CN106444792A - Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method - Google Patents

Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method Download PDF

Info

Publication number
CN106444792A
CN106444792A CN201610827696.4A CN201610827696A CN106444792A CN 106444792 A CN106444792 A CN 106444792A CN 201610827696 A CN201610827696 A CN 201610827696A CN 106444792 A CN106444792 A CN 106444792A
Authority
CN
China
Prior art keywords
unmanned plane
infrared
horizontal
emission point
infrared emission
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
Application number
CN201610827696.4A
Other languages
Chinese (zh)
Inventor
蒲泓宇
杨凌
李增军
郝霖
郝一霖
马远强
荣祥森
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chengdu Tianqi Technology Co Ltd
High Speed Aerodynamics Research Institute of China Aerodynamics Research and Development Center
Original Assignee
Chengdu Tianqi Technology Co Ltd
High Speed Aerodynamics Research Institute of China Aerodynamics Research and Development Center
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Chengdu Tianqi Technology Co Ltd, High Speed Aerodynamics Research Institute of China Aerodynamics Research and Development Center filed Critical Chengdu Tianqi Technology Co Ltd
Priority to CN201610827696.4A priority Critical patent/CN106444792A/en
Publication of CN106444792A publication Critical patent/CN106444792A/en
Pending legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/04Control of altitude or depth
    • G05D1/042Control of altitude or depth 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)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present invention discloses an infrared visual recognition-based unmanned aerial vehicle landing positioning system and method. The system includes an airborne subsystem and an infrared emission point located at a ground base station; the airborne subsystem includes an infrared imaging module, a height detection module, a horizontal deviation calculation module and a flight control module; the infrared imaging module and the height detection module are connected with the horizontal deviation calculation module; and the horizontal deviation calculation module is connected with the flight control module. According to the infrared visual recognition-based unmanned aerial vehicle landing positioning system and method of the invention, the horizontal deviation of an unmanned aerial vehicle and the infrared emission point can be calculated according to the imaging data of the infrared emission point and the height of the unmanned aerial vehicle from the ground, the unmanned aerial vehicle is controlled to move in a horizontal direction; after the horizontal deviation of the unmanned aerial vehicle and the infrared emission point is corrected, the landing of the unmanned aerial vehicle is realized; positioning is accurate in the landing process of the unmanned aerial vehicle; and cost is low.

