CN104391507B - 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, more particularly to a kind of control method and system, the unmanned plane of unmanned plane.
Background technology
At present the height of measurement unmanned plane generally adopts barometertic altimeter, and by testing atmospheric pressure flying height is converted into
Method.Due to the low precision of this height measurement method, response speed it is low, it is impossible to realization carries out height to unmanned plane landing phases
Degree measurement.In unmanned plane landing phases generally using ultrasound or radar range finder, however, due to (1) barometertic altimeter itself
Precision is low, and response speed is slow, it is impossible to separately as the height sensor that unmanned plane landing is used；(2) ultrasonic height meter due to
The interference of fuselage shaking is lost and be vulnerable to the transmission energy of mechanical wave, it is impossible to height of the measurement more than 5m, and due to sending
Mechanical wave cannot be modulated, cause elevation carrection mistake and cannot multi sensor combination use；(3) cost of radar altimeter
It is very high, it is unsuitable for using multiple combinations.
In addition, for landing place ground inclination or landing place itself unstable (such as ship deck), using single biography
Sensor carries out elevation carrection and cannot obtain out the information of unmanned plane landing place.
The content of the invention
It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this purpose, the present invention
First purpose is to propose a kind of high precision, the control method of the unmanned plane of fast response time.
Second object of the present invention is to propose a kind of control system of unmanned plane.
Third 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, institute are proposed in the embodiment of first aspect present invention
State and be provided with unmanned plane at least three laser ranging modules, the method comprising the steps of：By the laser ranging mould
Block obtains the elevation information of the unmanned plane；The mount point relative coordinate for obtaining at least three laser rangings module respectively is former
The positional information of point, wherein, the origin of coordinates is arranged on the body of the unmanned plane；According at least three Laser Measuring
The elevation information meter that the positional information of the relatively described origin of coordinates of the mount point away from module and corresponding laser ranging module are obtained
The angle of pitch and roll angle of the relative landing plane of the body are calculated, the attitude angle of the relatively described landing plane of the body is obtained；
And the elevation information according to the unmanned plane and the attitude angle control the landing of the unmanned plane.
The control method of unmanned plane according to embodiments of the present invention, the flight for measuring unmanned plane using laser ranging module is high
Degree, according to the positional information calculation of the mount point relative coordinate origin of at least three laser ranging modules the body of unmanned plane is obtained
The attitude angle of relative landing plane, such that it is able to control the descent of unmanned plane.
In some instances, also include：The elevation information of the unmanned plane is filtered, to obtain the stable high number of degrees
According to.
In some instances, the origin of coordinates is the position of the center of gravity of the unmanned plane, the laser ranging module bag
First laser range finder module is included to the 3rd laser ranging module, the first laser range finder module is arranged on after the center of gravity
Side, the second laser range finder module is arranged on the left side of the center of gravity, and the 3rd laser ranging module is arranged on described heavy
The right side of the heart.
In some instances, the second laser range finder module and the relatively described center of gravity pair of the 3rd laser ranging module
Claim to arrange.
In some instances, the angle of pitch and the roll angle are obtained by equation below：θland=arctan ((HL-
HB)/(XL+XB)), φland=arctan ((HL-HR)/(YL+YR)), wherein, HBFor the measurement of the first laser range finder module
Highly, HLFor the measurement height of the second laser range finder module, HRFor the measurement height of the 3rd laser ranging module, XL
For the fore-and-aft distance of the relatively described origin of coordinates of the second laser range finder module, XRIt is relative for the 3rd laser ranging module
In the fore-and-aft distance of the origin of coordinates, XBFor the first laser range finder module relative to the origin of coordinates longitudinal direction away from
From YLFor the lateral separation of the relatively described origin of coordinates of the second laser range finder module, YRFor the 3rd laser ranging module
The lateral separation of the relatively described origin of coordinates.
In some instances, the power of the first laser range finder module is more than the second laser range finder module and described
3rd laser ranging module.
In some instances, the laser of at least three laser rangings module transmitting is modulated, it is described to distinguish
At least three laser ranging modules.
A kind of control system of unmanned plane is proposed in the embodiment of second aspect present invention, including：At least three Laser Measurings
Away from module, at least three laser rangings module is arranged on the unmanned plane, and the height for measuring the unmanned plane is believed
Breath；Processing module, for being believed according to the position of the relatively described origin of coordinates of the mount point of at least three laser rangings module
Breath calculates the angle of pitch and roll angle of the relative landing plane of the body, obtains the attitude of the relatively described landing plane of the body
Angle；And control module, for controlling the landing of the unmanned plane according to the flying height and the attitude angle.
