CN105573341B - A kind of aircraft optical control method and system - Google Patents
A kind of aircraft optical control method and system Download PDFInfo
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- CN105573341B CN105573341B CN201610042211.0A CN201610042211A CN105573341B CN 105573341 B CN105573341 B CN 105573341B CN 201610042211 A CN201610042211 A CN 201610042211A CN 105573341 B CN105573341 B CN 105573341B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
Abstract
The present invention relates to a kind of aircraft optical control method and systems.The aircraft optical control method, including：S1, multiple index points are set on board the aircraft, are established always using the flight controller with filming apparatus as the three-dimensional cartesian coordinate system of origin；S2, when the aircraft is in reference flight posture, aircraft is shot and extracts the projection of multiple index points surround in image figure on three coordinate surfaces of the coordinate system as reference projection figure；S3, captured in real-time is carried out to the aircraft, extract in the image that takes the figure surrounded respectively the projection on three coordinate surfaces as live fluoroscopic figure, the deflection situation for analyzing the live fluoroscopic figure relative datum projecting figure on each coordinate surface, obtains real-time attitude；And the position of aircraft in the coordinate system is calculated according to the index point；S4, after receiving flight control instruction, according to the position of aircraft and posture, adjust the flight parameter of aircraft, control the flight of aircraft.
Description
Technical field
The present invention relates to aircraft remote control technology more particularly to a kind of aircraft optical control method and systems.
Background technology
With the development of unmanned air vehicle technique, unmanned plane player is also more and more.Using unmanned plane in imaging, take pictures as it
Mostly important application in numerous applications.Situation investigation is carried out under hazardous environment, unmanned plane has natural advantage, for example,
Unmanned plane is used in occasions such as fire rescue, virgin forest patrols, casualties can be reduced.At this stage, unmanned plane exists
Aerial flight path and posture is controlled by user mostly, and user controls unmanned plane by the remote controler in hand
Heading and speed etc. complete aerial mission.Air environment residing for unmanned plane is complicated, and the flight attitude of unmanned plane is difficult handle
It holds, therefore, it is that difficulty is very big to carry out manipulation to unmanned plane.Specifically, user needs according to unmanned plane aerial statue
And direction, to adjust the mode of operation to remote controler in real time, it is careless slightly to will result in " fatal crass ".Therefore, there is an urgent need to
A kind of shirtsleeve operation mode reduces the requirement to user so that unmanned plane is widely popularized.
Invention content
The present invention manipulates the big technical problem of difficulty to solve user in the prior art, provides a kind of aircraft optics
Control method and system.It is specific as follows：
A kind of aircraft optical control method, wherein include the following steps：
S1, it is arranged on board the aircraft multiple not in conplane index point, establishes always to fly with filming apparatus
Line control unit is the three-dimensional cartesian coordinate system of coordinate origin；
S2, when the aircraft is in reference flight posture, aircraft is shot and extracts the flight taken
The figure that multiple index points are surrounded in device benchmark image respectively make by the projection on three coordinate surfaces of three-dimensional cartesian coordinate system
On the basis of projecting figure；
S3, captured in real-time is carried out to the aircraft, extracts multiple marks described in the aircraft realtime graphic taken
The projection on three coordinate surfaces analyzes the live fluoroscopic on each coordinate surface to the figure that point surrounds as live fluoroscopic figure respectively
The deflection situation of figure relative datum projecting figure, obtains the real-time attitude of aircraft；Also, it is calculated according to the index point
Position of the aircraft in three-dimensional cartesian coordinate system；
S4, after receiving flight control instruction, according to the position of aircraft and real-time attitude, adjust the flight of aircraft
Parameter controls the flight of aircraft.
Further preferably, the deflection situation of the live fluoroscopic figure relative datum projecting figure on each coordinate surface of analysis
Include the following steps：
S31, a selected index point are used as and represent a little；
One S32, selection coordinate plane, calculate the focus point of the reference projection figure on the coordinate plane as benchmark
Focus point selects the subpoint of the representative point in reference projection figure as reference projection point, by the benchmark focus point with
And the reference projection dot is used as normal condition line in line；
S33, on same coordinate plane, calculate the focus point of live fluoroscopic figure as real time barycentre point, selection is real
When projecting figure in the representative point subpoint as live fluoroscopic point, pass through the real time barycentre point and the live fluoroscopic
Dot is used as real-time status line in line；
S34, the deflection angle for calculating the relatively described normal condition line of real-time status line, obtain institute on the coordinate plane
State the deflection situation of the relatively described reference projection figure of live fluoroscopic figure；
S35, on remaining two coordinate planes step S32 to S34 is repeated respectively.
Further preferably, the flight control instruction in the step S4 is that aerial dragging instructs, and the step S4 includes：
S410, flight controller start mobile to drive three-dimensional cartesian coordinate system after receiving aerial dragging instruction
Origin moves；
S420, the position coordinates work for receiving aerial dragging instruction initial time aircraft in three-dimensional cartesian coordinate system is transferred
For initial coordinate, transferring aircraft, currently the position coordinates in three-dimensional cartesian coordinate system transfer aircraft as real-time coordinates
Current real-time attitude adjusts the flight parameter of aircraft according to current real-time attitude, and control aircraft is moved to real-time seat
Mark is identical as initial coordinate numerical value.
Further preferably, the offline mode instruction in the step S4 is that distance controlling instructs, and the step S4 includes：
S411, it receives and transfers position coordinates of the aircraft in three-dimensional cartesian coordinate system when distance controlling instructs as initial
Coordinate calculates the initial coordinate to the shortest distance track of coordinate origin；
S421, the current real-time attitude data of aircraft are transferred, according to the flight of the real-time attitude data point reuse aircraft
Parameter, control aircraft are moved along the shortest distance track to change the distance between described flight controller.
Further preferably, it is described adjustment aircraft flight parameter include control aircraft advance, retreat, moving to left, moving to right,
Up and down, left-handed and/or dextrorotation.
