CN103453883A - Unmanned plane pressure altitude change rate measurement system - Google Patents
Unmanned plane pressure altitude change rate measurement system Download PDFInfo
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- CN103453883A CN103453883A CN2013103909613A CN201310390961A CN103453883A CN 103453883 A CN103453883 A CN 103453883A CN 2013103909613 A CN2013103909613 A CN 2013103909613A CN 201310390961 A CN201310390961 A CN 201310390961A CN 103453883 A CN103453883 A CN 103453883A
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Abstract
The invention provides an unmanned plane pressure altitude change rate measurement system. The system comprises an atmosphere static pressure transducer, a temperature transducer, a signal processing circuit, an A/D converter and a micro controller unit; an acquired atmospheric pressure signal and an acquired temperature value signal are transmitted to the signal processing circuit through the atmosphere static pressure transducer and the temperature transducer arranged on an unmanned plane, a signal processed by the signal processing circuit is transmitted to the A/D converter, and a signal through the AD conversion is sent to the micro controller unit; the uncorrected pressure altitude change rate is fast resolved by using linear interpolation, and is corrected by using a software compensating method so as to obtain the final pressure altitude change rate. The atmosphere static pressure transducer is used for measuring the atmosphere static pressure change rate to obtain the value of the pressure altitude change rate, the measurement speed of the system is increased, the measurement precision of the system and the accuracy of the unmanned plane pressure altitude change rate are obviously improved; meanwhile the security of the unmanned plane is improved.
Description
Technical field
The present invention relates to a kind of UAS, especially the measuring system of unmanned plane.
Background technology
Current unmanned plane technical development is rapid, and atmosphere data information plays sizable effect for the security, accuracy and the economy that improve flight accurately.In numerous parameters of atmosphere data information, the barometer altitude rate of change is one of important parameter.
In " air data computer system " book, propose, the system of existing measurement barometer altitude rate of change normally is comprised of the GPS module, or utilizes advanced closed loop servo circuit technology that the result after the height function clearing is transported to the atmosphere data infosystem.The non-constant of system accuracy, the signal that adopt the GPS module to be measured easily are subject to external disturbance, and the skew of tens meters is often arranged; And adopt the system of closed loop servo circuit technology to have delay time error, and atmosphere data function of every increase, a new corresponding servo-drive system and a function resolver will be arranged, had a strong impact on like this precision of measuring, limit the development of unmanned plane.
Summary of the invention
In order to overcome the deficiencies in the prior art and defect, the object of the present invention is to provide a kind of accurately, reliably, can be used for measuring the system of unmanned plane barometer altitude rate of change.
In order to realize above-mentioned task, the present invention takes following technical solution:
Unmanned plane barometer altitude rate of change measuring system mainly contains: atmospheric static pressure sensor, temperature sensor, signal processing circuit, A/D converter and micro controller unit;
By the atmospheric static pressure sensor and the temperature sensor that are arranged on unmanned plane, the atmospheric pressure signal and the temperature value signal that collect are passed to signal processing circuit, through signal processing circuit zeroing, amplification, after processing, make atmospheric pressure simulating signal and temperature analog signal can meet the A/D converter job requirement; Signal value after signal processing circuit amplify is processed is passed to A/D converter, through the conversion of 16 AD, the atmospheric pressure simulating signal that collects and temperature analog signal are converted to can be read by micro controller unit, the digital signal of computing; Digital signal through AD converter output is sent to micro controller unit by serial ports, in inside, unit, by the funtcional relationship between atmosphere static pressure and altitude rate, use linear interpolation method to calculate fast not calibrated barometer altitude rate of change on the one hand; On the other hand, because pressure transducer is subject to the temperature impact, adopt software compensation method to be proofreaied and correct, obtain final barometer altitude rate of change;
According to different needs, micro controller unit can be transferred to the barometer altitude rate of change signal calculated the automatic control system of interior of aircraft or send to ground control cabinet by delivery outlet.
Atmospheric static pressure sensor of the present invention need adopt absolute pressure type pressure transducer, and range ability is 0～15psi, and the internal temperature compensation scope is 0～60 ℃, be to the maximum ± 0.1% full scale of the linearity.
Temperature sensor measurement scope of the present invention is-55～+ 150 ℃.
A/D converter of the present invention need adopt 16 or above serial ports, more than sample frequency 100ksps, make the air pressure resolution value of system in measurement range reach 0.852pa.
The invention has the beneficial effects as follows and adopt the atmospheric static pressure sensor to obtain the numerical value of barometer altitude rate of change by measuring atmosphere static pressure rate of change, its advantage is, at first by system permissible error scope, solution formula is carried out to the Interpolation processing, the microcontroller arithmetic speed made is faster, has significantly improved the measuring speed of system.Secondly carry out temperature compensation by software approach, make pressure transducer output substantially not change with the change of temperature, improve measuring accuracy.Again, unmanned plane is mainly in low-to-medium altitude flight, and height change is larger, higher by precision, and the converter faster of sampling has improved the accuracy of unmanned plane barometer altitude rate of change.The accuracy that final data is processed is most important to Autonomous Landing of UAV and catapult-assisted take-off, the security that has improved unmanned plane.Therefore the present invention is highly suitable for the unmanned plane air data system, especially the unmanned plane of low-to-medium altitude flight.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of unmanned plane barometer altitude rate of change measuring system.
