CN104391507A - Control method and system of unmanned aerial vehicle, and unmanned aerial vehicle - Google Patents
Control method and system of unmanned aerial vehicle, and unmanned aerial vehicle Download PDFInfo
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Abstract
The invention brings forward a control method of an unmanned aerial vehicle. The unmanned aerial vehicle is provided with at least three laser range finding modules. The method comprises the following steps: obtaining the flight height information of the unmanned aerial vehicle though the laser range finding modules; respectively obtaining position information of the installing points of the three laser range finding modules relative to the origin of coordinates; according to the position information of the installing points of the three laser range finding modules relative to the origin of coordinates and the flight height information obtained by the corresponding laser range finding modules, calculating a pitch angle and a roll angle of a body relative to a landing plane; and according to the height information of the unmanned aerial vehicle and an attitude angle of the unmanned aerial vehicle relative to the landing plane, controlling the landing of the unmanned aerial vehicle. The control method of the unmanned aerial vehicle is high in precision and fast in response speed. The invention also brings forward a control system of an unmanned aerial vehicle, and an unmanned aerial vehicle.
Description
Technical field
The present invention relates to technical field of aerospace, particularly relate to a kind of control method and system, unmanned plane of unmanned plane.
Background technology
The height of current measurement unmanned plane adopts barometric altimeter usually, is converted into the method for flying height by test atmospheric pressure.Because the low precision of this height measurement method, response speed are low, cannot realize carrying out elevation carrection to unmanned plane landing phases.Usually adopt ultrasonic or radar range finder at unmanned plane landing phases, but because the precision of (1) barometric altimeter self is low, response speed is slow, can not separately as the height sensor that unmanned plane landing uses; (2) ultrasonic height meter loses and is vulnerable to the interference of fuselage shaking due to the transmitting energy of mechanical wave, the height more than 5m cannot be measured, and cannot modulate due to the mechanical wave sent, cause elevation carrection mistake and cannot use by multi sensor combination; (3) cost of radar altimeter is very high, is unsuitable for using multiple combination.
In addition, for landing place terrain slope or landing place self instability (as ship deck), single-sensor is adopted to carry out the information that elevation carrection cannot obtain out unmanned plane landing place.
Summary of the invention
The present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.For this reason, first object of the present invention is to propose that a kind of precision is high, the control method of the unmanned plane of fast response time.
Second object of the present invention is the control system proposing a kind of unmanned plane.
3rd object of the present invention is to propose a kind of unmanned plane.
To achieve these goals, a kind of control method of unmanned plane is proposed in the embodiment of first aspect present invention, described unmanned plane is provided with at least three laser ranging modules, said method comprising the steps of: the elevation information being obtained described unmanned plane by described laser ranging module; The positional information of the mounting points relative coordinate initial point of at least three laser ranging modules described in obtaining respectively, wherein, described true origin is arranged on the body of described unmanned plane; The elevation information obtained according to the laser ranging module of the positional information of the relatively described true origin of the mounting points of described at least three laser ranging modules and correspondence calculates described body and relatively to land the angle of pitch of plane and roll angle, obtains the attitude angle of the relatively described landing plane of described body; And the landing of described unmanned plane is controlled according to the elevation information of described unmanned plane and described attitude angle.
According to the control method of the unmanned plane of the embodiment of the present invention, laser ranging module is utilized to record the flying height of unmanned plane, the attitude angle of plane of relatively landing according to the body of the positional information calculation acquisition unmanned plane of the mounting points relative coordinate initial point of at least three laser ranging modules, thus the descent of unmanned plane can be controlled.
In some instances, also comprise: filtering is carried out to the elevation information of described unmanned plane, to obtain stable altitude information.
In some instances, described true origin is the position of the center of gravity of described unmanned plane, described laser ranging module comprises the first laser ranging module to the 3rd laser ranging module, described first laser ranging module installation is at the rear of described center of gravity, described second laser ranging module installation is in the left side of described center of gravity, and described 3rd laser ranging module installation is on the right side of described center of gravity.
In some instances, described second laser ranging module is symmetrical arranged with the relative described center of gravity of described 3rd laser ranging module.
In some instances, the described angle of pitch and described roll angle are obtained by following formula: θ
land=arctan ((H
l-H
b)/(X
l+ X
b)), φ
land=arctan ((H
l-H
r)/(Y
l+ Y
r)), wherein, H
bfor the measuring height of described first laser ranging module, H
lfor the measuring height of described second laser ranging module, H
rfor the measuring height of described 3rd laser ranging module, X
lfor the fore-and-aft distance of the relatively described true origin of described second laser ranging module, X
rfor described 3rd laser ranging module is relative to the fore-and-aft distance of described true origin, X
bfor described first laser ranging module is relative to the fore-and-aft distance of described true origin, Y
lfor the lateral separation of the relatively described true origin of described second laser ranging module, Y
rfor the lateral separation of the relatively described true origin of described 3rd laser ranging module.
