CN104793630A - Light airplane comprehensive obstacle avoiding system - Google Patents
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- CN104793630A CN104793630A CN201510241372.8A CN201510241372A CN104793630A CN 104793630 A CN104793630 A CN 104793630A CN 201510241372 A CN201510241372 A CN 201510241372A CN 104793630 A CN104793630 A CN 104793630A
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Abstract
The invention provides a light airplane comprehensive obstacle avoiding system. The light airplane comprehensive obstacle avoiding system comprises data acquisition equipment including aviation bus conversion equipment, GPS (Global Position System) equipment and two high-definition cameras and the like, data processing equipment including two sets of video processing equipment, an embedded type computer, a server and the like, and man-machine interaction equipment including a control panel, sound equipment, a liquid crystal display and the like. The two high-definition cameras are integrated and designed into a nacelle and the optical axes are parallel; and an image plane is parallel or overlapped so that a distance measuring error is reduced. The video processing adopts an FPGA+FIFO+DSP (Field Programmable Gate Array+First-In First-Out-Digital Signal Processor) framework, and a DSP is connected by a high-speed interface. The GPS is fused with a digital map and the like so that known obstacles are avoided. The unknown obstacles are realized by real-time video processing. The server is operated by adopting a website form. The light airplane comprehensive obstacle avoiding system has the advantages that an avionics comprehensive technology, a vision identification technology and a digital map technology are adopted so that a light airplane comprehensive obstacle avoiding function is realized; and the video processing speed is rapid, and the system is economical and intelligent.
Description
Technical field
The present invention relates to aviation electronics field, particularly relate to a kind of light aerocraft resultant fault avoidance system.
Background technology
Light aerocraft generally refers to that maximum take-off weight is less than the aircraft of 5700 kilograms, is widely used in Private Flight, public affair flight, commercial transportation, aerial visit, flight training, aeroclub, geologic prospecting, aeroplane photography, urgent rescue, seeding and fertilizing, forest and fishery patrol, fire extinguishing and mine locating etc.Have light, be easy to operation, the feature such as cheap, flying speed is slow, light aerocraft flight, operating environment are complicated, as low latitude, mountain valley, city etc.The cultural obstacles such as the natural objects such as mountain range, trees and launching tower, building, hi-line are large on flight safety impact, because cheap light aerocraft does not generally install aerial collision avoidance system, ground proximity warning system, Terrain Following System, terrain avoidance system, obstacle avoidance system, Aerial Electronic Equipment is only equipped with the instrument and meter of some indispensabilities, barrier is lacked to identification, avoids means,, in the operating process of avoid-obstacles, easily there is again problems such as colliding with flying object, contact to earth in easy generation and barrier collision accident.This just needs for light aerocraft designs a kind of economy, intelligent resultant fault avoidance system, realizes avoiding function to natural objects, cultural obstacle, takes into account crashproof and near-earth warning in the air, ensures flight safety.
Summary of the invention
For the technical deficiency of above-mentioned existence, technical matters to be solved by this invention is to provide a kind of light aerocraft resultant fault avoidance system, and system will have economy and intelligent.
For solving the problems of the technologies described above, a kind of light aerocraft resultant fault avoidance system provided by the present invention, comprises data acquisition equipment, data processing equipment, human-computer interaction device and power supply etc.Data acquisition equipment is made up of Avionics data bus conversion equipment, GPS device and 2 high-definition cameras; Data processing equipment is made up of 2 video processing equipments, embedded computer and servers; Human-computer interaction device is made up of control panel, stereo set and liquid crystal display.
Avionics data bus conversion equipment of the present invention is connected to described embedded computer by USB port, for gather the general-purpose aircraft angle of pitch, roll angle, highly, the flight parameter such as speed.
GPS device of the present invention is connected with embedded computer by GPS interface, provides positional information.
The present invention's two high-definition camera Integrated designs in a gondola, for gathering high clear video image.When requiring to install, two high-definition camera optical axises are parallel, and the plane of delineation is parallel or overlap, and is modulated at different focal lengths, is fixed in gondola by fixed support, and when fixed support ensures body vibration, two optical axises are synchronized with the movement, and reduces range error.Gondola is fixed on plane nose position by nut, reduces detection blind area, by adjustment spiro rod length, makes high-definition camera optical axis parallel with aircraft longitudinal axis, is convenient to coordinate transform.Have temperature control equipment in gondola protective cover, protective cover light inlet has except the device such as rain, demist.Two high-definition cameras are connected with two video processing equipments respectively by high-speed interface.
