Title:
無人航空機及びその距離測定フィルター装置、方法及び当該方法に基づいた距離測定方法
Document Type and Number:
Japanese Patent JP6522761
Kind Code:
B2
Abstract:
A method for filtering in ranging of a UAV based on a sonar sensor is provide, which is based on a characteristic that velocities of the UAV change continuously during a moving process. A current velocity of the UAV is obtained via seeking difference of distances measured by the sensor, then a variance of continuous velocities is calculated and it is determined whether a current distance is valid according to the variance. The general process of the method is as follows. First, initial distances measured by the sonar sensor are acquired, secondly, it is determined whether a new distance is valid according to the initial distances, if the new distance satisfies a curtain condition, the new distance is considered to be valid and the initial distances are updated; if the new distance does not satisfy the curtain condition, a distance is estimated and used as the current distance and the initial distances are maintained. With the present disclosure, measurement noises of the sonar sensor is filtered, and the measurement accuracy and stability of the sonar sensor is improved.
Inventors:
Chen, Youth
Application Number:
JP2017535766A
Publication Date:
May 29, 2019
Filing Date:
October 20, 2016
Export Citation:
Assignee:
Koancho X Aircraft Technology Company Limited
International Classes:
G01S15/08; B64C39/02; B64D45/00; G01S15/93
Domestic Patent References:
| JP2015024705A | ||||
| JP5027031A |
Foreign References:
| CN103365295A | ||||
| US20030067351 |
Attorney, Agent or Firm:
Patent Business Corporation Unias International Patent Office