CN106292698B - Accurate operation method and system for plant protection unmanned aerial vehicle - Google Patents
Accurate operation method and system for plant protection unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106292698B CN106292698B CN201610621199.9A CN201610621199A CN106292698B CN 106292698 B CN106292698 B CN 106292698B CN 201610621199 A CN201610621199 A CN 201610621199A CN 106292698 B CN106292698 B CN 106292698B
- Authority
- CN
- China
- Prior art keywords
- unmanned aerial
- aerial vehicle
- plant protection
- differential gps
- survey
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims description 7
- 238000012545 processing Methods 0.000 claims description 5
- 238000005259 measurement Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 241001155433 Centrarchus macropterus Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a precise operation method and system of a plant protection unmanned aerial vehicle. The invention aims to solve the problems that the existing plant protection operation can not give consideration to accurate operation, cost saving and simplified operation. To this end, the invention provides a method comprising: planning an unmanned aerial vehicle route; erecting a differential GPS base station to a control point; configuring coordinates of the differential GPS base station; connecting the differential GPS base station with a differential GPS mobile station on the unmanned aerial vehicle in a pairing manner; and the unmanned aerial vehicle carries out plant protection operation according to the unmanned aerial vehicle route, and is characterized in that the step of planning the unmanned aerial vehicle route comprises planning the unmanned aerial vehicle route through unmanned aerial vehicle aerial survey. Replace artifical survey and drawing through unmanned aerial vehicle aerial survey, not only improved the precision, improved work efficiency simultaneously. On the other hand, in the process of aerial survey of the unmanned aerial vehicle, the control points are marked while the image control points are measured, so that the positioning precision is improved, and the workload and the cost are saved.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicles, and particularly relates to a precise operation method and system of a plant protection unmanned aerial vehicle.
Background
Unmanned aerial vehicle plant protection in the past is that the flier judges and controls the operation of unmanned aerial vehicle through visualing, and the problem of doing so is often appear leaking to spout, resprays and the mistake is spouted, hardly accomplishes accurate operation, consequently, accurate operation is an unmanned aerial vehicle plant protection's a key problem. Unmanned aerial vehicle plant protection must can acquire accurate positional information and the barrier information in plant protection farmland to accurately acquire unmanned aerial vehicle locating information at plant protection operation in-process, control unmanned aerial vehicle flight orbit, just so can reach the target of accurate plant protection operation.
In order to obtain the position information and the obstacle information of the plant protection farmland, the current typical processing methods mainly include two types: the first method is to acquire the position information of a target area through publicly released map data such as Baidu maps, Google maps and the like, and the method has the defects of low data availability, low precision, error of dozens of meters and lack of obstacle information; the second method is to send an field operation surveying and mapping group with a high-precision differential GPS to a field of a plant protection farmland for measurement after a plant protection contract is signed, and obtain high-precision position information and barrier information. Therefore, it is very critical to obtain the position information and the obstacle information of the plant protection farmland by using a reasonable technical approach.
In order to accurately acquire the positioning information of the unmanned aerial vehicle and control the flight trajectory of the unmanned aerial vehicle, a GPS device is generally installed on the unmanned aerial vehicle. There are currently two types of GPS devices in use: one is a common GPS receiver, the positioning precision is low, and the error is about 5 meters generally; the difference GPS equipment is high in precision, a difference GPS base station needs to be erected during operation, if the base station is erected on a control point (the control point is a surveying and mapping term and refers to a known reference point for measuring coordinates of other point positions) with known coordinates, the absolute positioning precision of a difference GPS mobile station on the unmanned aerial vehicle can reach the centimeter level, but if the difference GPS base station is not available with the control point with the known coordinates, the relative positioning precision of the mobile station on the unmanned aerial vehicle can reach the centimeter level, and the error of absolute positioning is still about 5 meters. However, in a plant protection farmland field, it is often difficult to obtain a control point with known coordinates, and if the control point coordinates are obtained through a CORS (continuously operating reference station system, which provides satellite positioning service) service, the operation cost and the operation difficulty are increased.