In some instances, the power of described first laser ranging module is greater than described second laser ranging module and described 3rd laser ranging module.
In some instances, the laser that described at least three laser ranging modules are launched is modulated, with at least three laser ranging modules described in distinguishing.
Propose a kind of control system of unmanned plane in the embodiment of second aspect present invention, comprising: at least three laser ranging modules, described at least three laser ranging modules are arranged on described unmanned plane, for measuring the elevation information of described unmanned plane; Processing module, relatively to land the angle of pitch of plane and roll angle for body according to the positional information calculation of the relatively described true origin of the mounting points of described at least three laser ranging modules, obtains the attitude angle of the relatively described landing plane of described body; And control module, for controlling the landing of described unmanned plane according to described flying height and described attitude angle.
According to the control system of the unmanned plane of the embodiment of the present invention, laser ranging module is utilized to record the flying height of unmanned plane, filtration module eliminates the measuring error because body vibration and landing planar abrupt cause, processing module calculates and obtains the body of unmanned plane and relatively to land the attitude angle of plane, thus makes control module can control the descent of unmanned plane.The control system cost of this unmanned plane is low, can realize many laser rangings block combiner and use with the flying height measuring unmanned plane and the attitude angle relative to landing plane.
In some instances, also comprise: filtration module, the elevation information for the unmanned plane obtained described at least three laser ranging modules carries out filtering, to obtain stable altitude information.
In some instances, described true origin is the position of the center of gravity of described unmanned plane, described laser ranging module comprises the first laser ranging module to the 3rd laser ranging module, described first laser ranging module installation is at the rear of described center of gravity, described second laser ranging module installation is in the left side of described center of gravity, and described 3rd laser ranging module installation is on the right side of described center of gravity.
In some instances, described second laser ranging module is symmetrical arranged with the relative described center of gravity of described 3rd laser ranging module.
In some instances, the described angle of pitch and described roll angle are obtained by following formula: θ
land=arctan ((H
l-H
b)/(X
l+ X
b)), φ
land=arctan ((H
l-H
r)/(Y
l+ Y
r)), wherein, H
bfor the measuring height of described first laser ranging module, H
lfor the measuring height of described second laser ranging module, H
rfor the measuring height of described 3rd laser ranging module, X
lfor the fore-and-aft distance of the relatively described true origin of described second laser ranging module, X
rfor the fore-and-aft distance of the relatively described true origin of described 3rd laser ranging module, X
bfor the fore-and-aft distance of the relatively described true origin of described first laser ranging module, Y
lfor the lateral separation of the relatively described true origin of described second laser ranging module, Y
rfor the lateral separation of the relatively described true origin of described 3rd laser ranging module.
In some instances, the power of described first laser ranging module is greater than described second laser ranging module and described 3rd laser ranging module.
In some instances, modulation/demodulation modules, modulates for the laser launched described at least three laser ranging modules, and carries out demodulation to echo, with at least three laser ranging modules described in distinguishing.
Propose a kind of unmanned plane in the embodiment of third aspect present invention, described unmanned plane comprises the control system of unmanned plane as above.
According to the unmanned plane of the embodiment of the present invention, many laser rangings block combiner can be realized and use with the flying height measuring unmanned plane and the attitude angle relative to landing plane, thus realize stable landing.
Additional aspect of the present invention and advantage will part provide in the following description, and part will become obvious from the following description, or be recognized by practice of the present invention.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of the control method of unmanned plane according to an embodiment of the invention;
Fig. 2 is the measurement of flight altitude schematic diagram of the laser ranging module of one embodiment of the invention;
Fig. 3 is the installation site schematic diagram of the laser ranging module of one embodiment of the invention; With
Fig. 4 is the structured flowchart of the control system of unmanned plane according to an embodiment of the invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
In describing the invention, term " step S101 " ~ " step S102 " only for describing the object of the control method of the unmanned plane of the embodiment of the present invention, and can not be interpreted as instruction or hint relative ranks relation, therefore can not be interpreted as limitation of the present invention.