Description

A kind of unmanned plane landing alignment system based on infrared vision identification and method
Technical field
The present invention relates to a kind of unmanned plane landing alignment system based on infrared vision identification and method.
Background technology
UAV referred to as " unmanned plane ", is to be manipulated with the presetting apparatus provided for oneself using radio robot Not manned aircraft, no driving cabin on machine, but be provided with the equipment such as automatic pilot, presetting apparatus;It is widely used in aerial Scouting, supervision, communication, antisubmarine, electronic interferences etc..
With scientific and technical continuous development, unmanned plane is in an increasingly wide range of applications, for example plant protection unmanned plane, turns round and look at name Thinking justice is to protect the UAV of operation for agriculture and forestry plant, and this type unmanned aerial vehicle has flying platform (fixed-wing, Dan Xuan The wing, many rotors), GPS fly control, spraying mechanism three part composition, control is flown by ground remote control or GPS, to realize spraying operation, can With spraying agent, seed, powder etc., it is that live and work brings great convenience.
But in unmanned plane operation process, due to operation power, the needs of the various aspects such as plant maintenance, the every work of unmanned plane Make to be accomplished by for a period of time returning ground base station, this relates to the location technology of unmanned plane landing, and traditional position location techniques are main Positioned using GPS technology, but the satellite positioning tech of GPS-type, it is principally dedicated to the global position not relying on landform Put positioning.Civilian GPS has very big drift effect, it is possible to use RTK (Real-Time Kinematic) real time dynamic differential Method, lifts positioning precision to Centimeter Level, but relatively costly.
Content of the invention
It is an object of the invention to overcoming the deficiencies in the prior art, provide a kind of unmanned plane based on infrared vision identification Landing alignment system and method, the height apart from ground for the imaging data and unmanned plane according to infrared emission point, calculate unmanned Machine and the horizontal-shift of infrared emission point, control unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point After flat skew, realize unmanned plane landing, accurate positioning in unmanned plane descent, and low cost.
The purpose of the present invention is achieved through the following technical solutions:A kind of unmanned plane based on infrared vision identification Landing alignment system, the infrared emission point including On-Board Subsystem with positioned at ground base station;Described On-Board Subsystem includes red Outer image-forming module, height detecting module, horizontal-shift computing module and flight control modules, infrared imaging module and height detecting Module is connected with horizontal-shift computing module respectively, and horizontal-shift computing module is connected with flight control modules;
Described infrared emission point is used for launching infrared signal into coverage;
Described infrared imaging module is used for infrared emission point is imaged;
Described height detecting module is used for the height apart from ground for the sensorcraft;
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground, Calculate the horizontal-shift of unmanned plane and infrared emission point;
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point After flat skew, realize the precision approach of unmanned plane.
Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
Described infrared imaging module includes lens group and photo-sensitive cell, and described lens group and photo-sensitive cell cooperation are realized red The imaging of outer imaging point.
Described height detecting module includes height sensor.
Described horizontal-shift computing module includes:
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and The horizontal range of infrared imaging point on lens group center and photo-sensitive cell;
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point;
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no The man-machine horizontal-shift to infrared emission point.
Described flight control modules include:
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point;
Landing control unit, for controlling unmanned plane to realize accurately landing.
A kind of described unmanned plane based on infrared vision identification lands the landing localization method of alignment system, including with Lower step:
S1. unmanned plane during flying to ground base station infrared emission point coverage;
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station;
S3. height detecting module sensorcraft is apart from the height H on ground;
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates Unmanned plane and the horizontal-shift of infrared emission point;
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point Afterwards, realize the precision approach of unmanned plane.
Described step S4 includes following sub-step:
S41. horizontal-shift computing module extracts the vertical dimension of lens group center and photo-sensitive cell in infrared imaging moduleh
S42. horizontal-shift computing module extracts lens group center and infrared imaging point on photo-sensitive cell in infrared imaging module Horizontal rangel
S43. horizontal-shift computing module calculates the deviation angle at lens group center and infrared imaging pointa= arctan(l/h); Deviation angleaThe i.e. deviation angle of unmanned plane and infrared emission point;
S44. horizontal-shift computing module is according to deviation angleaWith height H, the level calculating unmanned plane to infrared emission point is inclined Move:L = Htana.
Described step S5 includes following sub-step:
S51. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point L, makes unmanned plane be located at the surface of ground base station infrared emission point;
S52. flight control modules control unmanned plane to realize precision approach.
The invention has the beneficial effects as follows:The present invention provides a kind of landing positioning of the unmanned plane based on infrared vision identification system System and method, the height apart from ground for the imaging data and unmanned plane according to infrared emission point, calculate unmanned plane and infrared The horizontal-shift of exit point, controls unmanned plane to move in the horizontal direction, after correcting unmanned plane and the horizontal-shift of infrared emission point, real Existing unmanned plane landing, accurate positioning in unmanned plane descent, low cost, and positioned by infrared technology, it is not subject to sky Gas, the impact of the condition such as illumination, can achieve round-the-clock operation and positioning.
Brief description
Fig. 1 is the theory diagram of present system;
Fig. 2 is method of the present invention flow chart;
The principle schematic that Fig. 3 offsets for calculated level.
Specific embodiment
Below in conjunction with the accompanying drawings technical scheme is described in further detail, but protection scope of the present invention is not limited to Described below.
As shown in figure 1, a kind of based on infrared vision identification unmanned plane landing alignment system, include On-Board Subsystem with Infrared emission point positioned at ground base station;It is inclined that described On-Board Subsystem includes infrared imaging module, height detecting module, level Move computing module and flight control modules, infrared imaging module and height detecting module are respectively with horizontal-shift computing module even Connect, horizontal-shift computing module is connected with flight control modules;
Described infrared emission point is used for launching infrared signal into coverage;
Described infrared imaging module is used for infrared emission point is imaged;
Described height detecting module is used for the height apart from ground for the sensorcraft;
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground, Calculate the horizontal-shift of unmanned plane and infrared emission point;
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point After flat skew, realize the precision approach of unmanned plane.
Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
Described infrared imaging module includes lens group and photo-sensitive cell, and described lens group and photo-sensitive cell cooperation are realized red The imaging of outer imaging point.
Described height detecting module includes height sensor.
Described horizontal-shift computing module includes:
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and The horizontal range of infrared imaging point on lens group center and photo-sensitive cell;
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point;
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no The man-machine horizontal-shift to infrared emission point.
Described flight control modules include:
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point;
Landing control unit, for controlling unmanned plane to realize accurately landing.
The landing positioning of alignment system as shown in Fig. 2 a kind of described unmanned plane based on infrared vision identification lands Method, comprises the following steps:
S1. unmanned plane during flying to ground base station infrared emission point coverage;
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station;
S3. height detecting module sensorcraft is apart from the height H on ground;
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates Unmanned plane and the horizontal-shift of infrared emission point;
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point Afterwards, realize the precision approach of unmanned plane.
Described step S4 includes following sub-step:As shown in figure 3,
S41. horizontal-shift computing module extracts the vertical dimension of lens group center C and photo-sensitive cell in infrared imaging moduleh
S42. horizontal-shift computing module extracts lens group center C and infrared imaging point A1 on photo-sensitive cell in infrared imaging module Horizontal rangel
S43. horizontal-shift computing module calculates the deviation angle of lens group center C and infrared imaging point A1a= arctan(l/h);
This angle is equal to the deviation angle of lens group center C and infrared emission point that is to say, that deviation angleaI.e. unmanned plane with red The deviation angle of outgoing exit point;
S44. horizontal-shift computing module is according to deviation angleaWith height H, calculate unmanned plane to the level of infrared emission point A Skew:L = Htana.
Described step S5 includes following sub-step:
S51. flight control modules control unmanned plane to move in the horizontal direction, correct unmanned plane inclined with the level of infrared emission point A Move L, make unmanned plane be located at the surface of ground base station infrared emission point;
S52. flight control modules control unmanned plane to realize precision approach.