A kind of aircraft optical control, for controlling an aircraft, wherein including：
Multiple index points are arranged on the aircraft and are not at same plane；
Flight controller, the filming apparatus being arranged thereon when aircraft is in reference flight state to the aircraft into
Row shooting obtains aircraft benchmark image, and obtains aircraft to aircraft progress captured in real-time during control and scheme in real time
Picture；
Mark unit is built, is established always using the flight controller as the three-dimensional cartesian coordinate system of coordinate origin；
Attitude calculation unit extracts multiple index points are surrounded in the aircraft benchmark image figure respectively described
Projection on three coordinate surfaces of three-dimensional cartesian coordinate system is as reference projection figure；Extract institute in the aircraft realtime graphic
Stating the figure that multiple index points surround, the projection on three coordinate surfaces is analyzed as live fluoroscopic figure on each coordinate surface respectively
Live fluoroscopic figure relative datum projecting figure deflection situation, obtain the real-time attitude of aircraft；
Position calculation unit, for calculating position of the aircraft in the three-dimensional cartesian coordinate system according to the index point
It sets；
Control unit, according to the calculated position of flight control instruction, position calculation unit of reception and Attitude Calculation list
The real-time attitude that member calculates, adjusts the flight parameter of aircraft, controls the flight of aircraft.
Further preferably, the attitude calculation unit includes：
Focus point computing module, for calculating separately out the focus point of reference projection figure on each coordinate plane as base
Quasi- focus point, and the focus point of live fluoroscopic figure is calculated separately out as real time barycentre point on each coordinate plane；
Condition line forms module, and a selected index point, which is used as, to be represented a little；A coordinate plane is selected, the coordinate plane is selected
On reference projection figure in the representative point subpoint as reference projection point, select the live fluoroscopic figure on the coordinate plane
The subpoint of the representative point transfers the calculated benchmark focus point of focus point computing module and reality as live fluoroscopic point in shape
When focus point, normal condition line is used as by the benchmark focus point and the reference projection dot in line, passes through institute
It states real time barycentre point and the live fluoroscopic dot and is used as real-time status line in line；On other two coordinate plane,
Also this is selected respectively to represent a little, is similarly formed normal condition line and real-time status line；
Deflection angle computing module, for calculating the relatively described normal condition line of the real-time status line on each coordinate plane
Deflection angle, obtain the deflection situation of the relatively described reference projection figure of the live fluoroscopic figure on each coordinate plane.
Further preferably, the flight control instruction that described control unit receives is that aerial dragging instructs, to be controlled with flight
The mobile towed flight device synchronizing moving of device processed, described control unit include：
Data transfer module, and aerial dragging instruction initial time aircraft is received in rectangular coordinate system in space for transferring
Position coordinates as initial coordinate, transfer aircraft currently the position coordinates in three-dimensional cartesian coordinate system as sitting in real time
Mark, and the current real-time attitude of aircraft is transferred simultaneously；
Regulate and control module, for according to current real-time attitude, adjusting the flight parameter of aircraft, control aircraft is moved to
Real-time coordinates are identical as initial coordinate numerical value.
Further preferably, the flight control instruction that described control unit receives instructs for distance controlling, described control unit
Including：
Route planning module transfers position coordinates of the aircraft in three-dimensional cartesian coordinate system when receiving distance controlling instruction
As initial coordinate, the initial coordinate is calculated to the shortest distance track of coordinate origin；
Regulate and control module, the current real-time attitude data of aircraft is transferred, according to the real-time attitude data point reuse aircraft
Flight parameter, control aircraft are moved along the shortest distance track to change the distance between described flight controller.
Further preferably, it is described adjustment aircraft flight parameter include control aircraft advance, retreat, moving to left, moving to right,
Up and down, left-handed and/or dextrorotation.
Advantageous effect：
The aircraft optical control method and system of the embodiment of the present invention are accurately obtained in real time by optical identification method
The position of aircraft and aerial statue realize that automatically controlling for flight controller, user need not judge the sky of aircraft
Middle posture keeps the manipulation (control) of aircraft more simple, easy.
Description of the drawings
Fig. 1 is the aircraft optical control method flow chart of the embodiment of the present invention.
Fig. 2 is the aircraft optical control demonstration schematic diagram of the embodiment of the present invention.
Fig. 3 is index point position view in reference flight posture and real-time flight posture in the embodiment of the present invention.
Fig. 4 is the particular flow sheet that deflection situation is analyzed in step of embodiment of the present invention S3.
Fig. 5 is aircraft optical control structural schematic diagram of the embodiment of the present invention.
Fig. 6 is the attitude calculation unit structural schematic diagram of the embodiment of the present invention.
Fig. 7 is the control unit structural schematic diagram of the embodiment of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The present invention aircraft optical control method and system core concept be using shooting image to aircraft into
Line position is set to be identified (position and aerial statue that aircraft is obtained by optical recognition methods) with aerial statue, convenient to flying
Row device is manipulated, and the requirement to user is reduced.
Aircraft in the embodiment of the present invention includes the aircraft such as unmanned plane, fire balloon, hot balloon, and the present invention is with unmanned plane
It is illustrated as embodiment.Shooting in the embodiment of the present invention includes the synthesis taken pictures or imaged or both.
Fig. 1 is the aircraft optical control method flow chart of the embodiment of the present invention.
Fig. 1 is please referred to, the aircraft optical control method of the embodiment of the present invention includes the following steps：
S1, it is arranged on board the aircraft multiple not in conplane index point, establishes always to fly with filming apparatus
Line control unit is the three-dimensional cartesian coordinate system of coordinate origin.
Fig. 2 is the aircraft optical control demonstration schematic diagram of the embodiment of the present invention.
Fig. 2 is please referred to, the aerocraft system of the embodiment of the present invention includes aircraft 2 and controlled for being sent to the aircraft 2
Make the flight controller 1 of instruction.Input mode button 102 is provided on the flight controller 1, further mode button 103 and drawing
Apotype button 104.The mode button 103 that furthers forms bee line control model button with the combination of mode button 104 is zoomed out.
