CN110231053A - A kind of experiment porch and method for surveying high transducer calibration for unmanned plane low latitude - Google Patents

Abstract

The invention discloses a kind of experiment porch and method that high transducer calibration is surveyed for unmanned plane low latitude, wherein, the experiment porch includes bracket, the survey high platform for being used to carry unmanned plane on bracket is set, measuring mechanism for driving the survey high platform to do the vertical driving mechanism of vertical motion on the bracket and for being measured to the height for surveying high platform, wherein, the survey high platform is by sliding vertically mechanism installation on the bracket, the lower section surveyed high sensor and be mounted on the survey high platform, and the unmanned plane is mounted on the top for surveying high platform.The experiment porch can measure the calibration of the high sensor of survey on unmanned plane, and the advantage that the experiment porch has structure simple, easy to use.

Description

An experimental platform and method for calibrating low-altitude altimetry sensors of unmanned aerial vehicles

technical field

The invention belongs to the field of unmanned aerial vehicle sensor testing, and relates to an experimental platform and method for calibrating an unmanned aerial vehicle's low-altitude altimetry sensor.

Background technique

With the rapid development of technology, drones are widely used in various fields. Among them, in terms of agriculture, drones have become a new generation of agricultural tools, which have the advantages of high operating efficiency. The application of UAVs in agricultural production management has relatively high requirements for relative height. The flight operation height requirement is generally between 1-3 meters. Different operating environments will lead to different errors of the altimetry sensor, and the degree of sparseness of the crops is different. The fluctuations brought to the height measuring sensor have a greater impact, making it impossible for the height measuring sensor to obtain an accurate height, which affects the operation effect.

There are many altimetry sensors used on UAVs, such as barometers, ultrasonic radars, lidars, and millimeter-wave radars. There are various problems in a single sensor. For example, the barometer is easily affected by the environment, resulting in relatively large errors. Large; ultrasonic radar will fail to return effective waveforms due to sparse crops, resulting in errors; laser sensors are easily interfered by sunlight or dust. In view of the above problems, it is usually necessary to apply multi-sensor fusion altimetry technology to improve measurement accuracy, that is, to calibrate the altimetry sensor through the corresponding test platform, and to perform fitting according to the test data obtained by simulating the corresponding working environment. When actual interference occurs Compensation is performed to achieve the purpose of smooth flight operation of UAV. However, there is no simulation platform for simulating the altimeter sensor in the UAV in the prior art.

Contents of the invention

The purpose of the present invention is to overcome the deficiencies in the prior art, and provide a kind of experimental platform for the calibration of unmanned aerial vehicle low altitude measuring sensor, described experimental platform can measure the calibration of the altitude measuring sensor on the unmanned aerial vehicle, and this experimental platform has The utility model has the advantages of simple structure and convenient use.

Another object of the present invention is to provide an experimental method for calibrating the low-altitude altimetry sensor of the UAV.

The technical scheme that the present invention solves the problems of the technologies described above is:

An experimental platform for calibrating an unmanned aerial vehicle's low-altitude altimetry sensor, comprising a bracket, an altimetry platform for carrying the unmanned aerial vehicle arranged on the bracket, and used to drive the altimetry platform to do vertical work on the bracket. A vertical driving mechanism that moves in the direction and a measuring mechanism for measuring the height of the height measuring platform, wherein the height measuring platform is installed on the support through a vertical sliding mechanism, and the height measuring sensor is installed on the Below the height measuring platform, the drone is installed above the height measuring platform.

Preferably, there are two groups of vertical sliding mechanisms, and each group of vertical sliding mechanisms includes a slide rail vertically arranged on the bracket and a slider arranged on the height measuring platform, wherein the slider There are two, and the two sliders are vertically arranged and installed on the slide rails respectively.

