Unmanned aerial vehicle, distance measurement filter device and method thereof, and distance measurement method based on the method

摘要

The present invention provides an unmanned aircraft distance measurement filter method based on a sonar sensor, which obtains a derivative of the distance measured by the sonar sensor, obtains a current moving speed of the unmanned aircraft, and obtains a continuous speed. Is determined, and the magnitude of the variance is determined to determine whether the currently measured distance is valid. The overall flow of the method is as follows. First, determine the distance measured by the sonar sensor first, then use the specified initial distance to determine the newly measured distance, and if the newly measured distance is satisfied, the new measurement is performed. If the obtained distance is not satisfied with the newly measured distance, the new distance is predicted to be the current distance, and the initial distance data is Do not update. [Selection] Figure 2