It is additionally provided with filming apparatus 101 on the flight controller 1, the filming apparatus 101 is for shooting the aircraft 2.In order to
Convenient for identifying and calculating, the embodiment of the present invention is preferably provided with index point (not shown) on the aircraft 2, the index point
It can be pasted onto on the aircraft 2, can also be formed in by way of spraying on the aircraft 2, it is preferred that the index point is
Reflective spot.The flight controller 1 carries out shooting one frame of acquisition to the aircraft 2, and there is the image of the aircraft 2 (also to have in image
Have the index point), the three-dimensional coordinate (i.e. position) of the index point is obtained with by image processing algorithm.Therefore, in order to make
Remote control is uninterrupted, and the setting of the index point should meet during the aircraft 2 flies the index point always in shooting
In image.The three-dimensional coordinate that image processing algorithm obtains index point is that details are not described herein for the prior art.
Preferably index point of the embodiment of the present invention is three points not in the same plane, respectively the first reflective spot, the
Two reflective spots and third reflective spot.First reflective spot, the second reflective spot and third reflective spot are located at the outer of the aircraft 2
On surface, and first reflective spot, the second reflective spot and third reflective spot are not in a plane.Certainly, the index point
Quantity can not be three, and for example, four, five etc., each index point is not in the same plane.The index point is made instead
Luminous point is mainly the target and image procossing facilitated in identification image.The material of the index point can be to the light of visible wavelength
Reflection, can also be to the light reflection of non-visible wavelength.In order not to make index point reflective interference manipulator sight, this implementation
The material of the example preferably index point is to the light reflection of non-visible wavelength, the further preferred mark point reflection infrared light (i.e. the
One reflective spot, the second reflective spot and the reflective point reflection infrared light of third), the filming apparatus 101 on the flight controller 1 is to red
Outside line is imaged.
It in the present embodiment, calculates and controls for convenience, foundation is always the three-dimensional of coordinate origin with the flight controller 1
Rectangular coordinate system.It is preferred that with a bit (generally 101 surface of filming apparatus at 101 surface of filming apparatus of the flight controller 1
The center of camera lens) as origin three-dimensional cartesian coordinate system is established, the X-axis of the coordinate system is parallel with filming apparatus surface flat
The horizontal direction straight line (i.e. horizontal linear is to the right x-axis forward direction) of origin is crossed in face, the Y-axis of the coordinate system is to be filled with shooting
Set and cross origin and the straight line vertical with the X-axis in the parallel plane in outer surface, the Z axis of the coordinate system be perpendicular to bat
It takes the photograph the parallel plane of apparatus surface and crosses the straight line of origin.Therefore, obtain three coordinate surfaces in the present embodiment, i.e., XOY plane,
YOZ planes and XOZ planes.
S2, when the aircraft is in reference flight posture, aircraft is shot and extracts the flight taken
The figure that multiple index points are surrounded in device benchmark image respectively make by the projection on three coordinate surfaces of three-dimensional cartesian coordinate system
On the basis of projecting figure.
Fig. 3 is index point position view in reference flight posture and real-time flight posture in the embodiment of the present invention.
Fig. 3 is please referred to, position of first reflective spot in the reference flight posture is the first point P10, second reflective spot
Position in the reference flight posture is second point P20, position of the third reflective spot in the reference flight posture is
Thirdly P30.It is convenient for statement, in the present embodiment, P20、P302 points of opposite P10Point symmetry is arranged, P10、P20、P303 points are enclosed
Figure is isosceles triangle.Define P on aircraft 210、P20、P30P is crossed in 3 points of enclosed isosceles triangles10The median of a triangle of point
It is the reference flight posture of aircraft 2 when with the optical axis face of the filming apparatus 101 of flight controller 1.
In reference flight posture, first point P10Coordinate be (x1,y1,z1), second point P20Coordinate be (x2,
y2,z2), the thirdly P30Coordinate be (x3,y3,z3).This first point to thirdly in XOY plane projection coordinate respectively (x1,
y1,0)、(x2,y2,0)、(x3,y3,0).This first point to thirdly in YOZ plane projection coordinates respectively (0, y1,z1)、(0,
y2,z2)、(0,y3,z3).This first point to thirdly in XOZ plane projection coordinates respectively (x1,0,z1)、(x2,0,z2)、(x3,
0,z3).S3, captured in real-time is carried out to the aircraft, extracts multiple index points described in the aircraft realtime graphic taken
The projection on three coordinate surfaces analyzes the live fluoroscopic figure on each coordinate surface to the figure surrounded as live fluoroscopic figure respectively
The deflection situation of shape relative datum projecting figure, obtains the real-time attitude of aircraft；Also, it is calculated according to the index point winged
Position of the row device in three-dimensional cartesian coordinate system.
Fig. 3 is please referred to, in captured in real-time, the change in location of first reflective spot is the 4th point P11, second reflective spot
Change in location be the 5th point P21, the third reflective spot change in location be the 6th point P31。
The image of captured in real-time is indicated with nth frame image, then the 4th point P in captured in real-time11, the 5th point P21With
And the 6th point P31Coordinate be respectively：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,z3n).4th point to the 6th point
XOY plane projection coordinate is respectively (x1n,y1n,0)、(x2n,y2n,0)、(x3n,y3n,0).4th point to the 6th point flat in YOZ
Face projection coordinate is respectively (0, y1n,z1n)、(0,y2n,z2n)、(0,y3n,z3n).4th point to the 6th point in XOZ plane projections
Coordinate is respectively (x1n,0,z1n)、(x2n,0,z2n)、(x3n,0,z3n)。
Since aircraft can approximately be considered a rigid objects, in space, any point on the rigid objects
Position can be position as the rigid objects.Therefore, the coordinate of the present embodiment preferably index point is as the flight
Position of the device in three-dimensional cartesian coordinate system, for example, with the change in location of the first reflective spot the aircraft can be reflected at this
Coordinate (position) variation in three-dimensional cartesian coordinate system, at this point, in nth frame image, aircraft in the three-dimensional cartesian coordinate system
In coordinate be P11Point position (x1n,y1n,z1n)。
Fig. 4 is the particular flow sheet that deflection situation is analyzed in step of embodiment of the present invention S3.
Fig. 4 and Fig. 3 are please referred to, the live fluoroscopic figure relative datum on each coordinate surface is analyzed in the step S3 of the present embodiment
The deflection situation of projecting figure includes the following steps：
S31, a selected index point are used as and represent a little, such as selected first reflective spot is representative point.