Claims (9)

1. a kind of based on infrared vision identification unmanned plane landing alignment system it is characterised in that:Including On-Board Subsystem and Infrared emission point positioned at ground base station;It is inclined that described On-Board Subsystem includes infrared imaging module, height detecting module, level Move computing module and flight control modules, infrared imaging module and height detecting module are respectively with horizontal-shift computing module even Connect, horizontal-shift computing module is connected with flight control modules;
Described infrared emission point is used for launching infrared signal into coverage;
Described infrared imaging module is used for infrared emission point is imaged;
Described height detecting module is used for the height apart from ground for the sensorcraft;
Described horizontal-shift computing module is used for the height according to the imaging data and unmanned plane of infrared emission point apart from ground, Calculate the horizontal-shift of unmanned plane and infrared emission point;
Described flight control modules are used for controlling unmanned plane to move in the horizontal direction, correct the water of unmanned plane and infrared emission point After flat skew, realize the precision approach of unmanned plane.
2. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists In:Described infrared emission point is located at unmanned plane regulation stop position on ground base station.
3. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists In:Described infrared imaging module includes lens group and photo-sensitive cell, described lens group and photo-sensitive cell cooperation realize infrared become The imaging of picture point.
4. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists In:Described height detecting module includes height sensor.
5. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists In:Described horizontal-shift computing module includes:
Identification extraction unit, for according to infrared imaging data, extracting the vertical dimension at lens group center and photo-sensitive cell, and The horizontal range of infrared imaging point on lens group center and photo-sensitive cell;
Angle calculation unit, for the data obtaining according to data extraction module, calculates lens group center and infrared imaging point Deviation angle, this deviation angle is the deviation angle of unmanned plane and infrared emission point;
Horizontal-shift computing unit, the data collecting for height sensor and calculated deviation angle, calculate no The man-machine horizontal-shift to infrared emission point.
6. a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 1, its feature exists In:Described flight control modules include:
Horizontal adjustment control unit, for controlling unmanned plane to correct the horizontal-shift with ground based IR launch point;
Landing control unit, for controlling unmanned plane to realize accurately landing.
7. a kind of unmanned plane landing positioning system based on infrared vision identification according to any one in claim 1 ~ 6 System landing localization method it is characterised in that:Comprise the following steps:
S1. unmanned plane during flying to ground base station infrared emission point coverage;
S2. infrared imaging module carries out infrared imaging to the infrared emission point of ground base station;
S3. height detecting module sensorcraft is apart from the height H on ground;
S4. horizontal-shift computing module, according to the imaging data of infrared emission point and unmanned plane apart from the height on ground, calculates Unmanned plane and the horizontal-shift of infrared emission point;
S5. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point Afterwards, realize the precision approach of unmanned plane.
8. the landing positioning of a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 7 Method it is characterised in that:Described step S4 includes following sub-step:
S41. horizontal-shift computing module extracts the vertical dimension of lens group center and photo-sensitive cell in infrared imaging moduleh
S42. horizontal-shift computing module extracts lens group center and infrared imaging point on photo-sensitive cell in infrared imaging module Horizontal rangel
S43. horizontal-shift computing module calculates the deviation angle at lens group center and infrared imaging pointa= arctan(l/h); Deviation angleaThe i.e. deviation angle of unmanned plane and infrared emission point;
S44. horizontal-shift computing module is according to deviation angleaWith height H, the level calculating unmanned plane to infrared emission point is inclined Move:L = Htana.
9. the landing positioning of a kind of unmanned plane landing alignment system based on infrared vision identification according to claim 7 Method it is characterised in that:Described step S5 includes following sub-step:
S51. flight control modules control unmanned plane to move in the horizontal direction, correct the horizontal-shift of unmanned plane and infrared emission point L, makes unmanned plane be located at the surface of ground base station infrared emission point;
S52. flight control modules control unmanned plane accurately to drop on infrared emission point.
CN201610827696.4A 2016-09-18 2016-09-18 Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method Pending CN106444792A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610827696.4A CN106444792A (en) 2016-09-18 2016-09-18 Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610827696.4A CN106444792A (en) 2016-09-18 2016-09-18 Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method