Therefore, there is a need in the art for a new method to solve the above-mentioned problems in the existing plant protection process, so that the precision of the plant protection process can be ensured, the cost can be saved, and the operation can be simplified.
Disclosure of Invention
In order to solve the problems in the prior art, namely to solve the problems that the existing plant protection operation cannot give consideration to accurate operation, cost saving and simplified operation, the invention provides an accurate operation method of a plant protection unmanned aerial vehicle. The method comprises the following steps: planning an unmanned aerial vehicle route; erecting a differential GPS base station to a control point; configuring coordinates of the differential GPS base station; connecting the differential GPS base station with a differential GPS mobile station on the unmanned aerial vehicle in a pairing manner; and the unmanned aerial vehicle carries out plant protection operation according to the unmanned aerial vehicle route, and is characterized in that the step of planning the unmanned aerial vehicle route comprises planning the unmanned aerial vehicle route through unmanned aerial vehicle aerial survey.
In the above method for accurate operation of a plant protection unmanned aerial vehicle, the step of planning the route of the unmanned aerial vehicle by aerial survey of the unmanned aerial vehicle further includes: marking the control points while measuring the image control points; establishing a control point library by using the marked control points; acquiring air route planning data through unmanned aerial vehicle aerial survey; processing the acquired air route planning data; and planning the unmanned aerial vehicle air route according to the processed air route planning data.
Further, the step of bridging differential GPS base stations to control points comprises bridging differential GPS base stations to one control point in the control point library.
In the above accurate operation method for the plant protection unmanned aerial vehicle, the step of obtaining the air route planning data through the aerial survey of the unmanned aerial vehicle further includes obtaining a digital line drawing DLG, a digital elevation model DEM and obstacle information of the plant protection area.
The invention also provides an accurate operation system of the plant protection unmanned aerial vehicle, which comprises the following components: a plant protection unmanned aerial vehicle; the differential GPS mobile station is arranged on the plant protection unmanned aerial vehicle; a differential GPS base station; and with difference GPS mobile station with the ground station system of difference GPS basic station communication, its characterized in that, accurate operating system still include with the aerial survey unmanned aerial vehicle of ground station system communication, ground station system follows aerial survey unmanned aerial vehicle receives aerial survey data and according to aerial survey data plans plant protection unmanned aerial vehicle's route.
In above-mentioned plant protection unmanned aerial vehicle's accurate operating system, the ground station system includes: a communication module that enables the ground station system to communicate with the differential GPS base station, the differential GPS mobile station, and the aerial survey drone; a route planning module that plans a route of the plant protection unmanned aerial vehicle according to data received from the aerial survey unmanned aerial vehicle; and a control point library including a plurality of control points marked while the image control points are measured.
In the above accurate operation system of the plant protection unmanned aerial vehicle, the aerial survey data includes a digital line drawing DLG, a digital elevation model DEM and obstacle information in a plant protection area.
According to the technical scheme, the unmanned aerial vehicle aerial survey replaces manual surveying and mapping, and the working efficiency is improved. On the other hand, in the process of aerial survey of the unmanned aerial vehicle, the control points are marked while the image control points are measured, so that the positioning precision is improved, and the workload and the cost are saved. In summary, the method performs route planning through route planning data acquired by aerial survey of the unmanned aerial vehicle, controls the unmanned aerial vehicle to fly through the differential GPS, and simultaneously establishes a control point library in the aerial survey process of the unmanned aerial vehicle to ensure the operation precision of the unmanned aerial vehicle. Compared with the prior art, the method has obvious technical progress.
Drawings
Fig. 1 is a schematic structural diagram of a precision operation system of a plant protection unmanned aerial vehicle according to the present invention;
fig. 2 is a flowchart of the precise operation method of the plant protection unmanned aerial vehicle of the present invention.