One S32, selection coordinate plane, calculate the focus point of the reference projection figure on the coordinate plane as benchmark
Focus point selects the subpoint of the representative point in reference projection figure as reference projection point, by the benchmark focus point with
And the reference projection dot is used as normal condition line in line.
S33, on same coordinate plane, calculate the focus point of live fluoroscopic figure as real time barycentre point, selection is real
When projecting figure in the representative point subpoint as live fluoroscopic point, pass through the real time barycentre point and the live fluoroscopic
Dot is used as real-time status line in line；
S34, the deflection angle for calculating the relatively described normal condition line of real-time status line, obtain institute on the coordinate plane
State the deflection situation of the relatively described reference projection figure of live fluoroscopic figure；
S35, on remaining two coordinate planes step S32 to S34 is repeated respectively.
In the present embodiment, projection of the figure that index point surrounds on three coordinate surfaces is triangle.In aircraft
In reference flight posture, the first reflective spot, i.e., the first point P are selected10Point is representative point, using its subpoint on coordinate surface as base
Quasi- subpoint.Since reference projection figure is triangle, center of gravity is the intersection point of three center lines, therefore, passes through reference projection figure
The normal condition line of shape focus point and reference projection point that is to say in reference projection figure by reference projection point
Line.Similarly, the real-time status line in live fluoroscopic figure also meets this rule.Based on this,
In aircraft reference flight posture, second point P is taken20Thirdly P30The midpoint P of line1, coordinate isThen pass through the first point P10And midpoint P1First straight line L1 is obtained, straight line L1 is each
Projection on coordinate plane is normal condition line.
In aircraft real-time flight posture, the 5th point P is taken21With the 6th point P31The midpoint P of line2, coordinate isThen pass through the 4th point P11And midpoint P2Straight line L2 is obtained, straight line L2 is each
Projection on coordinate plane is real-time status line.
Deflection angle of the real-time status line relative datum condition line on tri- coordinate planes of XOY, YOZ, XOZ is used respectivelyIt indicates.Deflection angleIt can indicate the aerial appearance of the aircraft 2
State.The aerial statue of the aircraft is usedIt is expressed as follows：
Wherein, Kxy、Kyz、KzxFor the slope of first straight line L1 projection straight lines in XOY, YOZ, XOZ plane；K`xy、K
`yz、K`zxFor the slope of second straight line L2 projection straight lines in XOY, YOZ, XOZ plane.
In the present embodiment, first straight line L1 is in XOY, the slope of tri- faces YOZ, XOZ projection：
In the present embodiment, second straight line L2 is in XOY, the slope of tri- faces YOZ, XOZ projection：
S4, after receiving flight control instruction, according to the position of aircraft and real-time attitude, adjust the flight of aircraft
Parameter controls the flight of aircraft.
The present embodiment is preferred, the flight parameter of the adjustment aircraft include control aircraft advance, retreat, moving to left, moving to right,
Up and down, left-handed and/or dextrorotation.
When the flight control instruction of reception is aerial dragging instruction, this step includes：
S410, flight controller start mobile to drive three-dimensional cartesian coordinate system after receiving aerial dragging instruction
Origin moves；
S420, the position coordinates work for receiving aerial dragging instruction initial time aircraft in three-dimensional cartesian coordinate system is transferred
For initial coordinate, transferring aircraft, currently the position coordinates in three-dimensional cartesian coordinate system transfer aircraft as real-time coordinates
Current real-time attitude adjusts the flight parameter of aircraft according to current real-time attitude, and control aircraft is moved to real-time seat
Mark is identical as initial coordinate numerical value.
Aircraft receives the aerial dragging instruction i.e. aerial input mode of entrance, aircraft with flight controller dragging
And occur corresponding mobile.Position of the initial time aircraft in the three-dimensional cartesian coordinate system is instructed receiving aerial dragging
For initial coordinate.With the movement of flight controller, the origin of three-dimensional cartesian coordinate system changes, current real-time of aircraft
The numerical value of coordinate is different from initial coordinate, at this point, according to the real-time attitude of current flight device, adjusts the flight parameter of aircraft,
For example, control aircraft advance, retreat, moving to left, moving to right, up and down, left-handed and/or dextrorotation, control the aircraft and be moved to
Position identical with initial coordinate numerical value.In dragging instruction in the air, when flight controller carries out circus movement, it may be implemented to fly
Row device carries out circular flight around some point, that is, realizes circumvolant function.
Further preferably, the flight controller obtains location information and aerial statue with the speed of 20 to 50 frame per second,
And for the aerial statue information of each frame aircraft, control instruction is sent, the flight parameter of aircraft is adjusted, aircraft is made to move
It moves to position identical with initial coordinate numerical value.The present embodiment preferably obtains relevant information with the speed of 30 frame per second.
The flight directive of reception is bee line control instruction, this step includes：
S411, it receives and transfers position coordinates of the aircraft in three-dimensional cartesian coordinate system when distance controlling instructs as initial
Coordinate calculates the initial coordinate to the shortest distance track of coordinate origin；
S421, the current real-time attitude data of aircraft are transferred, according to the flight of the real-time attitude data point reuse aircraft
Parameter, control aircraft are moved along the shortest distance track to change the distance between described flight controller.
When receiving bee line control instruction, aircraft enters distance controlling pattern：Under flight controller control, fly
Row device flies remote or flies close.In the present embodiment, it is assumed that when receiving distance controlling instruction, aircraft is in three-dimensional cartesian coordinate system system
Position coordinates, i.e. initial coordinate are (a, b, c), then the distance of initial coordinate to coordinate origin (flight controller position) isShortest distance equation of locus is between the twoAt this point, it is current to transfer aircraft in real time
Attitude data, adjusts the flight parameter of aircraft, for example, control aircraft advances, retreats, moving to left, moving to right, up and down, a left side
Rotation and/or dextrorotation control the aircraft and fly remote according to the orbit equation or fly close.The present embodiment is preferably with the speed of 30 frame per second
The attitude data information of aircraft is obtained, and according to the information, adjusts aircraft parameters, aircraft is made to fly along orbit equation,
Realize distance controlling.Certainly, under distance controlling pattern, in addition to along it, the most short track between coordinate origin carries out setting aircraft
Flight is outer, can also set and fly along other equation of locus, achievees the effect that fly remote or fly close.