The present invention's two video processing equipments adopt field programmable gate array (Field respectively
Programmable Gate Array, FPGA)+FIFO (First In First Out) storer+digital signal processor (Digital Signal Processor, DSP), i.e. FPGA+FIFO+DSP framework.DSP in 2 video processing equipments is connected, to video data associated treatment by high-speed interface.2 video processing equipments are connected with embedded computer by high speed (CAN) bus.
Type video processing equipment of the present invention runs Video processing software.By Video processing, identify the barriers such as mountain peak, launching tower, hi-line and flying object, to barrier range finding, interception angle and the angle of pitch.To video image cutting during measurement, only retain camera field of view optical axis to body direction half field-of-view image, reduce the video data volume.
The embedded computer that the present invention adopts, comprise high primary frequency processor, Large Copacity memory interface, 3D graphics hardware accelerator, audio interface, video interface, LCD interface, keyboard interface and USB interface etc., meet the needs of the process of large-capacity video data high-speed, storage and graphic software platform.Embedded computer connects USB flash disk by USB interface, by database informations such as USB flash disk and server exchange landform, barrier and flight paths.
Embedded computer operation system of software employing real time operating system of the present invention, embedded OS runs hardware drive program and embedded digital mapping program, flight path follow the application software such as obstacle avoidance program, real-time detection obstacle avoidance program, synthesis display program, system initialization routine.
Embedded digital mapping program of the present invention, provides landform, landforms, plans the information such as flight path and barrier in advance.
Flight path of the present invention follows obstacle avoidance program by GPS position information+height indicator information+numerical map topographic database+barrier database+planning flight path, complete and plan that flight path is followed in advance, realize known obstacle avoidance strategy, provide obstacle avoidance when flight path is followed to remind, provide near-earth warning message simultaneously, avoid known landform, landforms and barrier.Stored record GPS position information in flight course, forms practical flight track documents.
Real-time detection obstacle avoidance program of the present invention is by real time video processing equipment, obtain real-time static dynamic barrier identifying information, distance, position angle and angle of pitch information, merge with aircraft flight parameter, numerical map landform and barrier data message, form track optimization strategy, avoidance strategy is formed to the barrier of real-time detection, provide aerial crashproof warning message simultaneously.When real-time detection, revise and supplement numerical map landform, barrier database information.
Server of the present invention adopts high-performance server, is positioned at ground.Form of websites is adopted to run numerical map software, trajectory planning software, track analysis software and simulated flight software.Adopt form of websites to be convenient to user and supplement correction landform, barrier and flight path information.
Numerical map software of the present invention provides the information such as landform, landforms, no-fly zone and barrier.
Trajectory planning software of the present invention, according to light aerocraft flight performance parameter and operating environment, completes trajectory planning.Take into full account landform, landforms that longitudinal, the horizontal maneuverability of light aerocraft and low latitude operation face, and the driving technology of non-full-time pilot and adaptability to changes, numerical map plans optimal route, effective avoidance mountain peak, buildings and aviation restricted area, improve the safe flight ability of light aerocraft.Particularly performing search and rescue, take photo by plane, the operation such as mine locating time on planning flight path, longitudinal maneuver and horizontal maneuver can be made according to the actual fluctuating situation of landform.By map elevation information, obstacle information in the track data of planning and flight path safe distance, with document form stored in USB flash disk, import embedded computer.
Track analysis software of the present invention provides the functions such as the rear self-criticism of flight and crash analysis.
Simulated flight software of the present invention, provides artificial planning, revises course line, is familiar with course line and simulated flight function.
Control panel of the present invention completes the control to high-definition camera, liquid crystal display and stereo set.
Liquid crystal display of the present invention completes avoidance strategy, warning message textual list, numerical map and real-time video human-computer interaction interface synthesis display.Numerical map interface is with different colours and icon display light aerocraft, landform, landforms and obstacle information.The real-time video of the high-definition camera production that real-time video human-computer interaction interface display focal length is larger, video marks dangerous obstacles information.
Stereo set of the present invention completes avoidance strategy, warning message voice reminder.