The control system of unmanned plane according to embodiments of the present invention, the flight for measuring unmanned plane using laser ranging module is high
Degree, filtration module eliminates the measure error caused because of body vibration and landing planar abrupt, and processing module is calculated and obtains unmanned plane
The relative landing plane of body attitude angle so that control module can control the descent of unmanned plane.The unmanned plane
Control system low cost, can realize many laser ranging block combiners using the flying height for measuring unmanned plane and relative to
The attitude angle of landing plane.
In some instances, also include：Filtration module, at least three laser rangings module is obtained nobody
The elevation information of machine is filtered, to obtain stable altitude information.
In some instances, the origin of coordinates is the position of the center of gravity of the unmanned plane, the laser ranging module bag
First laser range finder module is included to the 3rd laser ranging module, the first laser range finder module is arranged on after the center of gravity
Side, the second laser range finder module is arranged on the left side of the center of gravity, and the 3rd laser ranging module is arranged on described heavy
The right side of the heart.
In some instances, the second laser range finder module and the relatively described center of gravity pair of the 3rd laser ranging module
Claim to arrange.
In some instances, the angle of pitch and the roll angle are obtained by equation below：θland=arctan ((HL-
HB)/(XL+XB)), φland=arctan ((HL-HR)/(YL+YR)), wherein, HBFor the measurement of the first laser range finder module
Highly, HLFor the measurement height of the second laser range finder module, HRFor the measurement height of the 3rd laser ranging module, XL
For the fore-and-aft distance of the relatively described origin of coordinates of the second laser range finder module, XRIt is relative for the 3rd laser ranging module
The fore-and-aft distance of the origin of coordinates, XBFor the fore-and-aft distance of the relatively described origin of coordinates of the first laser range finder module, YLFor
The lateral separation of the relatively described origin of coordinates of the second laser range finder module, YRFor the relative institute of the 3rd laser ranging module
State the lateral separation of the origin of coordinates.
In some instances, the power of the first laser range finder module is more than the second laser range finder module and described
3rd laser ranging module.
In some instances, modulation/demodulation modules, for entering to the laser that at least three laser rangings module is launched
Row modulation, and echo is demodulated, to distinguish at least three laser rangings module.
A kind of unmanned plane is proposed in the embodiment of third aspect present invention, the unmanned plane includes unmanned plane as above
Control system.
Unmanned plane according to embodiments of the present invention, can realize many laser ranging block combiners using measuring unmanned plane
Flying height and the attitude angle relative to landing plane, so as to realize stable landing.
The additional aspect and advantage of the present invention will be set forth in part in the description, and partly will become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Description of the drawings
Fig. 1 is the flow chart 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 schematic view of the mounting position 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.
Specific embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from start to finish
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.
In describing the invention, term " step S101 "～" step S102 " is only used for describing the nothing of the embodiment of the present invention
The purpose of man-machine control method, and it is not intended that indicate or imply relative ranks relation, therefore it is not intended that to this
Bright restriction.
With reference to Fig. 1, the control method of the unmanned plane of first aspect present invention embodiment is provided with least three on unmanned plane
Laser ranging module, comprises the following steps：The elevation information of unmanned plane is obtained by laser ranging module；At least three are obtained respectively
The positional information of the mount point relative coordinate origin of individual laser ranging module, wherein, the origin of coordinates is arranged on the body of unmanned plane
On；According to the relative plane of landing of positional information calculation body of the mount point relative coordinate origin of at least three laser ranging modules
The angle of pitch and roll angle, obtain body relatively it is described landing plane attitude angle；According to the elevation information and attitude of unmanned plane
Angle controls the landing of unmanned plane.The method to implement process as follows：
Step S101, by laser ranging module the flying height of unmanned plane is obtained.
Specifically, laser ranging module is generally used in range measurement, due to the measurement of flight altitude of unmanned plane be away from
From a kind of form of measurement, therefore can be by the measurement of flight altitude of laser ranging module application to unmanned plane.Measuring
Using the laser ranging module of relatively high power in journey, the range of laser ranging module on the one hand can be improved, on the other hand can be reduced
Requirement to the plane of reflection.Generally the landing plane of unmanned plane is diffusing reflection plane, and general laser ranging module can meet
Elevation carrection demand, and by increasing transmission power and receiving magnifying power, its range is adjusted to the radar used with unmanned plane
The measurement range of altimeter is close.In one embodiment of the invention, by taking three laser ranging modules as an example, as shown in Fig. 2
The H in flight courseBCan be used as current flying height.