Fig. 5 is aircraft optical control structural schematic diagram of the embodiment of the present invention.
Please refer to Fig. 5, the aircraft optical control of the present embodiment, for controlling an aircraft 2, including index point 6,
Flight controller 1 builds mark unit 5, attitude calculation unit 4, position calculation unit 3 and control unit 7.Easy, this reality for design
It is further preferred to apply example, this builds mark unit 5, position calculation unit 3, attitude calculation unit 4,7 Integrated design of control unit at this
In flight controller 1.
The index point 6 is multiple, is arranged on the aircraft 2 and is not at same plane.Fig. 2 and Fig. 5 are please referred to, the mark
Will point 6 is preferably three points, respectively the first reflective spot, the second reflective spot and third reflective spot.First reflective spot, second
Reflective spot and third reflective spot are located on the outer surface of the aircraft 2, and first reflective spot, the second reflective spot and third
Reflective spot is not in a plane.Certainly, the quantity of the index point 6 can not be three, for example, four, five etc..It should
It is mainly the target and image procossing facilitated in identification image that index point 6, which makes reflective spot,.The material of the index point 6 can be with
It, can also be to the light reflection of non-visible wavelength to the light reflection of visible wavelength.In order not to make the reflective interference of index point 6 grasp
The sight of control person, the material of the present embodiment preferably index point 6 is to the light reflection of non-visible wavelength, the further preferred mark
6 reflection infrared light (i.e. the first reflective spot, the second reflective spot and the reflective point reflection infrared light of third) of point.
It is provided with filming apparatus on the flight controller 1, the filming apparatus is when the aircraft is in reference flight state
The aircraft is shot to obtain aircraft benchmark image, and captured in real-time is carried out to aircraft during control and is flown
Row device realtime graphic, the preferably filming apparatus are imaged infrared ray.
This builds mark unit 5, and foundation is always the three-dimensional cartesian coordinate system of coordinate origin with the flight controller 1；It is winged at this
During line control unit 1 moves, the coordinate origin of the three-dimensional cartesian coordinate system also can be with movement.Therefore, even if in space
Object do not move, during the flight controller 1 moves, the coordinate in three-dimensional cartesian coordinate system be also variation
's.Incorporated by reference to reference to Fig. 2, in the present embodiment, controls and calculate for convenience, the three-dimensional cartesian coordinate system of foundation is with the flight control
The some three-dimensional of (the generally center of 101 surface camera lens of filming apparatus) as origin at 101 surface of filming apparatus of device 1 processed
Rectangular coordinate system.The X-axis of the coordinate system is to cross the horizontal direction straight line of origin (i.e. in the plane parallel with filming apparatus surface
Horizontal linear is to the right x-axis forward direction), the Y-axis of the coordinate system is that origin is crossed in the plane parallel with filming apparatus surface
The straight line vertical with the X-axis, the Z axis of the coordinate system are perpendicular to the plane parallel with filming apparatus surface and to cross origin
Straight line.Therefore, three coordinate surfaces, i.e. XOY plane, YOZ planes and XOZ planes are obtained in the present embodiment.
The attitude calculation unit 4 extracts the figure that multiple index points are surrounded in the aircraft benchmark image and exists respectively
Projection on three coordinate surfaces of the three-dimensional cartesian coordinate system is as reference projection figure；Extract the aircraft realtime graphic
Described in the figure that surrounds of multiple index points the projection on three coordinate surfaces analyzes each coordinate as live fluoroscopic figure respectively
The deflection situation of live fluoroscopic figure relative datum projecting figure on face, obtains the real-time attitude of aircraft；It is preferred that please referring to
Fig. 6, the attitude calculation unit 4 include focus point computing module 41, condition line formation module 42 and deflection angle computing module 43.
Fig. 3 is please referred to, position of first reflective spot in the reference flight posture is the first point P10, second reflective spot
Position in the reference flight posture is second point P20, position of the third reflective spot in the reference flight posture is third
Point P30.It is convenient for statement, in the present embodiment, P20、P302 points of opposite P10Point symmetry is arranged, P10、P20、P303 points of enclosed figures
For isosceles triangle.Define P on aircraft 210、P20、P30P is crossed in 3 points of enclosed isosceles triangles10Point median of a triangle with fly
It is the reference flight posture of aircraft 2 when the optical axis face of the filming apparatus 101 of line control unit 1.
In the reference flight posture, first point P10Coordinate be (x1,y1,z1), second point P20Coordinate be (x2,
y2,z2), the thirdly P30Coordinate be (x3,y3,z3).This first point to thirdly in XOY plane projection coordinate respectively (x1,
y1,0)、(x2,y2,0)、(x3,y3,0).This first point to thirdly in YOZ plane projection coordinates respectively (0, y1,z1)、(0,
y2,z2)、(0,y3,z3).This first point to thirdly in XOZ plane projection coordinates respectively (x1,0,z1)、(x2,0,z2)、(x3,
0,z3)。
In captured in real-time, the change in location of first reflective spot is the 4th point P11, second reflective spot change in location
For the 5th point P21, the third reflective spot change in location be the 6th point P31.Present frame is indicated with nth frame, then in the current frame
4th point P11, the 5th point P21And the 6th point P31Coordinate be respectively：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,
z3n)。
The image of captured in real-time is indicated with nth frame image, then the 4th point P in captured in real-time11, the 5th point P21With
And the 6th point P31Coordinate be respectively：(x1n,y1n,z1n)、(x2n,y2n,z2n)、(x3n,y3n,z3n).4th point to the 6th point
XOY plane projection coordinate is respectively (x1n,y1n,0)、(x2n,y2n,0)、(x3n,y3n,0).4th point to the 6th point flat in YOZ
Face projection coordinate is respectively (0, y1n,z1n)、(0,y2n,z2n)、(0,y3n,z3n).4th point to the 6th point in XOZ plane projections
Coordinate is respectively (x1n,0,z1n)、(x2n,0,z2n)、(x3n,0,z3n)。
The focus point computing module 41, the focus point for calculating separately out reference projection figure on each coordinate plane are made
On the basis of focus point, and calculate separately out the focus point of live fluoroscopic figure as real time barycentre point on each coordinate plane.