Preferably, the vertical drive mechanism includes a fixed pulley arranged on the top of the support, a paratrooper rope, and a winding mechanism for winding and releasing the paratrooper rope, wherein the winding mechanism includes a mounting seat arranged at the bottom of the support, The winding shaft arranged on the mounting base and the rotary drive mechanism for driving the winding shaft to rotate, wherein, the winding shaft is rotatably connected to the mounting base, the paratrooper rope is wound around the winding shaft, and the paratrooper rope After coming out from the winding shaft, it goes around the fixed pulley upwards and is connected with the height measuring platform.

Preferably, the rotary drive mechanism includes a rotary drive motor and a synchronous transmission mechanism arranged on the mounting base, wherein the synchronous transmission mechanism includes a driving synchronous wheel, a driven synchronous wheel and The synchronous belt on the driven synchronous wheel, wherein the active synchronous wheel is installed on the main shaft of the rotating drive motor, and the driven synchronous wheel is installed on the winding shaft.

Preferably, the vertical driving mechanism further includes a limit mechanism arranged on the support for limiting the vertical movement of the height measuring platform, and the limit mechanism includes End limit block.

Preferably, the limit mechanism further includes a photoelectric sensor arranged on the top of the bracket and a baffle arranged on the height measuring platform, wherein the extension line of the vertical movement track of the baffle passes through the The detection port of the photoelectric sensor.

Preferably, the support includes a vertically arranged rectangular support frame and a triangular support frame arranged at the lower end of the rectangular support frame, wherein the triangular support frame is arranged on both sides of the rectangular support frame; Two vertical poles are arranged in the frame, and the two vertical poles are arranged vertically, and the slide rails are installed on the vertical poles.

Preferably, the height-measuring platform includes a UAV fixed plate for fixing the UAV and fixed support frames arranged on both sides of the UAV fixed plate, wherein there are two fixed support frames, and the two The two fixed support frames are connected by cross bars; each fixed support frame is a hollowed-out right-angled isosceles triangle structure, one right-angled side of the fixed support frame is connected with the vertical rod of the support by a vertical sliding mechanism, and the other A right-angled side is connected with the UAV fixing plate and one end of the cross bar.

Preferably, the measuring mechanism includes scale values arranged on both sides of the slide rail, and the setting direction of the scale values is the same as the extending direction of the slide rail.

The principle of the experimental platform for unmanned aerial vehicle low altitude measuring sensor calibration of the present invention is:

Before work, the experimental platform of the present invention is installed in a specific simulated environment, such as cement ground, sandy land, grassland or crop land, etc., and the height measuring platform is positioned at the bottom of the support, and the drone and the height measuring Sensors are installed on the height measuring platform. During work, the experimental platform of the present invention can perform static detection and dynamic detection on the height measuring sensor on the drone. in,

The static detection is specifically: start the UAV and the vertical drive mechanism, drive the height measuring platform and the UAV set on the height measurement platform to a certain position vertically through the vertical drive mechanism, and measure the measurement mechanism through the measuring mechanism. The height of the high platform at this position, the obtained value is the true value of the height of the altimetry platform. At the same time, the height measuring sensor on the height measuring platform will also measure the height of the height measuring platform, and the obtained value is the experimental value of the height measuring platform. Then compare the experimental value with the real value, so as to calibrate the error of the altimeter sensor. Then, the simulated environment was changed, the experiment was repeated several times, and the ideal measurement curve of the altimeter sensor was analyzed and fitted according to the collected experimental data, so as to observe the error of the altimeter sensor.

The dynamic detection is specifically: start the UAV and the vertical drive mechanism, and drive the altimetry platform and the UAV set on the altimetry platform to move vertically upward at a certain speed through the vertical drive mechanism, thereby simulating the upward movement of the UAV. flight status. After the height measuring platform reaches the highest point, the vertical drive mechanism stops working. At this time, the height measuring sensor detects the height value of the height measuring platform during the vertical movement, and compares the value with the real value , so as to observe the error situation of the height measuring sensor under dynamic conditions.