Detailed Description
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and are not intended to limit the scope of the present invention.
When unmanned aerial vehicle carries out the plant protection operation, need plan unmanned aerial vehicle's airline, and will realize accurate operation, the farmland basis geographic information data that will have the high accuracy on the one hand, on the other hand will obtain unmanned aerial vehicle's accurate positioning information at unmanned aerial vehicle flight in-process to control unmanned aerial vehicle's flight orbit. As the problems in the existing plant protection operation are pointed out in the background technology, and the requirements of the two aspects are combined, the invention realizes the accurate operation of the unmanned aerial vehicle by the technical means of aerial survey of the unmanned aerial vehicle.
Fig. 1 is a schematic structural diagram of a precision operation system of a plant protection unmanned aerial vehicle according to the present invention. As shown in fig. 1, the precision operation system of the plant protection unmanned aerial vehicle of the present invention includes a plant protection unmanned aerial vehicle, a differential GPS mobile station disposed on the plant protection unmanned aerial vehicle, a differential GPS base station, and a ground station system, wherein the ground station system can communicate with the differential GPS mobile station and the differential GPS base station. The system further comprises an aerial survey unmanned aerial vehicle, the ground station system can communicate with the aerial survey unmanned aerial vehicle and receive aerial survey data of the aerial survey unmanned aerial vehicle, and then air lines of the plant protection unmanned aerial vehicle are planned according to the aerial survey data. Specifically, the ground station system includes a communication module, a route planning module, and a control point library. The communication module is used for communicating the ground station system with the differential GPS base station, the plant protection unmanned aerial vehicle differential GPS mobile station and the aerial survey unmanned aerial vehicle; the air route planning module plans an air route of the plant protection unmanned aerial vehicle according to aerial survey data received from the aerial survey unmanned aerial vehicle, wherein the aerial survey data comprises a digital Line drawing DLG (digital Line graphic), a digital Elevation model DEM (digital Elevation model) and obstacle information of a plant protection area. In addition, before the unmanned aerial vehicle aerial survey is carried out, field measurement is needed to obtain a group of image control points in an aerial survey area, at the moment, the image control points are measured, a certain number of control points are marked and measured according to the requirements of a differential GPS base station, for example, one control point can be marked and measured every 4 kilometers, and a control point library is established by utilizing the measured control points and stored in a ground station system.
Referring next to fig. 2, the precise operation method of the plant protection unmanned aerial vehicle of the present invention includes the following steps: planning an unmanned aerial vehicle route through unmanned aerial vehicle aerial survey; erecting a differential GPS base station to a control point; configuring coordinates of the differential GPS base station; connecting the differential GPS base station with a differential GPS mobile station on the unmanned aerial vehicle in a pairing manner; and the unmanned aerial vehicle carries out plant protection operation according to the unmanned aerial vehicle air route. The step of planning the route of the unmanned aerial vehicle by aerial survey of the unmanned aerial vehicle further comprises: marking the control points while measuring the image control points; establishing a control point library according to the marked control points; acquiring air route planning data through unmanned aerial vehicle aerial survey; processing the acquired air route planning data; and planning the unmanned aerial vehicle air route according to the processed air route planning data. Specifically, fig. 2 is a flowchart of the precise operation method of the plant protection unmanned aerial vehicle of the present invention. As shown in fig. 2, before the unmanned aerial vehicle aerial survey, firstly, image control points of a plant protection area need to be measured, a certain number of control points are marked and measured, a control point library is established by using the control points, then, digital line drawings DLG, a digital elevation model DEM and obstacle information of the plant protection area are obtained through the unmanned aerial vehicle aerial survey technology, and the route planning of the unmanned aerial vehicle is performed according to the obtained and processed digital line drawings DLG, the digital elevation model DEM and the obstacle information of the plant protection area. After the unmanned aerial vehicle air route is manufactured, the differential GPS base station is erected on one control point in the control point library, the coordinates of the control point are configured to the differential GPS base station, the differential GPS base station is connected with the differential GPS mobile station on the unmanned aerial vehicle in a matched mode, and plant protection operation is started after all the control points are ready.