In the present embodiment, illustrated by taking XOY plane as an example, the calculating of other two coordinate surfaces be it is identical, herein not further
Explanation.In reference flight pose presentation, which is XOY plane.Reference projection figure on the coordinate plane is three
It is angular.The focus point of the reference projection figure is the intersection point of Atria side center line.In real-time flight image, the coordinate plane
On live fluoroscopic figure also be triangle.The focus point of the live fluoroscopic figure is similarly the intersection point of Atria side center line.
The condition line forms module 42, first selects a coordinate plane and an index point as representing a little, selects the seat
The subpoint of the representative point in the reference projection figure in plane is marked as reference projection point, is selected real-time on the coordinate plane
The subpoint of the representative point transfers the calculated benchmark focus point of focus point computing module as live fluoroscopic point in projecting figure
And real time barycentre point, normal condition line is used as by the benchmark focus point and the reference projection dot in line,
It is used as real-time status line in line by the real time barycentre point and the live fluoroscopic dot；It is flat in other two coordinate
On face, it is also similarly formed the normal condition line and real-time status line respectively.In the present embodiment, the figure that index point 6 surrounds
Projection of the shape on three coordinate surfaces is triangle.In aircraft reference flight posture, selected first reflective spot, i.e., first
Point P10Point be representative point, by it on the basis of the subpoint on coordinate surface subpoint.Since reference projection figure is triangle,
Center of gravity is the intersection point of three center lines, therefore, by reference projection figure focus point and the normal condition line of reference projection point,
It is in reference projection figure by the center line of reference projection point.Similarly, the real-time status line in live fluoroscopic figure also meets
This rule.Based on this,
In aircraft reference flight posture, second point P is taken20Thirdly P30The midpoint P of line1, coordinate isThen pass through the first point P10And midpoint P1First straight line L1 is obtained, straight line L1 is each
Projection on coordinate plane is normal condition line.
In aircraft real-time flight posture, the 5th point P is taken21With the 6th point P31The midpoint P of line2, coordinate isThen pass through the 4th point P11And midpoint P2Straight line L2 is obtained, straight line L2 is each
Projection on coordinate plane is real-time status line.
The deflection angle computing module 43, for calculating the relatively described benchmark shape of the real-time status line on each coordinate plane
The deflection angle of state line obtains the deflection feelings of the relatively described reference projection figure of the live fluoroscopic figure on each coordinate plane
Condition.The angle of second straight line L2 and first straight line L1 projection straight lines in XOY, YOZ, XOZ plane as captured in real-time in institute
State the aerial statue of aircraft.
Deflection angle of the real-time status line relative datum condition line on tri- coordinate planes of XOY, YOZ, XOZ is used respectivelyIt indicates, therefore, usesIt can indicate the aerial appearance of the aircraft 2
State.The aerial statue of the aircraft 2 is usedIt is expressed as follows：
Wherein, Kxy、Kyz、KzxFor the slope of first straight line L1 projection straight lines in XOY, YOZ, XOZ plane；K`xy、K
`yz、K`zxFor the slope of second straight line L2 projection straight lines in XOY, YOZ, XOZ plane.
In the present embodiment, first straight line L1 is in XOY, the slope of tri- faces YOZ, XOZ projection：
In the present embodiment, second straight line L2 is in XOY, the slope of tri- faces YOZ, XOZ projection：
The position calculation unit 3, for calculating aircraft 2 in the three-dimensional cartesian coordinate system according to the index point 6
Position.Since aircraft 2 can approximately be considered a rigid objects, in space, any point on the rigid objects
Position can be position as the rigid objects.For example, can with the change in location of the first reflective spot come reflect this fly
Coordinate (position) variation of the row device 2 in the three-dimensional cartesian coordinate system, at this point, in nth frame image, aircraft 2 in the three-dimensional
Coordinate in rectangular coordinate system is P11Point position (x1n,y1n,z1n)。
Control unit 7, according to the flight control instruction of reception, 3 calculated position of position calculation unit and Attitude Calculation
The real-time attitude that unit 4 calculates adjusts the flight parameter of aircraft 2, controls the flight of aircraft 2.The adjustment aircraft 2 flies
Row parameter include control aircraft 2 advance, retreat, moving to left, moving to right, up and down, left-handed and/or dextrorotation.Fig. 7 is please referred to, it should
Control unit 7 transfers module 71, regulation and control module 72 and route planning module 73 including data.
When the flight control instruction that the control unit 7 receives is aerial dragging instruction, with the shifting of flight controller 1
Dynamic, corresponding movement can occur for aircraft 2.The data transfer module 71, instruct initial time to fly for transferring to receive to drag in the air
Position coordinates of the row device 2 in rectangular coordinate system in space transfer aircraft 2 currently in three-dimensional cartesian coordinate system as initial coordinate
In position coordinates as real-time coordinates, and transfer the current real-time attitude of aircraft 2 simultaneously；The regulation and control module 72 is used for basis
Current real-time attitude, adjust aircraft 2 flight parameter, for example, control aircraft advance, retreat, moving to left, moving to right, rising,
Decline, left-handed and/or dextrorotation, control aircraft 2 is moved to real-time coordinates position identical with initial coordinate numerical value.
In dragging instruction in the air, when flight controller carries out circus movement, aircraft may be implemented around some click-through
Row circular flight realizes circumvolant function.
Further preferably, position calculation unit 3 and attitude calculation unit 4 are counted respectively with the speed of 20 to 50 frame per second
The location information and aerial statue of aircraft 2 are calculated, control unit 7 is directed to the aerial statue information of each frame aircraft 2, sends
Control instruction adjusts the flight parameter of aircraft 2, aircraft 2 is made to be moved to position identical with initial coordinate numerical value.This implementation
Example preferably obtains relevant information with the speed of 30 frame per second.