Step S102, obtains respectively the positional information of the mount point relative coordinate origin of at least three laser ranging modules,
Wherein, the origin of coordinates is arranged on the body of the unmanned plane.
In actual moving process, the origin of coordinates is the position of the center of gravity of unmanned plane.Laser ranging module includes first
To the 3rd laser ranging module, first laser range finder module is arranged on the rear of the center of gravity of unmanned plane to laser ranging module, and second
Laser ranging module is arranged on the left side of unmanned plane center of gravity, and the 3rd laser ranging module is arranged on the right side of unmanned plane center of gravity.And
Second laser range finder module and the 3rd laser ranging module are symmetrical arranged with respect to unmanned plane center of gravity.Additionally, at one of the present invention
It is reduces cost in embodiment, the power of first laser range finder module is more than second laser range finder module and the 3rd laser ranging
Module.
Step S103, according to the positional information of the mount point relative coordinate origin of at least three laser ranging modules and right
The angle of pitch and roll angle of the relative landing plane of elevation information computer body that the laser ranging module answered is obtained, obtains body phase
Attitude angle to plane of landing.
Specifically, in one embodiment of the invention, by taking three laser ranging modules as an example, according to three laser rangings
The angle of pitch and roll angle of the relative landing plane of the positional information calculation body of the mount point absolute presupposition impact point of module.As schemed
Shown in 2 and 3, R, L, B are respectively the 3rd laser ranging module, second laser range finder module and first laser range finder module in figure
Mount point, C is position that the origin of coordinates is unmanned plane center of gravity.The attitude angle of the relative landing plane of body, the i.e. angle of pitch and rolling
Angle can be obtained by equation below：
θland=arctan ((HL-HB)/(XL+XB)),
φland=arctan ((HL-HR)/(YL+YR)),
Wherein, HBFor the measurement height of first laser range finder module, HLFor the measurement height of second laser range finder module, HR
For the measurement height of the 3rd laser ranging module, XLFor the fore-and-aft distance of second laser range finder module relative coordinate origin C, XRFor
3rd laser ranging module relative to origin of coordinates C fore-and-aft distance, XBFor first laser range finder module relative coordinate origin C's
Fore-and-aft distance, YLFor the lateral separation of second laser range finder module relative coordinate origin C, YRIt is relative for the 3rd laser ranging module
The lateral separation of origin of coordinates C.
Step S104, according to the elevation information and attitude angle of unmanned plane the landing of unmanned plane is controlled.
Specifically, the unmanned plane that the elevation information and step S103 of the unmanned plane for being obtained according to step S101 are obtained landed
Attitude angle in journey can control unmanned plane landing.
Additionally, in one embodiment of the invention, the control method of unmanned plane also includes：The nothing that step S101 is obtained
Man-machine elevation information is filtered, to obtain stable altitude information.
Preferably, in one embodiment of the invention, the laser of at least three laser ranging modules transmitting is adjusted
System, to distinguish at least three laser ranging modules.That is the receiver of each laser ranging module may recognize that matching sending out
The laser reflection light that emitter sends, so as to avoid because laser ranging module be applied in combination generation interfere problem.
The control method of unmanned plane according to embodiments of the present invention, the flight for measuring unmanned plane using laser ranging module is high
Degree, according to the positional information calculation of the mount point absolute presupposition impact point of at least three laser ranging modules the machine of unmanned plane is obtained
Attitude angle of the body phase to plane of landing, such that it is able to control the descent of unmanned plane.
A kind of control system 100 of unmanned plane is proposed in the embodiment of second aspect present invention, as shown in figure 4, including：Extremely
Few 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.Process mould
Block 20 is used for according to the positional information of the mount point relative coordinate origin of at least three laser ranging modules 10 and corresponding swashs
The angle of pitch and roll angle of the relative landing plane of elevation information computer body that ligh-ranging module 10 is obtained, obtains the relative drop of body
The attitude angle of the plane that falls.Control module 30 is used to control the landing of unmanned plane according to the elevation information and attitude angle of unmanned plane.
Further, in one embodiment of the invention, the control system 100 of unmanned plane of the invention also includes, filters
Ripple module 40.Filtration module 40 is used to be filtered the elevation information that laser ranging module 10 is obtained, to eliminate because body shakes
The measure error that dynamic and planar abrupt of landing is caused, so as to obtain more accurate, stable altitude information.