An experimental method for calibrating low-altitude altimetry sensors of unmanned aerial vehicles, comprising the following steps:

(1) Select the simulated environment under the altimetry platform according to the actual working geographical environment;

(2) the experimental platform is installed in the simulated environment, and the height measuring platform is placed on the bottom of the support, and the unmanned aerial vehicle and the height measuring sensor are installed on the described height measuring platform;

(3) Select static detection or dynamic detection according to actual needs, wherein the static detection (3-1) includes the following steps:

(3-11) Start the unmanned aerial vehicle and the vertical drive mechanism, and the vertical drive mechanism drives the height measuring platform and the unmanned aerial vehicle and the height measuring sensor arranged on the height measuring platform move vertically to a certain position;

(3-12) The measuring mechanism measures the height of the height-measuring platform at this position, and the obtained numerical value is the true value of the height of the height-measuring platform; Measurement, the obtained value is the experimental value of the altimetry platform;

(3-13) Compare the experimental value with the real value, so as to calibrate the error of the altimeter sensor;

(3-14) Change the simulated environment, repeat the test many times, and analyze and fit the ideal height measuring sensor measurement curve according to the collected experimental data, so as to observe the error situation of the height measuring sensor;

Described dynamic detection comprises the following steps:

(3-21) Start the unmanned aerial vehicle and the vertical drive mechanism, and the vertical drive mechanism drives the height measuring platform and the unmanned aerial vehicle arranged on the height measuring platform to move vertically upward at a certain speed;

(3-22) When the height measuring platform reaches the highest point, the vertical drive mechanism stops working;

(3-23) The height measuring sensor detects the height value of the height measuring platform during the vertical movement, and compares the value with the real value, so as to observe the error situation of the height measuring sensor under dynamic conditions.

Compared with the prior art, the present invention has the following beneficial effects:

1. The experimental platform of the present invention can simulate the scene when the UAV is in the hovering state and the vertical flight state, so as to realize two different detections, that is, the static detection can be realized when the UAV is simulated hovering, and the UAV can be simulated when it is hovering. Dynamic detection can be realized during flight, which can improve the accuracy of measurement.

2. The unmanned aerial vehicle and the height-measuring sensor in the experimental platform of the present invention are respectively arranged at the upper and lower ends of the altimetry platform, which can reduce the influence of the wind field and vibration of the experimental unmanned aerial vehicle and improve stability.

3. The experimental platform of the present invention has a simple structure, is easy to install, and can be applied in different places.

Description of drawings

Fig. 1 and Fig. 2 are the three-dimensional structural schematic diagrams of the experimental platform used for the calibration of the UAV low-altitude altimetry sensor of the present invention.

Figure 3 is a partial enlarged view of the altimetry platform.

4 and 5 are partial enlarged views of the vertical drive mechanism.

Detailed ways

The present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings, but the embodiments of the present invention are not limited thereto.

Referring to Fig. 1-Fig. 5, the experimental platform for unmanned aerial vehicle low altitude measurement sensor calibration of the present invention comprises support 1, is arranged on the support 1 and is used to carry the height measurement platform 2 of unmanned aerial vehicle 3, is used to drive the The height-measuring platform 2 is a vertical drive mechanism 4 for vertical movement on the support 1 and a measuring mechanism for measuring the height of the height-measuring platform 2, wherein the height-measuring platform 2 passes through the vertical The sliding mechanism 6 is installed on the support 1 , the height measuring sensor is installed below the height measuring platform 2 , and the drone 3 is installed above the height measuring platform 2 .

