GB GB2642668A
A rotary wing drone communicates its altitude (determined by an onboard GPS receiver) and an air pressure (from multiple onboard barometers) to a ground station which has a known height above sea level and is equipped with a GPS receiver. The ground station augments the drone altitude by calculating a first altitude difference equivalent to a pressure difference between a local, ground station air pressure and the air pressure communicated by the drone, a second altitude difference between the GPS altitudes of the ground station and the drone and an error between the two altitude differences. The error is reported and may be used to correct drone altitude in a tactical collision avoidance system. The barometers may be positioned respectively above and below the rotary wing. The air pressure communicated by the drone may be a value intermediate between outputs of the barometers calculated using a predetermined air pressure difference between them in flight.
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