Advantage applies of the present invention exists: adopt avionics comprehensive technology, visual identity and numerical map technology to realize light aerocraft resultant fault thing and avoid function, improve the security of flight.Embedded computer comprises high primary frequency processor, Large Copacity memory interface, 3D graphics hardware accelerator, audio interface, video interface, LCD interface, keyboard interface and USB interface etc., meet the needs of the process of large-capacity video data high-speed, storage and graphic software platform, by database informations such as USB flash disk and server exchange landform, barrier and flight paths.Two high-definition camera optical axises are parallel, and the plane of delineation is parallel or overlap, and is fixed in gondola by fixed support, reduces range error.High-definition camera optical axis is parallel with aircraft longitudinal axis, is convenient to coordinate transform.Gondola is fixed on plane nose position by nut, reduces detection blind area.Two video processing equipments adopt FPGA+FIFO+DSP framework, and DSP is connected by high-speed interface, to video data associated treatment, complete barrier range finding, interception angle and the angle of pitch.To video image cutting during measurement, only retain camera field of view optical axis to body direction half field-of-view image, reduce the video data volume.By GPS position information+height indicator information+numerical map topographic database+barrier database+planning flight path, complete and plan that flight path is followed in advance, realize known obstacle avoidance strategy, provide near-earth warning message simultaneously.By real-time static dynamic barrier identifying information, distance, position angle and angle of pitch information, merge with aircraft flight parameter, numerical map landform and barrier data message, form track optimization strategy, avoidance strategy is formed to the barrier of real-time detection, provide aerial crashproof warning message simultaneously.When real-time detection, revise and supplement numerical map landform, barrier database information.Server software adopts form of websites to be convenient to user and supplements correction landform, barrier and flight path information, realizes the functions such as trajectory planning, track analysis, simulated flight.
Accompanying drawing explanation
Fig. 1 is the light aerocraft resultant fault thing avoidance system hardware block diagram of the embodiment of the present invention;
Fig. 2 is the real time video processing device hardware structured flowchart of the embodiment of the present invention;
Fig. 3 is the body axis system schematic diagram of the embodiment of the present invention;
Fig. 4 is the barrier range finding angle measuring principle figure of the embodiment of the present invention.
Embodiment
Illustrate below in conjunction with accompanying drawing, embodiment is specifically described to the embodiment of the present invention, but the present embodiment is not limited to the present invention.
The light aerocraft resultant fault thing avoidance system hardware configuration that the embodiment of the present invention provides, as shown in Figure 1, server, embedded computer, 2 video processing equipments, Avionics data bus conversion equipment, GPS device, 2 high-definition cameras, control panel, stereo set, liquid crystal display and power supplys are comprised.Server, embedded computer, 2 video processing equipments complete data processing, Avionics data bus conversion equipment, GPS device, 2 high-definition camera data acquisitions, control panel, stereo set and liquid crystal display finishing man-machine interaction.
Embodiment of the present invention server hardware adopts high-performance server, and require that processing speed is fast, storage space is large.
Embodiment of the present invention embedded computer comprises and flies to insult S3C6410 development board and S3C6410 processor, fly to insult S3C6410 development board and there is abundant interface resource, there are GPS interface, USB HOST socket, USB Slave interface, LCD Interface, audio frequency accessory power outlet, 10 × 2 contact pins expansion mouth (can be used to expansion 8 × 8 matrix majorization panel) etc.Support 256M byte DDR internal memory, SLC 1G Byte Nand Flash, CAN.Its dominant frequency of S3C6410 processor can reach 667MHz, and inside has powerful multi-media processing unit, with 3D graphics hardware accelerator, supports the operations such as the level and smooth convergent-divergent of 2D graph image.LCDs adopts large scale technical grade TFT LCDs.
Embodiment of the present invention video processing equipment hardware configuration, as shown in Figure 2, adopts FPGA+FIFO+DSP framework.Data Input Interface adopts HD-SDI high definition video interface chip GS2971, connects HD-SDI video camera by 75 Ω concentric cable.FPGA1 connects the little HD-SDI video camera of focal length, FPGA2 connects the large HD-SDI video camera of focal length, the XC3S1400AN-4FGG676I that FPGA1 and FPGA2 adopts Xilinx company to produce, FPGA1 and FPGA2 completes sequential control, serioparallel exchange and image cropping, and storage figure picture is to FIFO1 and FIFO2 respectively.Image is sent to DSP1 and DSP2 by FIFO1 and FIFO2 respectively respectively, DSP1 and DSP2 adopts the TMS320C6455DSP1 of TI company, and DSP1 and DSP2 carries out picture two-dimensional assemblage, Iamge Segmentation, image recognition, position angle measuring and calculating and angle of pitch measuring and calculating respectively.Barrier is sent into DSP1 in the coordinate data as plane by high-speed interface and is carried out distance exam by DSP2.
