, acquiring unit, control unit and n useIn the height sensor of the altitude information for gathering the aircraft, n is the positive integer more than or equal to 2；

The acquiring unit is used to obtain the target flight height of the aircraft, and the acquisition n height sensor is adoptedThe altitude information of collection； The processing unit is used to merge the altitude information of the n height sensor, obtains the first fusion height； According to the described first fusion height and the height error of target flight high computational first； First height error that described control unit is used to be calculated according to the processing unit adjusts flying for the aircraftRow height.


9. aircraft according to claim 8, it is characterised in that the processing unit specifically for：
Merge the altitude information of the n height sensor using Kalman filtering algorithm, obtain the first fusion height.

10. aircraft according to claim 9, it is characterised in that the altitude information of the n height sensor collection isNdimensional vector, the measurement noise covariance of the n height sensor is R, the prediction noise association side of the Kalman filtering algorithmDifference matrix is P, and process noise covariance matrix is Q, and state transition equation is X.

11. aircraft according to claim 10, it is characterised in that the first fusion height is calculated for the k momentFusion height, the processing unit specifically for：

According to the fusion height and the height X at state transition equation precomputation current k moment at k1 moment_{k}； According to the prediction noise covariance matrix P at k1 moment_{k1}, the process noise covariance equation Q and k moment shapeState equation of transfer Jacobian matrix F_{k}, it is contemplated that calculate the prediction noise covariance matrix Ppre at k moment_{k}； The prediction noise covariance at the k moment calculated on the estimation, the measurement equation Jacobian matrix H at k moment_{k}, it is contemplated that calculate KalmanGain K； According to Kalman gain K, the height X at the k moment_{k}, the k moment Kalman'"'"'s measurement non trivial solution and the k moment measureActual height, it is contemplated that calculate the first fusion height.


12. aircraft according to claim 11, it is characterised in that the processing unit is being expected that calculating described first meltsAfter closing height, it is additionally operable to：
According to the described first fusion height, the prediction noise covariance matrix Ppre at the k moment_{k}And the measurement at the k momentEquation Jacobian matrix H_{k}, it is contemplated that calculate the prediction noise covariance P at k moment_{k}, the prediction noise covariance P at k moment_{k}For calculatingThe fusion height at k+1 moment.

13. according to the arbitrary described aircraft of claim 812, it is characterised in that the processing unit is described in the fusionThe altitude information of n height sensor, after obtaining the first fusion height, described winged according to first height error adjustmentBefore the flying height of row device, it is additionally operable to：

The first current throttle increment of the aircraft according to the described first fusion high computational； Described control unit specifically for： The flying height of aircraft according to the processing unit calculated first throttle increasing amount adjustment.


14. aircraft according to claim 13, it is characterised in that the processing unit is specifically same as：

Using increasable algorithm, according to the described first fusion height, the second throttle of first height error and last calculatingThe second height error during increment calculates the first throttle increment； Wherein, the first throttle increment is：
K_{p}*Δ
h+k_{i}*Δ
h+K_{d}* (Δ
hΔ
h'"'"')/Δ
t, wherein, Δ
h represents that first is highDegree error, Δ
h'"'"' represents second height error, and Δ
t represents that this calculates the moment of the first throttle increment apart from upper oneTime difference between the secondary moment for calculating the second throttle increment, K_{p}、
K_{i}、
K_{d}Represent the coefficient of increasable algorithm.

Specification(s)