Referring to Fig. 1-Fig. 5, the principle of the experimental platform for unmanned aerial vehicle low altitude measurement sensor calibration of the present invention is:

Before work, the experimental platform of the present invention is installed in a specific simulated environment, such as cement ground, sandy land, grassland or crop land, etc., and the height measuring platform 2 is positioned at the bottom of the support 1, and the unmanned aerial vehicle 3 And height measuring sensor is installed on described height measuring platform 2. During work, the experimental platform of the present invention can carry out static detection and dynamic detection to the height measuring sensor on the drone 3 . in,

The static detection is specifically: start the UAV 3 and the vertical driving mechanism 4, drive the height measuring platform 2 and the UAV 3 arranged on the height measuring platform 2 to move vertically to a certain position through the vertical driving mechanism 4, and The height of the height-measuring platform 2 at this position is measured by a measuring mechanism, and the obtained value is the true value of the height of the height-measuring platform 2 . Simultaneously, the height measuring sensor on the height measuring platform 2 will also measure the height of the height measuring platform 2, and the obtained value is the experimental value of the height measuring platform 2. Then compare the experimental value with the real value, so as to calibrate the error of the altimeter sensor. Then, the simulated environment was changed, the experiment was repeated several times, and the ideal measurement curve of the altimeter sensor was analyzed and fitted according to the collected experimental data, so as to observe the error of the altimeter sensor.

The dynamic detection is specifically: start the unmanned aerial vehicle 3 and the vertical drive mechanism 4, drive the altimetry platform 2 and the unmanned aerial vehicle 3 arranged on the altimetry platform 2 to move vertically upward at a certain speed through the vertical drive mechanism 4, Thereby simulating the upward flight state of the UAV 3 . After the height-measuring platform 2 reaches the highest point, the vertical drive mechanism 4 stops working, and at this moment, the height-measuring sensor detects the numerical value of the height of the height-measuring platform 2, and compares this numerical value with the real value, thereby Observe the fluctuation and error of the height measuring sensor under dynamic conditions.

Referring to Figures 1-5, the vertical sliding mechanism 6 includes a slide rail vertically arranged on the support 1 and a slider arranged on the height measuring platform 2, wherein the sliders are two , the two sliders are vertically arranged and installed on the slide rails respectively. By setting the vertical sliding mechanism 6, the vertical movement of the height measuring platform 2 can be guided. Wherein, the vertical sliding mechanisms 6 are divided into two groups.

1-5, the vertical drive mechanism 4 includes a fixed pulley 4-6 arranged on the top of the support 1, a paratrooper rope 4-7, and a winding mechanism for winding and releasing the paratrooper rope 4-7, wherein , the winding mechanism includes a mounting seat 4-4 arranged at the bottom of the bracket 1, a winding shaft 4-3 disposed on the mounting seat 4-4, and a rotary drive mechanism for driving the winding shaft 4-3 to rotate, wherein, The rewinding shaft 4-3 is rotatably connected to the mounting base 4-4, the paratrooper rope 4-7 is wound around the rewinding shaft 4-3, and the paratrooper rope 4-7 is connected from the rewinding shaft 4- 3 is connected with the height measuring platform 2 after going around the fixed pulley 4-6 upwards after coming out. The winding shaft 4-3 is driven to rotate by the rotating drive mechanism, thereby realizing the winding and releasing of the paratrooper rope 4-7. When rewinding the paratrooper rope 4-7, the height measuring platform 2 moves vertically upwards, and when releasing the paratrooper rope 4-7, the described height measuring platform 2 moves vertically downward, so that the unmanned aerial vehicle 3 can be simulated The scene when flying vertically.

Referring to Figures 1-5, the rotary drive mechanism includes a rotary drive motor 4-1 and a synchronous transmission mechanism 4-2 arranged on the mounting base 4-4, wherein the synchronous transmission mechanism 4-2 includes a drive Synchronous wheel, driven synchronous wheel and the synchronous belt that surrounds on described active synchronous wheel and described driven synchronous wheel, wherein, described active synchronous wheel is installed on the main shaft of rotary drive motor 4-1, and described driven synchronous wheel The synchronous wheel is installed on the described winding shaft 4-3. The synchronous transmission mechanism 4-2 is driven to move by rotating the driving motor 4-1, thereby driving the winding shaft 4-3 to rotate, and further driving the vertical movement of the height measuring platform 2. In addition, the rewinding or release speed of the paratrooper rope 4-7 can also be controlled by controlling the rotational speed of the rotating drive motor 4-1, so that the altimetry platform 2 moves vertically at a certain speed, thereby simulating the UAV 3 A scenario of vertical flight at a specific speed.