And the ground station system controls the flight track of the unmanned aerial vehicle by using the planned air route and the differential GPS. When the unmanned aerial vehicle is positioned through the differential GPS, the differential GPS base station needs to be erected on a known control point, and the known coordinate of the control point is input to the differential GPS base station, because the known coordinate of the control point is in a control point library established in the operation process of the aerial survey unmanned aerial vehicle, and meanwhile, the planning of the air route is also made on the basis of air route planning data acquired by the aerial survey unmanned aerial vehicle, when the unmanned aerial vehicle is controlled to fly according to the planned air route through a differential mode, the operation precision of the unmanned aerial vehicle can be ensured.
In conclusion, the unmanned aerial vehicle aerial survey technology is introduced into the field of plant protection, the terrain of the plant protection area acquired through the unmanned aerial vehicle aerial survey is more accurate and efficient than manual measurement, and meanwhile, the measurement of the image control points and the control points can be completed in one-time operation, so that the workload and the cost are saved, and the unmanned aerial vehicle aerial survey and the unmanned aerial vehicle differential GPS positioning are tightly combined.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is easily understood by those skilled in the art that the scope of the present invention is obviously not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention. For example, although several specific steps are shown in fig. 2, the present invention is not limited to these specific steps, and any one of the steps shown in fig. 2 may be combined or split as desired by one skilled in the art without departing from the basic principles of the present invention. For example, the step of "measuring the image control points and the control points and establishing the control point library" may be split into "marking the control points while measuring the image control points" and "establishing the control point library using the marked control points". For another example, the "drone aerial survey and data processing" step may be split into "acquiring terrain data of a plant protection farm by drone aerial survey" and "processing the acquired terrain data". The basic principle of the invention is not changed by the splitting, so the technical scheme after the splitting is within the protection scope of the invention.
Claims (5)
1. An accurate operation method of a plant protection unmanned aerial vehicle comprises the following steps:
planning a plant protection unmanned aerial vehicle route;
erecting a differential GPS base station to a control point;
configuring coordinates of the differential GPS base station;
connecting the differential GPS base station with a differential GPS mobile station on the plant protection unmanned aerial vehicle in a pairing manner; and
the plant protection unmanned aerial vehicle carries out plant protection operation according to the plant protection unmanned aerial vehicle route;
the method is characterized in that the step of planning the air route of the plant protection unmanned aerial vehicle comprises the following steps: planning a plant protection unmanned aerial vehicle route through aerial survey of an aerial survey unmanned aerial vehicle;
wherein, the step of planning plant protection unmanned aerial vehicle airline through aerial survey of aerial survey unmanned aerial vehicle further includes:
marking the control points while measuring the image control points;
establishing a control point library by using the marked control points;
acquiring air route planning data through aerial survey of an aerial survey unmanned aerial vehicle;
processing the acquired air route planning data; and
and planning the air route of the plant protection unmanned aerial vehicle according to the processed air route planning data.
2. The method of claim 1, wherein the step of erecting the differential GPS base station to the control point comprises:
and erecting a differential GPS base station to one control point in the control point library.
3. The method for precise operation of a plant protection unmanned aerial vehicle of claim 1 or 2, wherein the step of acquiring airline planning data by aerial survey of an aerial survey unmanned aerial vehicle further comprises:
and acquiring a digital line drawing DLG, a digital elevation model DEM and obstacle information of the plant protection area.