With reference to Fig. 1, the control method of the unmanned plane of first aspect present invention embodiment, unmanned plane is provided with at least three laser ranging modules, comprises the following steps: the elevation information being obtained unmanned plane by laser ranging module; Obtain the positional information of the mounting points relative coordinate initial point of at least three laser ranging modules respectively, wherein, true origin is arranged on the body of unmanned plane; Relatively to land the angle of pitch of plane and roll angle according to the positional information calculation body of the mounting points relative coordinate initial point of at least three laser ranging modules, obtain the attitude angle of the relatively described landing plane of body; According to the elevation information of unmanned plane and the landing of attitude angle control unmanned plane.The specific implementation process of the method is as follows:
Step S101, obtains the flying height of unmanned plane by laser ranging module.
Particularly, laser ranging module is generally applied in range observation, and the measurement of flight altitude due to unmanned plane is a kind of form of range observation, therefore can by laser ranging module application in the measurement of flight altitude of unmanned plane.In measuring process, adopt the laser ranging module of relatively high power, the range of laser ranging module can be improved on the one hand, the requirement to the plane of reflection can be reduced on the other hand.The landing plane of usual unmanned plane is diffuse reflection plane, and general laser ranging module all can meet elevation carrection demand, and by increasing emissive power and receiving magnification, the measurement range its range being adjusted to the radar altimeter used with unmanned plane is close.In one embodiment of the invention, for three laser ranging modules, as shown in Figure 2, H in flight course
bcan be used as current flying height.
Step S102, obtain the positional information of the mounting points relative coordinate initial point of at least three laser ranging modules respectively, wherein, true origin is arranged on the body of described unmanned plane.
In actual moving process, true origin is the position of the center of gravity of unmanned plane.Laser ranging module comprises the first laser ranging module to the 3rd laser ranging module, first laser ranging module installation is at the rear of the center of gravity of unmanned plane, second laser ranging module installation is in the left side of unmanned plane center of gravity, and the 3rd laser ranging module installation is on the right side of unmanned plane center of gravity.And the second laser ranging module is symmetrical arranged with the relative unmanned plane center of gravity of the 3rd laser ranging module.In addition, in one embodiment of the invention, for reducing costs, the power of the first laser ranging module is greater than the second laser ranging module and the 3rd laser ranging module.
Step S103, the elevation information computer body obtained according to the laser ranging module of the positional information of the mounting points relative coordinate initial point of at least three laser ranging modules and correspondence lands the angle of pitch of plane and roll angle relatively, obtains body and relatively to land the attitude angle of plane.
Particularly, in one embodiment of the invention, for three laser ranging modules, relatively to land the angle of pitch of plane and roll angle according to the positional information calculation body of the mounting points absolute presupposition impact point of three laser ranging modules.As shown in Figures 2 and 3, in figure, R, L, B are respectively the mounting points of the 3rd laser ranging module, the second laser ranging module and the first laser ranging module, and C is the position of true origin and unmanned plane center of gravity.Body lands the attitude angle of plane relatively, and namely the angle of pitch and roll angle obtain by following formula:
θ
land＝arctan((H
L-H
B)/(X
L+X
B))，
φ
land＝arctan((H
L-H
R)/(Y
L+Y
R))，
Wherein, H
bbe the measuring height of the first laser ranging module, H
lbe the measuring height of the second laser ranging module, H
rbe the measuring height of the 3rd laser ranging module, X
lbe the fore-and-aft distance of the second laser ranging module relative coordinate initial point C, X
rbe the fore-and-aft distance of the 3rd laser ranging module relative to true origin C, X
bbe the fore-and-aft distance of the first laser ranging module relative coordinate initial point C, Y
lbe the lateral separation of the second laser ranging module relative coordinate initial point C, Y
rit is the lateral separation of the 3rd laser ranging module relative coordinate initial point C.
Step S104, according to the elevation information of unmanned plane and the landing of attitude angle control unmanned plane.
Particularly, unmanned plane landing can be controlled according to the attitude angle in the elevation information of the unmanned plane of step S101 acquisition and the unmanned plane descent of step S103 acquisition.
In addition, in one embodiment of the invention, the control method of unmanned plane also comprises: carry out filtering, to obtain stable altitude information to the elevation information of the unmanned plane that step S101 obtains.
Preferably, in one embodiment of the invention, the laser that at least three laser ranging modules are launched is modulated, to distinguish at least three laser ranging modules.Namely the laser reflection light that the transmitter that the receiver identifiable design of each laser ranging module goes out to match sends, thus avoid because the mutual interference problem combinationally using generation of laser ranging module.
According to the control method of the unmanned plane of the embodiment of the present invention, laser ranging module is utilized to record the flying height of unmanned plane, the attitude angle of plane of relatively landing according to the body of the positional information calculation acquisition unmanned plane of the mounting points absolute presupposition impact point of at least three laser ranging modules, thus the descent of unmanned plane can be controlled.