Referring to Fig. 1-Fig. 5, the vertical drive mechanism 4 also includes a limit mechanism arranged on the support 1 for limiting the vertical movement of the height measuring platform 2, and the limit mechanism includes setting Limiting blocks 4-5 at the upper and lower ends of the slide rail. In this way, the height-measuring platform 2 can be prevented from detaching from the slide rail when it moves vertically, and the support 1 can be further reinforced, thereby increasing the overall stability of the support 1 .

In addition to the above-mentioned embodiments, the vertical drive mechanism 4 may also adopt a combination of a motor and a screw drive mechanism.

Referring to Fig. 1-Fig. 5, the limit mechanism also includes a photoelectric sensor 5 arranged on the top of the support 1 and a baffle arranged on the height measuring platform 2, wherein the vertical movement track of the baffle The extension line passes through the detection port of the photoelectric sensor 5. By setting the above-mentioned mechanism, when the photoelectric sensor 5 detects the baffle plate of the height measuring platform 2, the control system controls the vertical driving mechanism 4 to stop working, thereby avoiding the overtravel of the height measuring platform.

Referring to Figures 1-5, the bracket 1 includes a vertically arranged rectangular support frame 1-1 and a triangular support frame 1-2 arranged at the lower end of the rectangular support frame 1-1, wherein the triangular support frame 1 -2 is arranged on both sides of the rectangular support frame 1-1; two vertical poles 1-3 are arranged inside the rectangular support frame 1-1, the two vertical poles 1-3 are vertically arranged, and the sliding Rails are installed on the uprights 1-3. By setting the above structure, the stability of the bracket 1 can be improved.

Referring to Fig. 1-Fig. 5, the height measuring platform 2 includes a UAV fixing plate 2-1 for fixing the UAV 3 and a fixed support frame 2-2 arranged on both sides of the UAV fixing plate 2-1 , wherein, there are two fixed support frames 2-2, and the two fixed support frames 2-2 are connected by a cross bar 2-3; wherein, the fixed support frames 2-2 are hollow right angles, etc. Waist triangular structure, one right-angled side of each right-angled isosceles triangle support frame 1-2 is connected with the vertical rod 1-3 of the support 1 through a vertical sliding mechanism 6, and the other right-angled side is connected with the UAV The fixed plate 2-1 is connected to one end of the cross bar 2-3. By arranging the above structure, not only the weight of the height measuring platform 2 can be reduced, but also the weight of the height measuring platform 2 can be reduced, and the moment can be balanced to ensure that the height measuring platform 2 itself does not affect the data measurement.

Referring to FIGS. 1-5 , the measuring mechanism includes scale values arranged on both sides of the slide rail, and the setting direction of the scale values is the same as the extending direction of the slide rail. By setting scale values on both sides of the slide rail, it is convenient for the experimenter to measure the actual height of the altimetry platform 2, thereby comparing the experimental value with the real value, thereby performing error calibration on the altimetry sensor.

