CN105988474A - Deviation compensation method of aircraft and aircraft - Google Patents
Deviation compensation method of aircraft and aircraft Download PDFInfo
- Publication number
- CN105988474A CN105988474A CN201510387037.9A CN201510387037A CN105988474A CN 105988474 A CN105988474 A CN 105988474A CN 201510387037 A CN201510387037 A CN 201510387037A CN 105988474 A CN105988474 A CN 105988474A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- camera head
- image
- compensation method
- drift
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Studio Devices (AREA)
Abstract
The invention belongs to the aircraft technical field and discloses a deviation compensation method of an aircraft and an aircraft. The deviation compensation method includes the following steps that: ground images are acquired through the image pickup device of the aircraft; the acquired ground images are transmitted to a micro processing unit for comparing the changes of previous ground images and subsequent ground images; the drift deviation of the aircraft is calculated; the numerical value of the drift deviation which is obtained through calculation is sent to a flight controller; and the flight controller performs drift deviation compensation, so that optical flow positioning is realized. The aircraft comprises an aircraft body. According to the deviation compensation method of the aircraft and the aircraft provided by the invention, the ground images are acquired through the image pickup device; the acquired ground images are transferred to the micro processing unit (MPU) for comparing the changes of the previous ground images and the subsequent ground images; the drift deviation of the aircraft is calculated; the numerical value of the drift deviation which is obtained through calculation is sent to the flight controller; the flight controller performs drift deviation compensation; and therefore, the phenomenon of drift can be effectively avoided, and flight reliability is high.
Description
Technical field
The invention belongs to vehicle technology field, particularly relate to deviation compensation method and the aircraft of a kind of aircraft.
Background technology
The current aircraft for fields such as taking photo by plane, it is due to gps signal, precision reason in practical flight, and the easily phenomenon of generation deviation (drift), flight reliability is not good enough.
Content of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, provide deviation compensation method and the aircraft of a kind of aircraft, it can realize that light stream positions, it is to avoid producing the phenomenon of deviation (drift), flight reliability is good.
The technical scheme is that the deviation compensation method of a kind of aircraft, comprise the following steps, obtain ground image by the camera head of aircraft, and acquired ground image is sent to the change of frame ground image before and after microprocessor contrasts, calculate the drift bias of aircraft, sending flight controller to calculating the drift bias numerical value obtaining, flight controller performs the compensation of drift bias again.
Alternatively, described camera head obtains the frame per second of image more than 100 two field pictures/second.
Alternatively, the frame per second that described camera head obtains image is 250 two field pictures/second.
Alternatively, described microprocessor obtains the angle of inclination of aircraft relative level, and carries out slope compensation process according to angle of inclination to image.
Alternatively, described microprocessor obtains the height above sea level of aircraft, and carries out altimetric compensation process according to height above sea level to image.
Alternatively, the locating module in described aircraft obtains current flight device coordinate by the time interval setting.
Alternatively, described camera head is connected to aircraft by The Cloud Terrace, and described microprocessor obtains the angle of inclination of aircraft relative level, and makes described camera head keep constant angle with horizontal plane according to angle of inclination adjustment The Cloud Terrace.
Present invention also offers a kind of aircraft, including aircraft body, described aircraft body is connected with the camera head for obtaining ground image, described aircraft body has for the ground image acquired in described camera head carries out the microprocessor that the change of before and after's frame ground image contrasted and calculated the drift bias of aircraft, and described aircraft body has the flight controller for the drift bias numerical value receiving the acquisition of described microprocessor the compensation performing drift bias.
Alternatively, described camera head is positioned at the belly of described aircraft body or head or afterbody.
Alternatively, the frame per second that described camera head obtains image is 250 two field pictures/second.
The deviation compensation method of the aircraft that the embodiment of the present invention is provided and aircraft, it obtains ground image in real time by the camera head of aircraft, and acquired ground image is sent to the change of frame ground image before and after microprocessor (MPU) contrasts, calculate the drift bias of aircraft, send flight controller calculating the drift bias numerical value obtaining to, flight controller performs the compensation of drift bias again, such that it is able to be effectively prevented from producing the phenomenon of deviation (drift), flight reliability is good.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with embodiment, the present invention is further elaborated.It should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
The deviation compensation method of a kind of aircraft that the embodiment of the present invention provides, comprise the following steps, obtain ground image by the camera head of aircraft in real time, and acquired ground image is sent to the change of frame ground image before and after microprocessor (MPU) contrasts, calculate the drift bias of aircraft, sending flight controller to calculating the drift bias numerical value obtaining, flight controller performs the compensation of drift bias again.By frame before and after contrast camera head acquisition image, can reliably calculate the drift bias of aircraft, by way of light stream positions, such that it is able to be effectively prevented from producing the phenomenon of deviation (drift), flight reliability is good.