The control system 100 of unmanned plane of the present invention also includes, modulation/demodulation modules 50.Modulation/demodulation modules 50 are used for
The laser of the transmitting of at least three laser ranging module 10 is modulated, and echo is demodulated, swashed with distinguishing at least three
Ligh-ranging module 10.Specifically, in one embodiment of the invention, the origin of coordinates for unmanned plane center of gravity position, laser
Range finder module 10 includes first laser range finder module to the 3rd laser ranging module, and first laser range finder module is arranged on unmanned plane
The rear of center of gravity, second laser range finder module is arranged on the left side of unmanned center of gravity, and the 3rd laser ranging module is arranged on unmanned plane
The right side of center of gravity.And second laser range finder module and the 3rd laser ranging module are symmetrical arranged with respect to unmanned plane center of gravity.
Further, it is reduces cost, the power of first laser range finder module is more than second laser range finder module and the 3rd
Laser ranging module.
The control system of unmanned plane according to embodiments of the present invention, the flight for measuring unmanned plane using laser ranging module is high
Degree, processing module is calculated and obtains nothing according to the positional information of the mount point relative coordinate origin of at least three laser ranging modules
The attitude angle of the relative landing plane of man-machine body, so that control module can control the descent of unmanned plane.The nothing
Man-machine control system low cost, can realize that many laser ranging block combiners use the flying height and phase for measuring unmanned plane
For the attitude angle of 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 method part
Specific implementation is similar to, and refers to the description of method part, in order to reduce redundancy, does not repeat herein.
Propose a kind of unmanned plane in the embodiment of third aspect present invention, including the unmanned plane described in above-mentioned any one
Control system, the unmanned plane can realize that many laser ranging block combiners are used using the control system of the unmanned plane of low cost
To measure the flying height and the attitude angle relative to landing plane of unmanned plane, so as to realize stable landing.
In describing the invention, it is to be understood that term " " center ", " longitudinal direction ", " horizontal ", " length ", " width ",
" thickness ", " on ", D score, "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom " " interior ", " outward ", " up time
The orientation or position relationship of the instruction such as pin ", " counterclockwise ", " axial direction ", " radial direction ", " circumference " be based on orientation shown in the drawings or
Position relationship, is for only for ease of the description present invention and simplifies description, rather than indicates or imply that the device or element of indication must
With specific orientation, with specific azimuth configuration and operation, therefore must be not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, term " installation ", " connected ", " connection ", " fixation " etc.
Term should be interpreted broadly, for example, it may be fixedly connected, or be detachably connected, or it is integral；Can be that machinery connects
Connect, or electrically connect；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, can be in two elements
The connection in portion or the interaction relationship of two elements, unless otherwise clearly restriction.For one of ordinary skill in the art
For, can as the case may be understand above-mentioned term concrete meaning in the present invention.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be with
It is the first and second feature directly contacts, or the first and second features are by intermediary mediate contact.And, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature are directly over second feature or oblique upper, or be merely representative of
Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be
One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be with office
Combine in an appropriate manner in one or more embodiments or example.Additionally, in the case of not conflicting, the skill of this area
Art personnel can be tied the feature of the different embodiments or example described in this specification and different embodiments or example
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changes, replacing and modification.
Claims (13)
1. a kind of control method of unmanned plane, it is characterised in that at least three laser ranging modules are provided with the unmanned plane,
The method comprising the steps of：
The elevation information of the unmanned plane is obtained by the laser ranging module；
The positional information of the mount point relative coordinate origin of at least three laser rangings module is obtained respectively, wherein, it is described
The origin of coordinates is arranged on the body of the unmanned plane；
According to the positional information of the relatively described origin of coordinates of mount point of at least three laser rangings module and corresponding swash
The elevation information that ligh-ranging module is obtained calculates the angle of pitch and roll angle of the relative landing plane of the body, obtains the body
The attitude angle of relatively described landing plane, wherein, the angle of pitch is obtained by equation below：
θland=arctan ((HL-HB)/(XL+XB)),
The roll angle is obtained by equation below：
φland=arctan ((HL-HR)/(YL+YR)),
Wherein, HBFor the measurement height of first laser range finder module, HLFor the measurement height of second laser range finder module, HRFor
The measurement height of three laser ranging modules, XLFor the fore-and-aft distance of the relatively described origin of coordinates of the second laser range finder module, XR
For the 3rd laser ranging module relative to the origin of coordinates fore-and-aft distance, XBFor the first laser range finder module phase
For the fore-and-aft distance of the origin of coordinates, YLFor the relatively described origin of coordinates of the second laser range finder module it is horizontal away from
From YRFor the lateral separation of the relatively described origin of coordinates of the 3rd laser ranging module；And
The landing of the unmanned plane is controlled according to the elevation information and the attitude angle of the unmanned plane.