The interface of embodiment of the present invention DSP and embedded computer CAN controller adopts address date multiplexing line patten's design.Using the address/data multiplexing line of the data line of DSP as CAN, go select the internal port of CAN and transmit data with the data line of DSP.Real-time video is sent into embedded computer by DSP2.
The OLP-3102 conversion equipment that embodiment of the present invention Avionics data bus conversion equipment adopts the general science and technology of Olympic to develop, transfers the multiple signals that ARINC429 bus is sent to USB interface signal, bus characteristics USB 2.0.
Embodiment of the present invention high-definition camera adopts Large visual angle HD-SDI video camera, improves forward sight ability and image resolution ratio.Two high-definition camera Integrated designs in a gondola, for gathering high clear video image.When requiring to install, two high-definition camera optical axises are parallel, and the plane of delineation is parallel or overlap, and is modulated at different focal lengths, is fixed in gondola by fixed support, and when fixed support ensures body vibration, two optical axises are synchronized with the movement, and reduces range error.Gondola is fixed on plane nose position by nut, reduces detection blind area, by adjustment spiro rod length, makes high-definition camera optical axis parallel with aircraft longitudinal axis, is convenient to coordinate transform.Have temperature control equipment in gondola protective cover, protective cover light inlet has except the device such as rain, demist.Two high-definition cameras are connected with two video processing equipments respectively by high-speed interface.
The body axis system of the invention process light aerocraft as shown in Figure 3, be described as: initial point O is taken at aircraft barycenter place, coordinate system and aircraft are connected, z-axis is in aircraft symmetrical plane and be parallel to the design orientation of its axis head of aircraft, x-axis points to fuselage right perpendicular to aircraft symmetrical plane, y-axis is in aircraft symmetrical plane, and with x, z-axis is vertical and point to body upper.
This real invention implementation barrier thing finds range angle measuring principle as shown in Figure 4, focal distance f
1little high-definition camera three-dimensional coordinate is X
1 'y
1 'z
1, initial point is O
1 ', focal distance f
2large high-definition camera three-dimensional system of coordinate X
2 'y
2 'z
2, initial point is O
2 '.When installing and initially revise gondola, make high-definition camera optical axis Z
1, Z
2parallel with the z-axis of airframe coordinate system; Two high-definition cameras are as plane X
1o
1y
1and X
2o
2y
2coincidence or parallel, calculates this example two planes overlapping for convenience; Picture plane right-angle coordinate X
1, X
2axle, high-definition camera three-dimensional system of coordinate X
1 ', X
2 'axle is parallel with the x-axis of airframe coordinate system; Picture plane right-angle coordinate Y
1, Y
2axle, high-definition camera three-dimensional system of coordinate Y
1 ', Y
2 'axle is parallel with the y-axis of airframe coordinate system, and this example is for ease of calculating as plane right-angle coordinate Y
1, Y
2axle overlaps, X
1, X
2axle base is set to a; P is object space barrier, and P is at three-dimensional system of coordinate X
1y
1z
1more than optical axis be highly set to R, P is at three-dimensional system of coordinate X
2y
2z
2more than optical axis be highly set to r, namely have: R=r+a.
P1, P2 are the picture of P in picture plane.P1 is at three-dimensional system of coordinate X
1y
1z
1three-dimensional coordinate be (A3, B3,0), P2 is (A4, B4,0) at the three-dimensional coordinate of three-dimensional system of coordinate X2Y2Z2.A3, B3, A4, B4 can be obtained by the coordinate ((u, v) (u, v represent that pixel is arranged in columns and the line number of array)) of pixel in picture plane is transformed to rectangular coordinate system.
P is at three-dimensional system of coordinate X
1y
1z
1three-dimensional coordinate be (A
1, R, A
5), P is at three-dimensional system of coordinate X
2y
2z
2three-dimensional coordinate be (A
2, r, A
6), A
1=A
2, A
5=A
6.
O
1 'at three-dimensional system of coordinate X
1y
1z
1three-dimensional coordinate be (0,0, f
1), and O
2 'at three-dimensional system of coordinate X
2y
2z
2three-dimensional coordinate be (0,0, f
2).
be P at three-dimensional system of coordinate X
1 'y
1 'z
1the position angle of relative optical axis.
=
=
be P at three-dimensional system of coordinate X
2 'y
2 'z
2the position angle of relative optical axis.