Publications (1)

Publication Number Publication Date
CN106444792A true CN106444792A (en) 2017-02-22

Family

ID=58167993

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610827696.4A Pending CN106444792A (en) 2016-09-18 2016-09-18 Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method

Country Status (1)

Country Link
CN (1) CN106444792A (en)

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106774423A (en) * 2017-02-28 2017-05-31 亿航智能设备(广州)有限公司 The landing method and system of a kind of unmanned plane
CN108445916A (en) * 2018-04-01 2018-08-24 成都远致科技有限公司 A kind of servo-actuated landing system of unmanned plane
CN111176323A (en) * 2019-12-30 2020-05-19 湖南华诺星空电子技术有限公司 Radar and infrared integrated unmanned aerial vehicle landing control method and device
CN113311868A (en) * 2021-05-28 2021-08-27 南京先飞机器人技术有限公司 Self-protection method of unmanned aerial vehicle under GNSS interference
CN113534825A (en) * 2021-08-18 2021-10-22 广东电网有限责任公司 Control system and control method for automatic parking of unmanned aerial vehicle
CN113741534A (en) * 2021-09-16 2021-12-03 中国电子科技集团公司第五十四研究所 Unmanned aerial vehicle vision and positioning double-guidance landing method
CN118687544A (en) * 2024-08-15 2024-09-24 杭州跨远测绘有限公司 Geographic survey equipment and using method thereof

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1487274A (en) * 2003-07-25 2004-04-07 伟 陈 Infrared source heat image detecting method
CN104049641A (en) * 2014-05-29 2014-09-17 深圳市大疆创新科技有限公司 Automatic landing method and device and air vehicle
CN104670516A (en) * 2015-02-15 2015-06-03 南京理工大学 Rapid taking-off and landing device of air vehicle
CN104816834A (en) * 2015-05-11 2015-08-05 江苏数字鹰科技发展有限公司 Aircraft automatic location charging device and method for landing and location through same
CN104979882A (en) * 2015-07-30 2015-10-14 安徽工业大学 Quick charging system for unmanned aerial vehicle and charging method thereof
CN204856213U (en) * 2015-08-12 2015-12-09 北京贯中精仪科技有限公司 Unmanned aerial vehicle landing bootstrap system
CN204998794U (en) * 2015-07-29 2016-01-27 周坤友 On -vehicle unmanned vehicles intelligence supply base
CN105424059A (en) * 2015-11-06 2016-03-23 西北工业大学 Wide baseline infrared camera pose estimation method
CN105517664A (en) * 2014-05-30 2016-04-20 深圳市大疆创新科技有限公司 Systems and methods for uav docking
CN105599912A (en) * 2016-01-27 2016-05-25 谭圆圆 Automatic landing method and automatic landing device of unmanned aerial vehicle
CN105629996A (en) * 2016-03-22 2016-06-01 昆明天龙经纬电子科技有限公司 Unmanned aerial vehicle fixed-point landing guiding method and system
CN205498797U (en) * 2016-03-21 2016-08-24 普宙飞行器科技(深圳)有限公司 Air park and unmanned aerial vehicle landing system