In concrete application, the frame per second that described camera head obtains image is more than 100 two field pictures/second, and computational accuracy is high.
In the present embodiment, the frame per second that described camera head obtains image is 250 two field pictures/second, and it is effectively guaranteed computational accuracy.
Specifically, described microprocessor obtains the angle of inclination of aircraft relative level by gyroscope, and according to angle of inclination, slope compensation process is carried out to image, even if aircraft climbing, dive, the state of flight such as turn to, by carrying out slope compensation process, can ensure that aircraft avoids deviateing the phenomenon of (drift) under each attitude, flight reliability is good.
Specifically, described microprocessor obtains the height above sea level of aircraft by altimeter, and according to height above sea level, altimetric compensation process is carried out to image, aircraft still can reliably contrast the change of before and after's frame ground image in process of rising or falling, ensureing that aircraft avoids deviateing the phenomenon of (drift) under each attitude, flight reliability is good.
Specifically, the locating module (GPS) in described aircraft obtains current flight device coordinate by the time interval setting, to meet flight needs.
In concrete application, described camera head can be connected to aircraft by The Cloud Terrace, described microprocessor obtains the angle of inclination of aircraft relative level, and make described camera head keep constant angle with horizontal plane according to angle of inclination adjustment The Cloud Terrace, so, camera head obtains the angle stabilization of image, of good reliability.
The embodiment of the present invention additionally provides a kind of aircraft, including aircraft body, described aircraft body is connected with the camera head for obtaining ground image, and aircraft body is also associated with battery, motor, the screw being connected to motor, electric operation dispatching system etc..Described aircraft body has for the ground image acquired in described camera head carries out the microprocessor that the change of before and after's frame ground image contrasted and calculated the drift bias of aircraft, and described aircraft body has the flight controller for the drift bias numerical value receiving the acquisition of described microprocessor the compensation performing drift bias.By frame before and after contrast camera head acquisition image, can reliably calculate the drift bias of aircraft, such that it is able to be effectively prevented from producing the phenomenon of deviation (drift), flight reliability is good.
Specifically, described camera head may be located at belly or the properly place such as head or afterbody of described aircraft body.Aircraft body can also be connected with the imaging device etc. for taking photo by plane.
Specifically, the frame per second that described camera head obtains image is 250 two field pictures/second, and its comparing calculation computational accuracy is high.
The deviation compensation method of the aircraft that the embodiment of the present invention is provided and aircraft, it obtains ground image in real time by the camera head of aircraft, and acquired ground image is sent to the change of frame ground image before and after microprocessor (MPU) contrasts, calculate the drift bias of aircraft, send flight controller calculating the drift bias numerical value obtaining to, flight controller performs the compensation of drift bias again, such that it is able to be effectively prevented from producing the phenomenon of deviation (drift), flight reliability is good.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all any modification, equivalent or improvement etc. made within the spirit and principles in the present invention, should be included within the scope of the present invention.
Claims (10)
1. the deviation compensation method of an aircraft, it is characterized in that, comprise the following steps, obtain ground image by the camera head of aircraft, and acquired ground image is sent to the change of frame ground image before and after microprocessor contrasts, calculating the drift bias of aircraft, sending flight controller to calculating the drift bias numerical value obtaining, described flight controller performs the compensation of drift bias again.
2. the deviation compensation method of aircraft as claimed in claim 1, it is characterised in that the frame per second that described camera head obtains image is more than 100 two field pictures/second.
3. the deviation compensation method of aircraft as claimed in claim 1, it is characterised in that the frame per second that described camera head obtains image is 250 two field pictures/second.
4. the deviation compensation method of aircraft as claimed in claim 1, it is characterised in that described microprocessor obtains the angle of inclination of aircraft relative level, and carries out slope compensation process according to angle of inclination to image.