When the flight control instruction that the control unit 7 receives is that distance controlling instructs, which transfers
Position coordinates of the aircraft 2 in three-dimensional cartesian coordinate system calculate the initial coordinate to coordinate origin as initial coordinate
Shortest distance track；The regulation and control module 72 transfers the current real-time attitude data of aircraft 2, according to the real-time attitude data point reuse
The flight parameter of aircraft 2, control aircraft 2 are moved along the shortest distance track to change and the flight controller 1
The distance between, including fly remote and fly close.In the present embodiment, it is assumed that when receiving distance controlling instruction, aircraft 2 is in three-dimensional straight
Position coordinates in angular coordinate system, i.e. initial coordinate are (a, b, c), then the initial coordinate with to coordinate origin (flight controller
Position) distance beShortest distance equation of locus is between the twoAt this point, transferring in real time
The attitude data of aircraft, adjusts the flight parameter of aircraft, for example, control aircraft advance, retreat, moving to left, moving to right, rising,
Decline, left-handed and/or dextrorotation, controls the aircraft and fly remote according to the orbit equation or fly close.The present embodiment is preferably with per second 30
The speed of frame obtains the attitude data information of aircraft, and according to the information, adjusts aircraft parameters, make aircraft along track side
Cheng Feihang realizes distance controlling.Certainly, under distance controlling pattern, in addition to setting aircraft along its between coordinate origin it is most short
Outside track is flown, it can also set and fly along other equation of locus, achieve the effect that fly remote or fly close.
The aircraft optical control method and system of the embodiment of the present invention are accurately obtained in real time by optical identification method
The position of aircraft and aerial statue realize that automatically controlling for flight controller, user need not judge the sky of aircraft
Middle posture keeps the manipulation (remote control) of aircraft more simple, easy.
Aircraft optical control method provided by the present invention and system are described in detail above, it is used herein
Principle and implementation of the present invention are described for specific case, and the explanation of above example is only intended to help to understand
Core of the invention thought；Meanwhile for those of ordinary skill in the art, according to the thought of the present invention, in specific embodiment party
There will be changes in formula and application range, in conclusion the content of the present specification should not be construed as limiting the invention.
Claims (8)
1. a kind of aircraft optical control method, which is characterized in that include the following steps：
S1, it is arranged on board the aircraft multiple not in conplane index point, establishes always with the flight control with filming apparatus
Device processed is the three-dimensional cartesian coordinate system of coordinate origin；
S2, when the aircraft is in reference flight posture, aircraft is shot and extracts the aircraft base taken
The figure that multiple index points are surrounded in quasi- image respectively the projection on three coordinate surfaces of three-dimensional cartesian coordinate system as base
Quasi- projecting figure；
S3, captured in real-time is carried out to the aircraft, extracts multiple index points described in the aircraft realtime graphic taken and encloses
At figure the projection on three coordinate surfaces analyzes the live fluoroscopic figure on each coordinate surface as live fluoroscopic figure respectively
The deflection situation of relative datum projecting figure obtains the real-time attitude of aircraft；Also, flight is calculated according to the index point
Position of the device in three-dimensional cartesian coordinate system；
S4, after receiving flight control instruction, according to the position of aircraft and real-time attitude, adjust the flight ginseng of aircraft
Number, controls the flight of aircraft；
Wherein, the deflection situation of the live fluoroscopic figure relative datum projecting figure on each coordinate surface of analysis includes following step
Suddenly：
S31, a selected index point are used as and represent a little；
One S32, selection coordinate plane, calculate the focus point of the reference projection figure on the coordinate plane as benchmark center of gravity
Point selects the subpoint of the representative point in reference projection figure as reference projection point, passes through the benchmark focus point and institute
It states reference projection dot and is used as normal condition line in line；
S33, on same coordinate plane, calculate the focus point of live fluoroscopic figure as real time barycentre point, select to throw in real time
The subpoint of the representative point passes through the real time barycentre point and the live fluoroscopic dot as live fluoroscopic point in shadow figure
It is used as real-time status line in line；
S34, the deflection angle for calculating the relatively described normal condition line of real-time status line, obtain the reality on the coordinate plane
When the relatively described reference projection figure of projecting figure deflection situation；
S35, on remaining two coordinate planes step S32 to S34 is repeated respectively.
2. aircraft optical control method according to claim 1, it is characterised in that：Flight control in the step S4
Instruction instructs for aerial dragging, and the step S4 includes：
S410, flight controller start mobile to drive the origin of three-dimensional cartesian coordinate system after receiving aerial dragging instruction
It moves；
S420, it transfers and receives position coordinates of the aerial dragging instruction initial time aircraft in three-dimensional cartesian coordinate system as just
Beginning coordinate, transferring aircraft, currently it is current to transfer aircraft as real-time coordinates for the position coordinates in three-dimensional cartesian coordinate system
Real-time attitude the flight parameter of aircraft is adjusted according to current real-time attitude, control aircraft be moved to real-time coordinates with
Initial coordinate numerical value is identical.
3. aircraft optical control method according to claim 1, it is characterised in that：Offline mode in the step S4
Instruction is that distance controlling instructs, and the step S4 includes：
S411, it receives and transfers position coordinates of the aircraft in three-dimensional cartesian coordinate system when distance controlling instructs as initial seat
Mark, calculates the initial coordinate to the shortest distance track of coordinate origin；
S421, the current real-time attitude data of aircraft are transferred, according to the flight parameter of the real-time attitude data point reuse aircraft,
Control aircraft is moved along the shortest distance track to change the distance between described flight controller.
4. the aircraft optical control method according to claims 1 to 3 any one, it is characterised in that：The adjustment flies
The flight parameter of row device include control aircraft advance, retreat, moving to left, moving to right, up and down, left-handed and/or dextrorotation.