Propose a kind of control system 100 of unmanned plane in the embodiment of second aspect present invention, as shown in Figure 4, comprising: at least three laser ranging modules 10, processing module 20 and control modules 30.
At least three laser ranging modules 10 are arranged on unmanned plane, for measuring the elevation information of unmanned plane.Processing module 20 to be landed the angle of pitch of plane and roll angle relatively for the elevation information computer body obtained according to the positional information of the mounting points relative coordinate initial point of at least three laser ranging modules 10 and the laser ranging module 10 of correspondence, obtains body and relatively to land the attitude angle of plane.Control module 30 is for controlling the landing of unmanned plane according to the elevation information of unmanned plane and attitude angle.
Further, in one embodiment of the invention, the control system 100 of unmanned plane of the present invention also comprises, filtration module 40.Filtration module 40 carries out filtering for the elevation information obtained laser ranging module 10, to eliminate the measuring error because body vibration and landing planar abrupt cause, thus obtains more accurate, stable altitude information.
The control system 100 of unmanned plane of the present invention also comprises, modulation/demodulation modules 50.Modulation/demodulation modules 50 is modulated for the laser launched at least three laser ranging modules 10, and carries out demodulation to echo, to distinguish at least three laser ranging modules 10.Particularly, in one embodiment of the invention, true origin is the position of the center of gravity of unmanned plane, laser ranging module 10 comprises the first laser ranging module to the 3rd laser ranging module, first laser ranging module installation is at the rear of unmanned plane center of gravity, second laser ranging module installation is in the left side of unmanned center of gravity, and the 3rd laser ranging module installation is on the right side of unmanned plane center of gravity.And the second laser ranging module is symmetrical arranged with the relative unmanned plane center of gravity of the 3rd laser ranging module.
Further, for reducing costs, the power of the first laser ranging module is greater than the second laser ranging module and the 3rd laser ranging module.
According to the control system of the unmanned plane of the embodiment of the present invention, laser ranging module is utilized to record the flying height of unmanned plane, processing module is according to the positional information of the mounting points relative coordinate initial point of at least three laser ranging modules, calculate and obtain the body of unmanned plane and relatively to land the attitude angle of plane, thus make control module can control the descent of unmanned plane.The control system cost of this unmanned plane is low, can realize many laser rangings block combiner and use with the flying height measuring unmanned plane and the attitude angle relative to landing plane.
It should be noted that, the specific implementation of the control system of the unmanned plane of the embodiment of the present invention and the specific implementation of method part similar, referring to the description of method part, in order to reduce redundancy, not repeating herein.
In the embodiment of third aspect present invention, a kind of unmanned plane is proposed, comprise the control system of the unmanned plane described in above-mentioned any one, the control system of the unmanned plane that this unmanned plane utilizes cost low, many laser rangings block combiner can be realized use with the flying height measuring unmanned plane and the attitude angle relative to landing plane, thus realize stable landing.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary indirect contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (15)
1. a control method for unmanned plane, is characterized in that, described unmanned plane is provided with at least three laser ranging modules, said method comprising the steps of:
The elevation information of described unmanned plane is obtained by described laser ranging module;
The positional information of the mounting points relative coordinate initial point of at least three laser ranging modules described in obtaining respectively, wherein, described true origin is arranged on the body of described unmanned plane;
The elevation information obtained according to the laser ranging module of the positional information of the relatively described true origin of the mounting points of described at least three laser ranging modules and correspondence calculates described body and relatively to land the angle of pitch of plane and roll angle, obtains the attitude angle of the relatively described landing plane of described body; And
The landing of described unmanned plane is controlled according to the elevation information of described unmanned plane and described attitude angle.
2. the control method of unmanned plane according to claim 1, is characterized in that, also comprises:
Filtering is carried out to the elevation information of described unmanned plane, to obtain stable altitude information.
3. the control method of unmanned plane according to claim 1, it is characterized in that, described true origin is the position of the center of gravity of described unmanned plane, described laser ranging module comprises the first laser ranging module to the 3rd laser ranging module, described first laser ranging module installation is at the rear of described center of gravity, described second laser ranging module installation is in the left side of described center of gravity, and described 3rd laser ranging module installation is on the right side of described center of gravity.
4. the control method of unmanned plane according to claim 3, is characterized in that, described second laser ranging module is symmetrical arranged with the relative described center of gravity of described 3rd laser ranging module.