5. the deviation compensation method of the aircraft as according to any one of Claims 1-4, it is characterised in that described microprocessor obtains the height above sea level of aircraft, and carries out altimetric compensation process according to height above sea level to image.
6. the deviation compensation method of the aircraft as according to any one of Claims 1-4, it is characterised in that the locating module in described aircraft obtains current flight device coordinate by the time interval setting.
7. the deviation compensation method of the aircraft as according to any one of Claims 1-4, it is characterized in that, described camera head is connected to aircraft by The Cloud Terrace, described microprocessor obtains the angle of inclination of aircraft relative level, and makes described camera head keep constant angle with horizontal plane according to angle of inclination adjustment The Cloud Terrace.
8. an aircraft, including aircraft body, described aircraft body is connected with the camera head for obtaining ground image, it is characterized in that, described aircraft body has for the ground image acquired in described camera head carries out the microprocessor that the change of before and after's frame ground image contrasted and calculated the drift bias of aircraft, and described aircraft body has the flight controller for the drift bias numerical value receiving the acquisition of described microprocessor the compensation performing drift bias.
9. aircraft as claimed in claim 8, it is characterised in that described camera head is positioned at the belly of described aircraft body or head or afterbody.
10. aircraft as claimed in claim 8, it is characterised in that the frame per second that described camera head obtains image is 250 two field pictures/second.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510387037.9A CN105988474A (en) | 2015-07-06 | 2015-07-06 | Deviation compensation method of aircraft and aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510387037.9A CN105988474A (en) | 2015-07-06 | 2015-07-06 | Deviation compensation method of aircraft and aircraft |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105988474A true CN105988474A (en) | 2016-10-05 |
Family
ID=57039890
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510387037.9A Pending CN105988474A (en) | 2015-07-06 | 2015-07-06 | Deviation compensation method of aircraft and aircraft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105988474A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549399A (en) * | 2018-05-23 | 2018-09-18 | 深圳市道通智能航空技术有限公司 | Vehicle yaw corner correcting method, device and aircraft |
| CN115790574A (en) * | 2023-02-14 | 2023-03-14 | 飞联智航(北京)科技有限公司 | Unmanned aerial vehicle optical flow positioning method and device and unmanned aerial vehicle |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1670479A (en) * | 2004-03-15 | 2005-09-21 | 清华大学 | Method for measuring aircraft flight elevation based on video images |
| CN101383899A (en) * | 2008-09-28 | 2009-03-11 | 北京航空航天大学 | Video image stabilizing method for space based platform hovering |
| CN102298070A (en) * | 2010-06-22 | 2011-12-28 | 鹦鹉股份有限公司 | Method for assessing the horizontal speed of a drone, particularly of a drone capable of hovering on automatic pilot |
| CN102788580A (en) * | 2012-06-20 | 2012-11-21 | 天津工业大学 | Flight path synthetic method in unmanned aerial vehicle visual navigation |
| CN102829779A (en) * | 2012-09-14 | 2012-12-19 | 北京航空航天大学 | Aircraft multi-optical flow sensor and inertia navigation combination method |
| CN202798990U (en) * | 2012-09-10 | 2013-03-13 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Video stabilization system for unmanned aerial vehicle during transmission line patrol |
| CN103149939A (en) * | 2013-02-26 | 2013-06-12 | 北京航空航天大学 | Dynamic target tracking and positioning method of unmanned plane based on vision |
| CN103365297A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Optical flow-based four-rotor unmanned aerial vehicle flight control method |
| CN103822631A (en) * | 2014-02-28 | 2014-05-28 | 哈尔滨伟方智能科技开发有限责任公司 | Positioning method and apparatus by combing satellite facing rotor wing and optical flow field visual sense |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
-
2015
- 2015-07-06 CN CN201510387037.9A patent/CN105988474A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1670479A (en) * | 2004-03-15 | 2005-09-21 | 清华大学 | Method for measuring aircraft flight elevation based on video images |