=
=
being P at three-dimensional coordinate is X
1 'y
1 'z
1relative optical axis the angle of pitch.
=
=
being P at three-dimensional coordinate is X
2 'y
2 'z
1relative optical axis the angle of pitch.
=
=
By P and P
1be projected in plane X
1o
1z
1on, can obtain:
By P and P
2be projected in plane X
2o
2z
2on, can obtain:
Because A
1=A
2, A
5=A
6,p point can be obtained
By P and P
1be projected in plane Y
1o
1z
1on, can obtain:
P point can be obtained
By P and P
1be projected in plane Y
1o
1x
1on, can obtain:
P point
=
Namely P point is obtained at three dimensions three-dimensional system of coordinate X
1y
1z
1three-dimensional coordinate, in like manner can obtain P point at three dimensions three-dimensional system of coordinate X
2y
2z
2three-dimensional coordinate.
Utilize 2 range formulas can obtain P point to O
1 'at three-dimensional system of coordinate X
1y
1z
1distance, P point is to O
2 'at three-dimensional system of coordinate X
2y
2z
2distance.
Embodiment of the present invention built-in application program software development environment uses Visual Studio, ArcGIS ArcGIS Engine, and programming language uses C#.Embedded computer employing Windows Embedded CE real time operating system, Windows Embedded CE runs hardware drive program and embedded digital mapping program, flight path follow the application software such as obstacle avoidance program, real-time detection obstacle avoidance program, synthesis display program, system initialization routine.
Embedded digital mapping program of the present invention, provides landform, landforms, plans the information such as flight path and barrier in advance.
Flight path of the present invention follows obstacle avoidance program by GPS position information+height indicator information+numerical map topographic database+barrier database+planning flight path, complete and plan that flight path is followed in advance, flight path follows the computing method that flight adopts obstacle outline line, realize known obstacle avoidance strategy, provide obstacle avoidance when flight path is followed to remind, provide near-earth warning message simultaneously, avoid known landform, landforms and barrier.Stored record GPS position information in flight course, forms practical flight track documents.
Video processing software of the present invention, by Video processing, identifies the barriers such as mountain peak, launching tower, hi-line and flying object, to barrier range finding, interception angle and the angle of pitch.To video image cutting during measurement, only retain camera field of view optical axis to body direction half field-of-view image, reduce the video data volume.
Real-time detection obstacle avoidance program of the present invention breaks the barriers identifying information, distance, position angle and angle of pitch information, merge with aircraft flight parameter, numerical map landform and barrier data message, form track optimization strategy, avoidance strategy is formed to the barrier of real-time detection, provide aerial crashproof warning message simultaneously.When real-time detection, revise and supplement numerical map landform, barrier database information.
Embodiment of the present invention server software development environment uses Visual Studio, ArcGIS Server, and programming language uses C#.Form of websites is adopted to run numerical map software, trajectory planning software, track analysis software and simulated flight software.Adopt form of websites to be convenient to user and supplement correction landform, barrier and flight path information.
Numerical map software of the present invention provides the information such as landform, landforms, no-fly zone and barrier.
Trajectory planning software of the present invention completes trajectory planning function, take into full account landform, landforms that longitudinal, the horizontal maneuverability of light aerocraft and low latitude operation face, and the driving technology of non-full-time pilot and adaptability to changes, numerical map plans optimal route, effective avoidance mountain peak, buildings and aviation restricted area, improve the safe flight ability of light aerocraft.Particularly performing search and rescue, take photo by plane, the operation such as mine locating time on planning flight path, longitudinal maneuver and horizontal maneuver can be made according to the actual fluctuating situation of landform.By map elevation information, obstacle information in the track data of planning and flight path safe distance, with document form stored in USB flash disk, import embedded computer.
Track analysis software of the present invention provides the functions such as the rear self-criticism of flight and crash analysis.
Simulated flight software of the present invention, provides artificial planning, revises course line, is familiar with course line and simulated flight function.
The above is one embodiment of the present of invention, is not limited to the present invention, and all equivalent replacements and improvement etc. done within the principle of the invention, all should be included within the invention protection domain.
Claims (9)
1. a light aerocraft resultant fault avoidance system, comprises data acquisition equipment, data processing equipment, human-computer interaction device and power supply etc.; Data acquisition equipment is made up of Avionics data bus conversion equipment, GPS device and 2 high-definition cameras; Data processing equipment is made up of 2 video processing equipments, embedded computer and servers; Human-computer interaction device is made up of control panel, stereo set and liquid crystal display.