5. the control method of unmanned plane according to claim 1, is characterized in that, the described angle of pitch and described roll angle are obtained by following formula:
θ
land＝arctan((H
L-H
B)/(X
L+X
B))，
φ
land＝arctan((H
L-H
R)/(Y
L+Y
R))，
Wherein, H
bfor the measuring height of described first laser ranging module, H
lfor the measuring height of described second laser ranging module, H
rfor the measuring height of described 3rd laser ranging module, X
lfor the fore-and-aft distance of the relatively described true origin of described second laser ranging module, X
rfor described 3rd laser ranging module is relative to the fore-and-aft distance of described true origin, X
bfor described first laser ranging module is relative to the fore-and-aft distance of described true origin, Y
lfor the lateral separation of the relatively described true origin of described second laser ranging module, Y
rfor the lateral separation of the relatively described true origin of described 3rd laser ranging module.
6. the control method of the unmanned plane according to any one of claim 3-5, is characterized in that, the power of described first laser ranging module is greater than described second laser ranging module and described 3rd laser ranging module.
7. the control method of unmanned plane according to claim 1, is characterized in that, also comprises: modulate the laser that described at least three laser ranging modules are launched, with at least three laser ranging modules described in distinguishing.
8. a control system for unmanned plane, is characterized in that, comprising:
At least three laser ranging modules, described at least three laser ranging modules are arranged on described unmanned plane, for measuring the elevation information of described unmanned plane;
Processing module, relatively to land the angle of pitch of plane and roll angle for body according to the positional information calculation of the relatively described true origin of the mounting points of described at least three laser ranging modules, obtains the attitude angle of the relatively described landing plane of described body; And
Control module, for controlling the landing of described unmanned plane according to the elevation information of described unmanned plane and described attitude angle.
9. the control system of unmanned plane according to claim 8, is characterized in that, also comprises:
Filtration module, the elevation information for the unmanned plane obtained described at least three laser ranging modules carries out filtering, to obtain stable altitude information.
10. the control system of unmanned plane according to claim 8, it is characterized in that, described true origin is the position of the center of gravity of described unmanned plane, described laser ranging module comprises the first laser ranging module to the 3rd laser ranging module, described first laser ranging module installation is at the rear of described center of gravity, described second laser ranging module installation is in the left side of described center of gravity, and described 3rd laser ranging module installation is on the right side of described center of gravity.
The control system of 11. unmanned planes according to claim 10, is characterized in that, described second laser ranging module is symmetrical arranged with the relative described center of gravity of described 3rd laser ranging module.
The control system of 12. unmanned planes according to claim 8, is characterized in that, the described angle of pitch and described roll angle are obtained by following formula:
θ
land＝arctan((H
L-H
B)/(X
L+X
B))，
φ
land＝arctan((H
L-H
R)/(Y
L+Y
R))，
Wherein, H
bfor the measuring height of described first laser ranging module, H
lfor the measuring height of described second laser ranging module, H
rfor the measuring height of described 3rd laser ranging module, X
lfor the fore-and-aft distance of the relatively described true origin of described second laser ranging module, X
rfor the fore-and-aft distance of the relatively described true origin of described 3rd laser ranging module, X
bfor the fore-and-aft distance of the relatively described true origin of described first laser ranging module, Y
lfor the lateral separation of the relatively described true origin of described second laser ranging module, Y
rfor the lateral separation of the relatively described true origin of described 3rd laser ranging module.
The control system of 13. unmanned planes according to any one of claim 10-12, it is characterized in that, the power of described first laser ranging module is greater than described second laser ranging module and described 3rd laser ranging module.
The control system of 14. unmanned planes according to claim 8, it is characterized in that, also comprise: modulating/demodulating, modulate for the laser launched described at least three laser ranging modules, and demodulation is carried out to echo, with at least three laser ranging modules described in distinguishing.
15. 1 kinds of unmanned planes, is characterized in that, comprising: the control system of the unmanned plane as described in claim 8-14 any one.
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| CN105487550A (en) * | 2015-12-29 | 2016-04-13 | 西安斯凯智能科技有限公司 | Autonomous landing system of flight device and method |
| CN105912003A (en) * | 2016-06-23 | 2016-08-31 | 北京理工大学 | Assistant system and method for automatic carrier landing of vertical takeoff and landing unmanned aerial vehicle |
| CN105912004A (en) * | 2016-06-23 | 2016-08-31 | 北京理工大学 | Autonomous high-speed landing aid system and method for unmanned aerial vehicle |
| CN106155073A (en) * | 2016-07-22 | 2016-11-23 | 珠海卡特瑞科农林航空装备研究所有限公司 | A kind of unmanned plane with flying height lock function |
| CN106323332A (en) * | 2016-08-09 | 2017-01-11 | 安庆建金智能科技有限公司 | Airplane-descending auxiliary device with laser detection device |
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