Referring to Fig. 1-Fig. 5, the experimental method for unmanned aerial vehicle 3 low-altitude altimetry sensor calibration of the present invention comprises the following steps:

(1) Select the simulated environment according to the actual working geographic environment below the altimetry platform 2;

(2) the experimental platform is installed in the simulated environment, and the height measuring platform 2 is placed on the bottom of the support 1, and the unmanned aerial vehicle 3 and the height measuring sensor are installed on the described height measuring platform 2;

(3) Select static detection or dynamic detection according to actual needs, wherein the static detection includes the following steps:

(3-11) Start unmanned aerial vehicle 3 and vertical drive mechanism 4, described vertical drive mechanism 4 drives height measuring platform 2 and the unmanned aerial vehicle 3 that is arranged on the height measuring platform 2 moves vertically to a certain position;

(3-12) The measuring mechanism measures the height of the height measuring platform 2 at this position, and the obtained numerical value is the true value of the height of the height measuring platform 2; 2 height is measured, and the obtained value is the experimental value of altimetry platform 2;

(3-13) Compare the experimental value with the real value, so as to calibrate the error of the altimeter sensor;

(3-14) Change the simulated environment, repeat the test many times, and analyze and fit the ideal height sensor measurement curve according to the collected experimental data, so as to observe the error of the height sensor.

Described dynamic detection comprises the following steps:

(3-21) Start the unmanned aerial vehicle 3 and the vertical drive mechanism 4, and the vertical drive mechanism 4 drives the height measuring platform 2 and the unmanned aerial vehicle 3 arranged on the height measuring platform 2 to move vertically upward at a certain speed ;

(3-22) After the height measuring platform 2 reaches the highest point, the vertical drive mechanism 4 stops working;

(3-23) The height measuring sensor detects the height value of the height measuring platform 2 during the vertical movement, and compares the value with the real value, thereby observing the error situation of the height measuring sensor under dynamic conditions.

The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited by the above content, and any other changes, modifications, substitutions, blocks, and simplifications that do not deviate from the spirit and principles of the present invention, All should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (10)

1. The utility model provides an experiment platform that is used for unmanned aerial vehicle low latitude height finding sensor to mark, a serial communication port, including the support, set up be used for on the support bear unmanned aerial vehicle the height finding platform, be used for the drive the height finding platform is in be vertical motion's vertical actuating mechanism on the support and be used for right the height of height finding platform carries out the measuring mechanism who measures, wherein, the height finding platform passes through vertical slide mechanism and installs on the support, the height finding sensor is installed the below of height finding platform, unmanned aerial vehicle installs the top of height finding platform.

2. The experimental platform for calibration of the low altitude and height measurement sensor of the unmanned aerial vehicle as claimed in claim 1, wherein the number of the vertical sliding mechanisms is two, each vertical sliding mechanism includes a sliding rail vertically disposed on the bracket and a sliding block disposed on the height measurement platform, and the number of the sliding blocks is two, and the two sliding blocks are vertically arranged and respectively mounted on the sliding rail.

3. The experimental platform for calibration of the low-altitude altimeter sensor of the unmanned aerial vehicle as claimed in claim 1, wherein the vertical driving mechanism comprises a fixed pulley arranged at the top of the bracket, a paratrooper rope and a winding mechanism for winding and releasing the paratrooper rope, wherein the winding mechanism comprises a mounting seat arranged at the bottom of the bracket, a winding shaft arranged on the mounting seat and a rotary driving mechanism for driving the winding shaft to rotate, wherein the winding shaft is rotatably connected to the mounting seat, the paratrooper rope is wound around the winding shaft, and the paratrooper rope is connected with the altimeter platform by winding up around the fixed pulley after coming out of the winding shaft.

4. The experimental platform for calibration of the low altitude and height measurement sensor of the unmanned aerial vehicle of claim 3, wherein the rotation driving mechanism comprises a rotation driving motor and a synchronous transmission mechanism, the rotation driving motor and the synchronous transmission mechanism are disposed on the mounting base, the synchronous transmission mechanism comprises a driving synchronous wheel, a driven synchronous wheel and a synchronous belt, the driving synchronous wheel and the driven synchronous wheel are wound around the driving synchronous wheel and the driven synchronous wheel, the driving synchronous wheel is mounted on a main shaft of the rotation driving motor, and the driven synchronous wheel is mounted on the winding shaft.