4. The utility model provides a plant protection unmanned aerial vehicle's accurate operating system, includes:
a plant protection unmanned aerial vehicle;
the differential GPS mobile station is arranged on the plant protection unmanned aerial vehicle;
a differential GPS base station; and
a ground station system in communication with the differential GPS mobile station and the differential GPS base station,
the precise operation system is characterized by further comprising an aerial survey unmanned aerial vehicle which is communicated with the ground station system, wherein the ground station system receives aerial survey data from the aerial survey unmanned aerial vehicle and plans an air route of the plant protection unmanned aerial vehicle according to the aerial survey data;
wherein the ground station system comprises:
a communication module that enables the ground station system to communicate with the differential GPS base station, the differential GPS mobile station, and the aerial survey drone;
a route planning module that plans a route of the plant protection unmanned aerial vehicle according to data received from the aerial survey unmanned aerial vehicle; and
a control point library including a plurality of control points marked while measuring the image control points.
5. The precision operating system of a plant protection unmanned aerial vehicle of claim 4, wherein the aerial survey data comprises a digital line Drawing (DLG), a Digital Elevation Model (DEM) and obstacle information for a plant protection area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621199.9A CN106292698B (en) | 2016-08-01 | 2016-08-01 | Accurate operation method and system for plant protection unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610621199.9A CN106292698B (en) | 2016-08-01 | 2016-08-01 | Accurate operation method and system for plant protection unmanned aerial vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106292698A CN106292698A (en) | 2017-01-04 |
| CN106292698B true CN106292698B (en) | 2020-12-04 |
Family
ID=57663868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610621199.9A Active CN106292698B (en) | 2016-08-01 | 2016-08-01 | Accurate operation method and system for plant protection unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106292698B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106772508A (en) * | 2017-01-19 | 2017-05-31 | 广州南方无人机技术有限公司 | Difference aerial survey module after unmanned plane |
| CN106843277B (en) * | 2017-04-13 | 2020-08-07 | 珠海市双捷科技有限公司 | Unmanned aerial vehicle surveying and mapping, pesticide spraying and monitoring combined operation method and system |
| CN107966709A (en) * | 2017-11-15 | 2018-04-27 | 成都天麒科技有限公司 | A kind of plant protection operation method based on laser radar mapping |
| CN108489467B (en) * | 2018-03-07 | 2019-09-24 | 华北水利水电大学 | A kind of bulilt-up area domain aerial survey unmanned plane photo control point coordinate measuring method |
| CN108489466B (en) * | 2018-03-07 | 2019-10-18 | 华北水利水电大学 | A kind of mountain area aerial survey unmanned plane photo control point coordinate measuring method |
| CN108958288A (en) * | 2018-07-26 | 2018-12-07 | 杭州瓦屋科技有限公司 | Low latitude operation UAV system and its path planning method based on geography information |
| CN109343567A (en) * | 2018-11-06 | 2019-02-15 | 深圳市翔农创新科技有限公司 | The accurate operating system of plant protection drone and method |
| CN111723599A (en) * | 2019-03-18 | 2020-09-29 | 华东师范大学 | System and method for automatically extracting plant positioning information based on unmanned aerial vehicle image |
| CN110018693A (en) * | 2019-03-31 | 2019-07-16 | 四川极云智飞科技有限公司 | The accurate forest planting method of unmanned plane and its system based on RTK technology |
| CN112612299B (en) * | 2020-12-01 | 2023-05-23 | 北京麦飞科技有限公司 | Miniature unmanned aerial vehicle cluster variable plant protection method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4444373C2 (en) * | 1994-12-14 | 1996-06-20 | Thomas Doberstau | Quality assurance procedures for the widespread application of substances by aircraft in the context of aerial work |
| JP2001120151A (en) * | 1999-10-27 | 2001-05-08 | Nec Corp | Automatic agrochemical spraying device with radio controlled helicopter using gps |