Fig. 2 is unmanned plane barometer altitude rate of change measuring system software operational flowchart.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described.
Referring to Fig. 1, the present invention takes following implementer's case:
Unmanned plane barometer altitude rate of change measuring system mainly contains: atmospheric static pressure sensor, temperature sensor, signal processing circuit, A/D converter and micro controller unit.
Step 1: at first by the pressure transducer and the temperature sensor that are arranged on unmanned plane, the atmospheric pressure signal and the temperature value signal that collect are passed to signal processing circuit, through signal processing circuit zeroing, amplification, after processing, make atmospheric pressure simulating signal and temperature analog signal can meet the A/D converter job requirement.The atmospheric static pressure sensor need adopt 0～15psi range ability, and the internal temperature compensation scope is 0～60 ℃, be to the maximum ± 0.1% full scale of the linearity, absolute pressure type pressure transducer; It is-55～+ 150 ℃ that temperature sensor need to adopt measurement range, can produce output current proportional to absolute temperature; Signal processing circuit is mainly that the voltage signal that pressure transducer is produced is processed through zeroing, amplification, in order to meet the request for utilization of A/D converter;
Step 2: the signal value after signal processing circuit amplify is processed is passed to A/D converter, through the conversion of 16 AD, the force value that collects and temperature analog signal are converted to can controlled unit read, the digital signal of computing.According to unmanned plane barometer altitude rate of change, very fast characteristics and needing obtain that higher barometer altitude differentiates requires A/D converter need adopt 16 or above, serial ports, more than sample frequency 100ksps, make the air pressure resolution value of system in measurement range reach 0.852pa;
Step 3: the digital signal through high-speed A/D converter output is sent to micro controller unit by serial ports, in inside, unit, on the one hand by the funtcional relationship between atmosphere static pressure and altitude rate, use linear interpolation method to calculate fast altitude rate; On the other hand, because piezoresistive transducer is subject to the temperature impact, adopt software compensation method to be proofreaied and correct.Through computing data processing algorithm of the present invention, obtain corresponding barometer altitude rate of change.It is P that pressure transducer is measured barometric information, and the barometric information on sea level is P
0=1013.25hPa, barometer altitude rate of change V
ythe computing formula international barometer altitude rate of change formula that can use " air data computer system " (Xiao Jiande volume) to provide calculate:
wherein H is barometer altitude, and t is the height change time, V
ybe the barometer altitude rate of change.Through deriving, can obtain:
Wherein R is air special gas constant, and β is the temperature vertical rate, and T0 is corresponding atmospheric temperature lower limit, and g0 is the sea level gravity constant, and dP is the static pressure changing value, and P0 is the sea-level atmosphere force value.By the known barometer altitude rate of change of formula V
yand between atmosphere static pressure changing value, be a single-valued function relation, but functional relation more complicated, directly process the memory source that operand is larger, can take more micro controller unit, reduce arithmetic speed, in view of barometer altitude rate of change derivation formula functional relation characteristics, the present invention, in system permissible error scope, adopts linear interpolation method to carry out approximate processing to original function, in the error range section, with a linear function that is simple and easy to realize, replace original complicated function.On the other hand, because piezoresistive transducer is subject to the temperature impact, adopt software compensation method to be proofreaied and correct.Baroceptor is subject to the impact of operating ambient temperature, the characteristic of property of drift occurs in its zero point and sensitivity meeting, adopt software compensation method to carry out the temperature compensation solution to sensor, sensor output is not changed with the change of temperature substantially, improve measuring accuracy.Micro controller unit can adopt the various miniature processing unit of the market mainstream, comprises MCU, ARM, FPGA etc.;
Step 4, finally according to different needs, micro-control unit can be transferred to the altitude rate signal calculated the automatic control system of interior of aircraft or send to ground control cabinet by delivery outlet.
The present invention adopts the atmospheric static pressure sensor indirectly to calculate the numerical value of barometer altitude rate of change by measuring atmosphere static pressure rate of change, its advantage is, at first by system permissible error scope, solution formula is carried out to the Interpolation processing, the microcontroller arithmetic speed made is faster, has significantly improved the measuring speed of system.Secondly carry out temperature compensation by software approach, make pressure transducer output substantially not change with the change of temperature, improve measuring accuracy.Again, unmanned plane is mainly in low-to-medium altitude flight, and height change is larger, higher by precision, and the converter faster of sampling has improved the accuracy of unmanned plane barometer altitude rate of change.The accuracy that final data is processed is most important to Autonomous Landing of UAV and catapult-assisted take-off, the security that has improved unmanned plane.Therefore the present invention is highly suitable for the unmanned plane air data system, especially the unmanned plane of low-to-medium altitude flight.