Patent Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1487274A (en) * 2003-07-25 2004-04-07 伟 陈 Infrared source heat image detecting method
CN104049641A (en) * 2014-05-29 2014-09-17 深圳市大疆创新科技有限公司 Automatic landing method and device and air vehicle
CN105517664A (en) * 2014-05-30 2016-04-20 深圳市大疆创新科技有限公司 Systems and methods for uav docking
CN104670516A (en) * 2015-02-15 2015-06-03 南京理工大学 Rapid taking-off and landing device of air vehicle
CN104816834A (en) * 2015-05-11 2015-08-05 江苏数字鹰科技发展有限公司 Aircraft automatic location charging device and method for landing and location through same
CN204998794U (en) * 2015-07-29 2016-01-27 周坤友 On -vehicle unmanned vehicles intelligence supply base
CN104979882A (en) * 2015-07-30 2015-10-14 安徽工业大学 Quick charging system for unmanned aerial vehicle and charging method thereof
CN204856213U (en) * 2015-08-12 2015-12-09 北京贯中精仪科技有限公司 Unmanned aerial vehicle landing bootstrap system
CN105424059A (en) * 2015-11-06 2016-03-23 西北工业大学 Wide baseline infrared camera pose estimation method
CN105599912A (en) * 2016-01-27 2016-05-25 谭圆圆 Automatic landing method and automatic landing device of unmanned aerial vehicle
CN205498797U (en) * 2016-03-21 2016-08-24 普宙飞行器科技(深圳)有限公司 Air park and unmanned aerial vehicle landing system
CN105629996A (en) * 2016-03-22 2016-06-01 昆明天龙经纬电子科技有限公司 Unmanned aerial vehicle fixed-point landing guiding method and system

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106774423A (en) * 2017-02-28 2017-05-31 亿航智能设备(广州)有限公司 The landing method and system of a kind of unmanned plane
CN106774423B (en) * 2017-02-28 2020-08-11 亿航智能设备(广州)有限公司 Landing method and system of unmanned aerial vehicle
CN108445916A (en) * 2018-04-01 2018-08-24 成都远致科技有限公司 A kind of servo-actuated landing system of unmanned plane
CN111176323A (en) * 2019-12-30 2020-05-19 湖南华诺星空电子技术有限公司 Radar and infrared integrated unmanned aerial vehicle landing control method and device
CN113311868A (en) * 2021-05-28 2021-08-27 南京先飞机器人技术有限公司 Self-protection method of unmanned aerial vehicle under GNSS interference
CN113534825A (en) * 2021-08-18 2021-10-22 广东电网有限责任公司 Control system and control method for automatic parking of unmanned aerial vehicle
CN113741534A (en) * 2021-09-16 2021-12-03 中国电子科技集团公司第五十四研究所 Unmanned aerial vehicle vision and positioning double-guidance landing method
CN118687544A (en) * 2024-08-15 2024-09-24 杭州跨远测绘有限公司 Geographic survey equipment and using method thereof

Similar Documents

Publication Publication Date Title
CN106444792A (en) Infrared visual recognition-based unmanned aerial vehicle landing positioning system and method
CN106184758B (en) A kind of automatic medicament feeding system and method for plant protection drone
US11378458B2 (en) Airborne inspection systems and methods
CN107899166A (en) Precise fire extinguishing system and method based on unmanned plane and intelligent fire robot
KR101494654B1 (en) Method and Apparatus for Guiding Unmanned Aerial Vehicle and Method and Apparatus for Controlling Unmanned Aerial Vehicle
CN109597427B (en) Bomb random attack planning method and system based on unmanned aerial vehicle
CN207950388U (en) Precise fire extinguishing system based on unmanned plane and intelligent fire robot
CN110989673B (en) Autonomous tracking take-off and landing system of unmanned rotor platform and control method
US20090306840A1 (en) Vision-based automated landing system for unmanned aerial vehicles
CN109792951B (en) Unmanned aerial vehicle air route correction system for pollination of hybrid rice and correction method thereof
CN205450785U (en) Novel automatic unmanned aerial vehicle image recognition automatic landing system
CN106919178A (en) A kind of plant protection unmanned plane autonomous flight Path Optimize Installation and its optimization method
CN105501457A (en) Infrared vision based automatic landing guidance method and system applied to fixed-wing UAV (unmanned aerial vehicle)
CN105335733A (en) Autonomous landing visual positioning method and system for unmanned aerial vehicle
CN104298248A (en) Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle
CN106054929A (en) Unmanned plane automatic landing guiding method based on optical flow
CN105867397A (en) Unmanned aerial vehicle accurate position landing method based on image processing and fuzzy control
CN105182992A (en) Unmanned aerial vehicle control method and device
Kim et al. Landing control on a mobile platform for multi-copters using an omnidirectional image sensor
CN111123973A (en) Unmanned aerial vehicle line tower patrol guiding system and guiding method
Tariq et al. Development of a low cost and light weight uav for photogrammetry and precision land mapping using aerial imagery
CN109597432B (en) Unmanned aerial vehicle take-off and landing monitoring method and system based on vehicle-mounted camera unit
CN106356926A (en) Automatic charging system and method of unmanned aerial vehicle
EP4173947A1 (en) Landing systems and methods for unmanned aerial vehicles
CN111006643A (en) Unmanned aerial vehicle remote sensing information monitoring method

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20170222