超声波阵列的飞行高度与姿态测量方法

针对无人机近地面降落阶段对相对高度及姿态精确测量的需求，以固定翼无人机为对象，设计了多路超声波测距传感器在无人机上的新型布局方式。利用空间几何关系，建立相对高度及姿态计算模型，测得四个固定点的高度，为无人机着陆提供精确的相对高度及姿态角信息。充分利用布置在无人机不同位置的测距传感器之间的几何关系，直接获得姿态角，提高了无人机降落阶段的安全性。实验结果表明，能够及时有效地提供给控制台无人机着陆时的相对高度及姿态信息，准确指引无人机的安全降落。

A Measuring Method of Flight Altitude and Attitude Measurement Based on Ultrasonic Array

In view of the demand for the precise measuement of the relative altitude and attitude angle dur- ing UAV landing on the ground,based on fixed-wing UAV, Multi-channel ranging sensor on UAV＇s new layout is designed. Using spatial geometrical relations to build model of relative altitude and attitude angle, with the height of four fixed point measured, accurate message of relative altitude and attitude angle is pro- vided for landing UAV. This method take full use of geometrical relation between ultrasonic ranging sensors in different positions on UAV, and get the attitude angle as a result directly, which enhance safety during UAV landing. The test results show that the method can provide the message of relative altitude and attitude angle during UAV landing to console immediately and guide UAV to land safely and accurately.