Claims (4)
1. a unmanned plane barometer altitude rate of change measuring system, comprise atmosphere static pressure survey sensor, temperature sensor, and signal processing circuit, A/D converter and micro controller unit is characterized in that:
By the atmospheric static pressure sensor and the temperature sensor that are arranged on unmanned plane, the atmospheric pressure signal and the temperature value signal that collect are passed to signal processing circuit, through signal processing circuit zeroing, amplification, after processing, make atmospheric pressure simulating signal and temperature analog signal can meet the A/D converter job requirement; Signal value after signal processing circuit amplify is processed is passed to A/D converter, through the conversion of 16 AD, the atmospheric pressure simulating signal that collects and temperature analog signal are converted to can be read by micro controller unit, the digital signal of computing; Digital signal through AD converter output is sent to micro controller unit by serial ports, in inside, unit, by the funtcional relationship between atmosphere static pressure and altitude rate, use linear interpolation method to calculate fast not calibrated barometer altitude rate of change on the one hand; On the other hand, because pressure transducer is subject to the temperature impact, adopt software compensation method to be proofreaied and correct, obtain final barometer altitude rate of change; According to different needs, micro controller unit can be transferred to the barometer altitude rate of change signal calculated the automatic control system of interior of aircraft or send to ground control cabinet by delivery outlet.
2. a kind of unmanned plane barometer altitude rate of change measuring system according to claim 1, it is characterized in that: described atmospheric static pressure sensor need adopt absolute pressure type pressure transducer, range ability is 0～15psi, the internal temperature compensation scope is 0～60 ℃, be to the maximum ± 0.1% full scale of the linearity.
3. a kind of unmanned plane barometer altitude rate of change measuring system according to claim 1, it is characterized in that: the measurement range of described temperature sensor is-55～+ 150 ℃.
4. a kind of unmanned plane barometer altitude rate of change measuring system according to claim 1, it is characterized in that: described A/D converter need adopt 16 or above serial ports, the above A/D converter of sample frequency 100ksps, makes the air pressure resolution value of system in measurement range reach 0.852pa.
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104165618A (en) * | 2014-05-23 | 2014-11-26 | 湖北三江航天红峰控制有限公司 | Apparatus for measuring height of aircraft, and method thereof |
| CN105091935A (en) * | 2014-05-16 | 2015-11-25 | 北京光徽德润航空技术有限公司 | Multifunctional digital air pressure gauge |
| CN107933938A (en) * | 2017-10-26 | 2018-04-20 | 歌尔科技有限公司 | Unmanned plane falls machine testing method, detection device and unmanned plane |
| CN109282787A (en) * | 2018-11-08 | 2019-01-29 | 浙江工业大学 | A kind of drone flying height step detection system |
| CN110109471A (en) * | 2019-04-23 | 2019-08-09 | 国网浙江省电力有限公司检修分公司 | A kind of UAV Flight Control System and its working method based on electromagnetic field ranging |
| CN110645957A (en) * | 2019-10-23 | 2020-01-03 | 航宇救生装备有限公司 | Q fixed point representation method of height sensor of umbrella opener |
| CN111105955A (en) * | 2020-01-06 | 2020-05-05 | 江苏海诺普谩电子科技有限公司 | Air pressure height switch |
| US20200248305A1 (en) * | 2019-02-04 | 2020-08-06 | Tokyo Electron Limited | Exhaust device, processing system, and processing method |
| TWI762304B (en) * | 2021-05-06 | 2022-04-21 | 國立虎尾科技大學 | Stratospheric Atmospheric Measurement System with Segment Approximation and Differential Pressure Zero Correction |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105091935A (en) * | 2014-05-16 | 2015-11-25 | 北京光徽德润航空技术有限公司 | Multifunctional digital air pressure gauge |
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| US20200248305A1 (en) * | 2019-02-04 | 2020-08-06 | Tokyo Electron Limited | Exhaust device, processing system, and processing method |
| US11807938B2 (en) * | 2019-02-04 | 2023-11-07 | Tokyo Electron Limited | Exhaust device, processing system, and processing method |
| CN110109471A (en) * | 2019-04-23 | 2019-08-09 | 国网浙江省电力有限公司检修分公司 | A kind of UAV Flight Control System and its working method based on electromagnetic field ranging |
| CN110645957A (en) * | 2019-10-23 | 2020-01-03 | 航宇救生装备有限公司 | Q fixed point representation method of height sensor of umbrella opener |
| CN111105955A (en) * | 2020-01-06 | 2020-05-05 | 江苏海诺普谩电子科技有限公司 | Air pressure height switch |
| TWI762304B (en) * | 2021-05-06 | 2022-04-21 | 國立虎尾科技大學 | Stratospheric Atmospheric Measurement System with Segment Approximation and Differential Pressure Zero Correction |
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Application publication date: 20131218 |