| KR20100092199A (en) * | 2009-02-12 | 2010-08-20 | 주식회사 무성항공 | A cost estimating system about spraying chemicals, seeds or fertilizer of unmaned aerial vehicles |
| CN102375150A (en) * | 2010-08-26 | 2012-03-14 | 中国农业机械化科学研究院 | Global positioning system (GPS) short-time self-differential navigation method and device of pesticide spray aircraft |
| CN101963806B (en) * | 2010-10-15 | 2012-06-27 | 农业部南京农业机械化研究所 | Unmanned helicopter pesticide applying operation automatic control system and method based on GPS (Global Positioning System) navigation |
| CN103699135B (en) * | 2014-01-03 | 2016-04-06 | 中南大学 | The flight path automatic planning in depopulated helicopter pesticide spraying farmland operation region |
| CN105278546A (en) * | 2015-11-06 | 2016-01-27 | 中国航空工业经济技术研究院 | Agricultural plant protection unmanned aerial vehicle planting control system |
-
2016
- 2016-08-01 CN CN201610621199.9A patent/CN106292698B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106292698A (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106292698B (en) | Accurate operation method and system for plant protection unmanned aerial vehicle | |
| CN106502264B (en) | The operating system of plant protection unmanned plane | |
| CN105425208A (en) | Positioning system and method used for accurate navigation of unmanned aerial vehicle | |
| CN109143257A (en) | Unmanned aerial vehicle onboard radar mining land change monitors system and method | |
| CN110132239B (en) | Unmanned aerial vehicle surveying and mapping method based on CORS platform | |
| CN104536026A (en) | Dynamic-to-dynamic real-time measurement system | |
| CN108253969B (en) | Method for calculating flight line-of-sight link coverage range of unmanned aerial vehicle | |
| CN104850134A (en) | High-precision autonomous obstacle-avoiding flying method for unmanned plane | |
| CN103885069B (en) | GPS in Long Distance Pipeline based on CORS controls measuring method | |
| CN107457784B (en) | GPS (Global positioning System) Beidou differential positioning and navigation method for substation inspection robot | |
| CN103353601A (en) | System and method for unmanned aerial vehicle accurate navigation based on GNSS real-time difference technology | |
| CN104076820A (en) | Unmanned aerial vehicle electric power line polling control system and method based on three-dimensional GIS | |
| CN106324632A (en) | Plant protection unmanned aerial vehicle accurate positioning method under control point-free conditions | |
| CN102012516A (en) | Self-starting reference station and method for performing global position system (GPS) real-time dynamic measurement | |
| KR20150140247A (en) | Apparatus of detecting position information for underground facilities | |
| CN108873934A (en) | A kind of flight course planning of unmanned plane and calibration method and flight course control system | |
| CN114413932B (en) | Positioning error correction testing method based on communication between vehicle-mounted platforms | |
| CN109238224B (en) | Unmanned aerial vehicle flying height difference eliminating method, device and system and intelligent terminal | |
| CN105571593B (en) | A kind of geographical position information acquisition method based on MLS | |
| CN104807462A (en) | Method and system for generating indoor geomagnetic navigation reference map | |
| CN109557569A (en) | The method with mechanical arm mobile device ontology and mechanical arm high accuracy positioning of realization | |
| Ismael et al. | Accuracy assessment of UAV photogrammetry for large scale topographic mapping | |
| CN209070371U (en) | The accurate operating system of plant protection drone | |
| CN111076725A (en) | Ground maneuvering platform landing method of unmanned aerial vehicle | |
| CN113790915A (en) | Flight precision test system and method for agricultural unmanned aerial vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220520 Address after: 100193 Room 405, 4th floor, Wanlin building, No. 88 Nongda South Road, Haidian District, Beijing Patentee after: Beijing Sany Zhinong Data Technology Co.,Ltd. Address before: 100191 floor 23, block D, Zhizhen building, No. 7, Zhichun Road, Haidian District, Beijing Patentee before: BEIJING EXPERT AVIATION-TECHNOLOGY CO.,LTD. |
|
| TR01 | Transfer of patent right |