| CN101383899A (en) * | 2008-09-28 | 2009-03-11 | 北京航空航天大学 | Video image stabilizing method for space based platform hovering |
| CN102298070A (en) * | 2010-06-22 | 2011-12-28 | 鹦鹉股份有限公司 | Method for assessing the horizontal speed of a drone, particularly of a drone capable of hovering on automatic pilot |
| CN102788580A (en) * | 2012-06-20 | 2012-11-21 | 天津工业大学 | Flight path synthetic method in unmanned aerial vehicle visual navigation |
| CN202798990U (en) * | 2012-09-10 | 2013-03-13 | 中国南方电网有限责任公司超高压输电公司天生桥局 | Video stabilization system for unmanned aerial vehicle during transmission line patrol |
| CN102829779A (en) * | 2012-09-14 | 2012-12-19 | 北京航空航天大学 | Aircraft multi-optical flow sensor and inertia navigation combination method |
| CN103149939A (en) * | 2013-02-26 | 2013-06-12 | 北京航空航天大学 | Dynamic target tracking and positioning method of unmanned plane based on vision |
| CN103365297A (en) * | 2013-06-29 | 2013-10-23 | 天津大学 | Optical flow-based four-rotor unmanned aerial vehicle flight control method |
| CN103822631A (en) * | 2014-02-28 | 2014-05-28 | 哈尔滨伟方智能科技开发有限责任公司 | Positioning method and apparatus by combing satellite facing rotor wing and optical flow field visual sense |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 曹美会等: "基于视觉的四旋翼无人机自主定位与控制系统", 《信息与控制》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108549399A (en) * | 2018-05-23 | 2018-09-18 | 深圳市道通智能航空技术有限公司 | Vehicle yaw corner correcting method, device and aircraft |
| CN115790574A (en) * | 2023-02-14 | 2023-03-14 | 飞联智航(北京)科技有限公司 | Unmanned aerial vehicle optical flow positioning method and device and unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10386188B2 (en) | Geo-location or navigation camera, and aircraft and navigation method therefor | |
| CN108399642B (en) | General target following method and system fusing rotor unmanned aerial vehicle IMU data | |
| US10771699B2 (en) | Systems and methods for rolling shutter correction | |
| CN110001980B (en) | Aircraft landing method and device | |
| US10754354B2 (en) | Hover control | |
| US10571934B2 (en) | Target tracking method for air vehicle | |
| WO2018210078A1 (en) | Distance measurement method for unmanned aerial vehicle, and unmanned aerial vehicle | |
| US20150314885A1 (en) | Vision-Based Aircraft Landing Aid | |
| CN105487552A (en) | Unmanned aerial vehicle tracking shooting method and device | |
| WO2017041303A1 (en) | Systems and methods for detecting and tracking movable objects | |
| CN105956081B (en) | Ground station map updating method and device | |
| CN110139038B (en) | Autonomous surrounding shooting method and device and unmanned aerial vehicle | |
| JP2007240506A (en) | Three-dimensional shape and 3-dimensional topography measuring method | |
| WO2020135447A1 (en) | Target distance estimation method and device, and unmanned aerial vehicle | |
| US20180259330A1 (en) | Survey system | |
| CN106325305A (en) | Geo-location or navigation type camera, aircraft, and navigation method and system thereof | |
| CN111766900A (en) | System and method for high-precision autonomous landing of unmanned aerial vehicle and storage medium | |
| CN110537197A (en) | Image processing apparatus, maturation history image creation system and program | |
| CN108132677B (en) | Sunshade unmanned aerial vehicle control system and control method | |
| CN105988474A (en) | Deviation compensation method of aircraft and aircraft | |
| CN107655470B (en) | Method and system for calibrating yaw angle value of unmanned aerial vehicle | |
| US10412372B2 (en) | Dynamic baseline depth imaging using multiple drones | |
| CN107218921A (en) | A kind of distance-finding method based on monocular camera | |
| RU2466355C1 (en) | Method of obtaining navigation information for automatic landing of unmanned aerial vehicle | |
| CN108052114A (en) | The Image Acquisition and tracking control system of a kind of unmanned plane |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20190411 Address after: 514400 Industrial Park Erheng Road, Shuizhai Town, Wuhua County, Meizhou City, Guangdong Province Applicant after: Guangdong Jingrong Technology Co., Ltd. Address before: 518100 Room 201, Building A, No. 1 Qianwan Road, Qianhai Shenzhen-Hong Kong Cooperation Zone, Shenzhen City, Guangdong Province Applicant before: SHENZHEN QIANHAI TERRITORY INTELLIGENT TECHNOLOGY CO., LTD. |
|
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161005 |