2. the control method of unmanned plane according to claim 1, it is characterised in that also include：
The elevation information of the unmanned plane is filtered, to obtain stable altitude information.
3. the control method of unmanned plane according to claim 1, it is characterised in that the origin of coordinates is the unmanned plane
Center of gravity position, the laser ranging module include first laser range finder module, second laser range finder module and the 3rd laser
Range finder module, the first laser range finder module is arranged on the rear of the center of gravity, and the second laser range finder module is arranged on
The left side of the center of gravity, the 3rd laser ranging module is arranged on the right side of the center of gravity.
4. the control method of unmanned plane according to claim 3, it is characterised in that the second laser range finder module and institute
State the relatively described center of gravity of the 3rd laser ranging module to be symmetrical arranged.
5. the control method of the unmanned plane according to any one of claim 3-4, it is characterised in that the first laser range finding
The power of module is more than the second laser range finder module and the 3rd laser ranging module.
6. the control method of unmanned plane according to claim 1, it is characterised in that also include：Swash to described at least three
The laser of ligh-ranging module transmitting is modulated, to distinguish at least three laser rangings module.
7. a kind of control system of unmanned plane, it is characterised in that include：
At least three laser ranging modules, at least three laser rangings module is arranged on the unmanned plane, for measuring
The elevation information of the unmanned plane；
Processing module, based on the positional information of the mount point relative coordinate origin according at least three laser rangings module
The angle of pitch and roll angle of the relative landing plane of body are calculated, the attitude angle of the relatively described landing plane of the body is obtained, wherein,
The angle of pitch is obtained by equation below：
θland=arctan ((HL-HB)/(XL+XB)),
The roll angle is obtained by equation below：
φland=arctan ((HL-HR)/(YL+YR)),
Wherein, HBFor the measurement height of first laser range finder module, HLFor the measurement height of second laser range finder module, HRFor
The measurement height of three laser ranging modules, XLFor the fore-and-aft distance of the relatively described origin of coordinates of the second laser range finder module, XR
For the fore-and-aft distance of the relatively described origin of coordinates of the 3rd laser ranging module, XBIt is relative for the first laser range finder module
The fore-and-aft distance of the origin of coordinates, YLFor the lateral separation of the relatively described origin of coordinates of the second laser range finder module, YRFor
The lateral separation of the relatively described origin of coordinates of the 3rd laser ranging module；And
Control module, for controlling the landing of the unmanned plane according to the elevation information of the unmanned plane and the attitude angle.
8. the control system of unmanned plane according to claim 7, it is characterised in that also include：
Filtration module, the elevation information of the unmanned plane for obtaining at least three laser rangings module is filtered, with
Obtain stable altitude information.
9. the control system of unmanned plane according to claim 7, it is characterised in that the origin of coordinates is the unmanned plane
Center of gravity position, the laser ranging module include first laser range finder module, second laser range finder module and the 3rd laser
Range finder module, the first laser range finder module is arranged on the rear of the center of gravity, and the second laser range finder module is arranged on
The left side of the center of gravity, the 3rd laser ranging module is arranged on the right side of the center of gravity.
10. the control system of unmanned plane according to claim 9, it is characterised in that the second laser range finder module and
The relatively described center of gravity of the 3rd laser ranging module is symmetrical arranged.
The control system of 11. unmanned planes according to any one of claim 9-10, it is characterised in that the first laser is surveyed
Power away from module is more than the second laser range finder module and the 3rd laser ranging module.
The control system of 12. unmanned planes according to claim 7, it is characterised in that also include：Modulating/demodulating, for right
The laser of at least three laser rangings module transmitting is modulated, and echo is demodulated, to distinguish described at least three
Individual laser ranging module.
13. a kind of unmanned planes, it is characterised in that include：The control system of the unmanned plane as described in claim 7-12 any one
System.
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| CN104991561B (en) * | 2015-08-10 | 2019-02-01 | 北京零零无限科技有限公司 | A kind of method, apparatus and unmanned plane of hand-held unmanned plane recycling |
| 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 |
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