5. a kind of aircraft optical control, for controlling an aircraft, which is characterized in that including：
Multiple index points are arranged on the aircraft and are not at same plane；
Flight controller, the filming apparatus being arranged thereon clap the aircraft when aircraft is in reference flight state
It takes the photograph to obtain aircraft benchmark image, and captured in real-time is carried out to aircraft during control and obtains aircraft realtime graphic；
Mark unit is built, is established always using the flight controller as the three-dimensional cartesian coordinate system of coordinate origin；
Attitude calculation unit extracts multiple index points are surrounded in the aircraft benchmark image figure respectively in the three-dimensional
Projection on three coordinate surfaces of rectangular coordinate system is as reference projection figure；It extracts more described in the aircraft realtime graphic
The projection on three coordinate surfaces analyzes the reality on each coordinate surface to the figure that a index point surrounds as live fluoroscopic figure respectively
When projecting figure relative datum projecting figure deflection situation, obtain the real-time attitude of aircraft；
Position calculation unit, for calculating position of the aircraft in the three-dimensional cartesian coordinate system according to the index point；
Control unit is calculated according to the calculated position of flight control instruction, position calculation unit of reception and attitude calculation unit
The real-time attitude gone out adjusts the flight parameter of aircraft, controls the flight of aircraft；
Wherein, the attitude calculation unit includes：
Focus point computing module, for calculating separately out the focus point of reference projection figure on each coordinate plane as base weight
Heart point, and the focus point of live fluoroscopic figure is calculated separately out as real time barycentre point on each coordinate plane；
Condition line forms module, and a selected index point, which is used as, to be represented a little；A coordinate plane is selected, is selected on the coordinate plane
The subpoint of the representative point is selected as reference projection point in the live fluoroscopic figure on the coordinate plane in reference projection figure
The subpoint of the representative point transfers the calculated benchmark focus point of focus point computing module and in real time weight as live fluoroscopic point
Heart point is used as normal condition line by the benchmark focus point and the reference projection dot, passes through the reality in line
When focus point and the live fluoroscopic dot in line be used as real-time status line；On other two coordinate plane, also divide
Not Xuan Ding this represent a little, be similarly formed normal condition line and real-time status line；
Deflection angle computing module, for calculating the inclined of the relatively described normal condition line of the real-time status line on each coordinate plane
Gyration obtains the deflection situation of the relatively described reference projection figure of the live fluoroscopic figure on each coordinate plane.
6. aircraft optical control according to claim 5, the flight control instruction that described control unit receives are
Aerial dragging instruction, with the mobile towed flight device synchronizing moving of flight controller, described control unit includes：
Data transfer module, for transferring the position for receiving aerial dragging instruction initial time aircraft in rectangular coordinate system in space
Coordinate is set as initial coordinate, transfers position coordinates of the aircraft currently in three-dimensional cartesian coordinate system as real-time coordinates, and
Transfer the current real-time attitude of aircraft simultaneously；
Regulate and control module, for according to current real-time attitude, adjusting the flight parameter of aircraft, control aircraft is moved in real time
Coordinate is identical as initial coordinate numerical value.
7. aircraft optical control according to claim 5, the flight control instruction that described control unit receives are
Distance controlling instructs, and described control unit includes：
Route planning module transfers position coordinates conduct of the aircraft in three-dimensional cartesian coordinate system when receiving distance controlling instruction
Initial coordinate calculates the initial coordinate to the shortest distance track of coordinate origin；
Regulate and control module, the current real-time attitude data of aircraft is transferred, according to the flight of the real-time attitude data point reuse aircraft
Parameter, control aircraft are moved along the shortest distance track to change the distance between described flight controller.
8. the aircraft optical control according to claim 5 to 7 any one, which is characterized in that the adjustment flies
The flight parameter of row device include control aircraft advance, retreat, moving to left, moving to right, up and down, left-handed and/or dextrorotation.
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| CN201610042211.0A CN105573341B (en) | 2016-01-22 | 2016-01-22 | A kind of aircraft optical control method and system |
| PCT/CN2016/108203 WO2017124840A1 (en) | 2016-01-22 | 2016-12-01 | Optical control method and system for aircraft |
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| CN105573341B (en) * | 2016-01-22 | 2018-08-10 | 深圳泰山体育科技股份有限公司 | A kind of aircraft optical control method and system |
| CN107765709B (en) * | 2016-08-22 | 2021-12-31 | 广州亿航智能技术有限公司 | Method and device for realizing self-shooting based on aircraft |
| CN106446839A (en) * | 2016-09-28 | 2017-02-22 | 三峡大学 | Kongming lantern detecting and repelling method and device |
| CN107102647A (en) * | 2017-03-30 | 2017-08-29 | 中国人民解放军海军航空工程学院青岛校区 | Unmanned plane target tracking and controlling method based on image |
| CN107357316A (en) * | 2017-08-16 | 2017-11-17 | 湖南城市学院 | A kind of method for controlling UAV locking specific region to obtain photo |
| WO2019183847A1 (en) * | 2018-03-28 | 2019-10-03 | 深圳市大疆软件科技有限公司 | Method and device for presenting real-time change of flight height |
| JP7123774B2 (en) * | 2018-12-04 | 2022-08-23 | 株式会社Soken | flight control system |
| CN109871620B (en) * | 2019-02-22 | 2022-11-25 | 深圳市瑞源祥橡塑制品有限公司 | Method and device for acquiring projection point of target point on reference surface and application of method and device |
| CN112771842A (en) * | 2020-06-02 | 2021-05-07 | 深圳市大疆创新科技有限公司 | Imaging method, imaging apparatus, computer-readable storage medium |
| CN111595303A (en) * | 2020-07-03 | 2020-08-28 | 成都微宇科技有限责任公司 | Method for screening aerial photos |
| CN113819889B (en) * | 2021-09-09 | 2024-01-26 | 中国电子科技集团公司第五十四研究所 | Relative ranging and attitude measuring method based on aircraft rotor wing light source detection |
| CN113759953B (en) * | 2021-11-09 | 2022-01-04 | 四川格锐乾图科技有限公司 | Flight attitude photo correction method based on open source DEM data |
| CN114459345A (en) * | 2021-12-22 | 2022-05-10 | 上海智能制造功能平台有限公司 | System and method for detecting position and attitude of airplane body based on visual space positioning |
| CN114812446B (en) * | 2022-05-31 | 2023-03-21 | 南京航空航天大学 | Aircraft horizontal measurement tool calibration method based on photogrammetry technology |
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