5. The experimental platform for calibration of the low-altitude height measurement sensor of the unmanned aerial vehicle according to claim 4, wherein the vertical driving mechanism further comprises a limiting mechanism arranged on the support and used for limiting the vertical movement of the height measurement platform, and the limiting mechanism comprises limiting blocks arranged at the upper end and the lower end of the sliding rail.

6. The experimental platform for calibration of the low-altitude height measurement sensor of the unmanned aerial vehicle according to claim 5, wherein the limiting mechanism further comprises a photoelectric sensor arranged at the top of the support and a baffle plate arranged on the height measurement platform, wherein an extension line of a vertical motion track of the baffle plate passes through a detection port of the photoelectric sensor.

7. The experimental platform for calibration of the low-altitude height measurement sensor of the unmanned aerial vehicle as claimed in claim 2, wherein the support comprises a rectangular support frame arranged vertically and a triangular support frame arranged at the lower end of the rectangular support frame, wherein the triangular support frame is arranged at two sides of the rectangular support frame; be provided with two pole settings in the rectangle support frame, two vertical setting of pole setting, the slide rail is installed in the pole setting.

8. The experimental platform for calibration of the low altitude and height measurement sensor of the unmanned aerial vehicle as claimed in claim 7, wherein the height measurement platform comprises an unmanned aerial vehicle fixing plate for fixing the unmanned aerial vehicle and two fixing support frames arranged at two sides of the unmanned aerial vehicle fixing plate, and the two fixing support frames are connected through a cross rod; each fixed support frame is a hollow right-angled isosceles triangle structure, one right-angle side of each fixed support frame is connected with the vertical rod of the support through a vertical sliding mechanism, and the other right-angle side of each fixed support frame is connected with the fixed plate of the unmanned aerial vehicle and one end of the cross rod.

9. The experimental platform for calibration of the low altitude and height measurement sensor of the unmanned aerial vehicle as claimed in claim 2, wherein the measuring mechanism comprises scale values disposed on two sides of the slide rail, and the setting direction of the scale values is the same as the extending direction of the slide rail.

10. An experimental method implemented by applying the experimental platform calibrated by the low-altitude height measurement sensor of the unmanned aerial vehicle according to claim 1, is characterized by comprising the following steps:

(1) selecting a simulation environment under the height measuring platform according to the actual working geographic environment;

(2) installing an experimental platform in a simulated environment, placing a height measuring platform at the bottom of a support, and installing an unmanned aerial vehicle and a height measuring sensor on the height measuring platform;

(3) selecting static detection or dynamic detection according to actual needs, wherein the static detection comprises the following steps:

(3-11) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measuring platform and the unmanned aerial vehicle arranged on the height measuring platform to vertically move to a certain position;

(3-12) the measuring mechanism measures the height of the height measuring platform at the position, and the obtained value is the actual value of the height measuring platform; simultaneously, a height measurement sensor on the height measurement platform measures the height of the height measurement platform, and the obtained numerical value is an experimental numerical value of the height measurement platform;

(3-13) comparing the experimental value with the true value, so as to calibrate the error of the height measuring sensor;

(3-14) replacing the simulation environment, repeating the test for multiple times, analyzing and fitting an ideal height measurement sensor measurement curve according to the collected experimental data, and observing the error condition of the height measurement sensor;

the dynamic detection comprises the following steps:

(3-21) starting the unmanned aerial vehicle and a vertical driving mechanism, wherein the vertical driving mechanism drives the height measuring platform and the unmanned aerial vehicle arranged on the height measuring platform to vertically move upwards at a certain speed;

(3-22) when the height measuring platform reaches the highest point, stopping the vertical driving mechanism;

(3-23) the height measuring sensor detects the height value of the height measuring platform in the vertical movement process, and compares the value with the real value, so that the error condition of the height measuring sensor under the dynamic condition is observed.