2. light aerocraft resultant fault avoidance system according to claim 1, it is characterized in that, Avionics data bus conversion equipment is connected to described embedded computer by USB port, for gather the general-purpose aircraft angle of pitch, roll angle, highly, the flight parameter such as speed.
3. light aerocraft resultant fault avoidance system according to claim 1, it is characterized in that, two high-definition camera Integrated designs are in a gondola, when requiring to install, two high-definition camera optical axises are parallel, and the plane of delineation is parallel or overlap, and is modulated at different focal lengths, be fixed in gondola by fixed support, when fixed support ensures body vibration, two optical axises are synchronized with the movement, and reduce range error; Gondola is fixed on plane nose position by nut, reduces detection blind area, by adjustment spiro rod length, makes high-definition camera optical axis parallel with aircraft longitudinal axis, is convenient to coordinate transform; Have temperature control equipment in gondola protective cover, protective cover light inlet has except the device such as rain, demist; Two high-definition cameras are connected with two video processing equipments respectively by high-speed interface.
4. light aerocraft resultant fault avoidance system according to claim 1, is characterized in that, two video processing equipments adopt FPGA+FIFO+DSP framework respectively; DSP in 2 video processing equipments is connected, to video data associated treatment by high-speed interface; 2 video processing equipments are connected with embedded computer by high-speed bus.
5. light aerocraft resultant fault avoidance system according to claim 1, is characterized in that, video processing equipment runs Video processing software; By Video processing, identify the barriers such as mountain peak, launching tower, hi-line and flying object, to barrier range finding, interception angle and the angle of pitch; To video image cutting during measurement, only retain camera field of view optical axis to body direction half field-of-view image, reduce the video data volume.
6. light aerocraft resultant fault avoidance system according to claim 1, it is characterized in that, embedded computer, comprise high primary frequency processor, Large Copacity memory interface, 3D graphics hardware accelerator, audio interface, video interface, LCD interface, keyboard interface and USB interface etc., meet the needs of the process of large-capacity video data high-speed, storage and graphic software platform; Embedded computer connects USB flash disk by USB interface, by database informations such as USB flash disk and server exchange landform, barrier and flight paths.
7. light aerocraft resultant fault avoidance system according to claim 1, it is characterized in that, by GPS position information+height indicator information+numerical map topographic database+barrier database+planning flight path, complete and plan that flight path is followed in advance, realize known obstacle avoidance strategy, provide obstacle avoidance when flight path is followed to remind, provide near-earth warning message simultaneously, avoid known landform, landforms and barrier.
8. light aerocraft resultant fault avoidance system according to claim 1, it is characterized in that, by real time video processing equipment, obtain real-time static dynamic barrier identifying information, distance, position angle and angle of pitch information, merge with aircraft flight parameter, numerical map landform and barrier data message, form track optimization strategy, avoidance strategy is formed to the barrier of real-time detection, provide aerial crashproof warning message simultaneously; When real-time detection, revise and supplement numerical map landform, barrier database information.
9. light aerocraft resultant fault avoidance system according to claim 1, is characterized in that, server adopts high-performance server, is positioned at ground; Employing form of websites is run; According to light aerocraft flight performance parameter and operating environment, complete trajectory planning; Take into full account landform, landforms that longitudinal, the horizontal maneuverability of light aerocraft and low latitude operation face, and the driving technology of non-full-time pilot and adaptability to changes, numerical map plans optimal route, effective avoidance mountain peak, buildings and aviation restricted area, improve the safe flight ability of light aerocraft; Particularly performing search and rescue, take photo by plane, the operation such as mine locating time on planning flight path, longitudinal maneuver and horizontal maneuver can be made according to the actual fluctuating situation of landform; By map elevation information, obstacle information in the track data of planning and flight path safe distance, with document form stored in USB flash disk, import embedded computer; The functions such as the rear self-criticism of flight and crash analysis are provided; Artificial planning is provided, revises course line, is familiar with course line and simulated flight function.
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| CN106382933A (en) * | 2016-11-04 | 2017-02-08 | 北京农业智能装备技术研究中心 | Operation air route acquiring method and system for aviation plant protection aircraft |
| CN107871006A (en) * | 2017-11-15 | 2018-04-03 | 北京工业大学 | Earthquake information Comprehensive Query System based on QGIS |
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| CN116931593A (en) * | 2022-04-07 | 2023-10-24 | 广东汇天航空航天科技有限公司 | Flight control method and device, aircraft and storage medium |
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