CN106494621A - Complicated landform unmanned plane detection system and its detection method - Google Patents
Complicated landform unmanned plane detection system and its detection method Download PDFInfo
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- CN106494621A CN106494621A CN201611021704.2A CN201611021704A CN106494621A CN 106494621 A CN106494621 A CN 106494621A CN 201611021704 A CN201611021704 A CN 201611021704A CN 106494621 A CN106494621 A CN 106494621A
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- 238000005259 measurement Methods 0.000 claims abstract description 55
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Radar, Positioning & Navigation (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Complicated landform unmanned plane detection system, including measuring unmanned plane, target unmanned plane and ground laser orientation system；Ground laser orientation system includes that reference laser transmitting position finder and target laser transmitting position finder, reference laser are launched position finder and used cooperatively with first laser reception calibration system, and target laser transmitting position finder receives calibration system with second laser and uses cooperatively.The invention also discloses the detection method of complicated landform unmanned plane detection system.The present invention is measured using aerial unmanned plane, applied widely, is had great advantage in tool of complicated topographic survey.The present invention is measured using aerial unmanned plane and is sent with real time data, and measurement data efficiency high is easy to operate.The present invention is applied to unmanned plane on topographic survey, and scientific in principle is real-time, the adverse effect that unfavorable terrain can be overcome to bring, and is to provide convenience in real work.
Description
Technical field
The invention belongs to engineering measuring technology field, more particularly to a kind of complicated landform unmanned plane detection system and its detection
Method.
Background technology
Ground total powerstation is measured to landform and building etc. and has evolved to ripe stage, but faces mountain area, valley
Deng complicated landform, survey crew can run into the insoluble predicament of ground total station survey, by unmanned plane measuring system and
Target system fine can must solve this technical problem realizing aerial survety, and with very strong practical value, unmanned plane can
To provide hovering well or high accuracy fixed point flight by flight controller, airborne clouds terrace system can be provided well
Stability causes measurement apparatus steady, and measurement result is more accurately credible, and the unmanned function of target preferably mitigates the burden of personnel,
Unnecessary accident is avoided to occur.
Content of the invention
The present invention is in order to solve weak point of the prior art, there is provided one kind adapts to complicated topographic survey height, side
The information such as parallactic angle, distance and it is easy to the accurate complexity landform unmanned plane detection system of operation, measurement result and its detection method.
For solving above-mentioned technical problem, the present invention is adopted the following technical scheme that：Complicated landform unmanned plane detection system, including
Measurement unmanned plane, target unmanned plane and ground laser orientation system；
Measurement unmanned plane includes 8 the first rotors, 8 the first brushless electric machines, 8 first supports, the first undercarriage, measurement shootings
Head, stable head, the first data acquisition emitter, the first signal receiver, the first upper cover plate, the first lower cover, the first flight
Controller, the first power-supply system, first laser receive calibration system and first laser altitude meter；First lower cover is horizontally set on
First rises and falls top of the trellis, and the inner bottom of 8 first supports is uniformly fixed on along the center of the first lower cover by circular array
On one lower cover, the first upper cover plate lower surface fixes the inner top for being located at 8 first supports, 8 the first brushless electric machine difference
Corresponding fixation is located at the outer end top of a first support, and the main shaft of the first brushless electric machine is arranged vertically upward, 8 the first rotors
It is connected respectively the main shaft upper end in the first brushless electric machine；What stable head was arranged on immediately below the first lower cover first rises and falls
On frame, measurement photographic head is located at stable head bottom, and first laser altitude meter is located at measurement photographic head bottom, the first flight control
Device, the first power-supply system and first laser receive calibration system and are installed between the first upper cover plate and the first lower cover, and first
Data acquisition emitter and the first signal receiver are both connected on the first flight controller, the first data acquisition emitter and
The upper end of one signal receiver is higher than the first upper cover plate；
Target unmanned plane includes 8 the second rotors, 8 the second brushless electric machines, 8 second supports, the second undercarriage, target ribs
Mirror, target head, the second data acquisition emitter, secondary signal receptor, the second upper cover plate, the second lower cover, the second flight
Controller, second source system, second laser receive calibration system and second laser altitude meter；Second lower cover is horizontally set on
At the top of second undercarriage, the inner bottom of 8 second supports is uniformly fixed on along the center of the second lower cover by circular array
On two lower covers, the second upper cover plate lower surface fixes the inner top for being located at 8 second supports, 8 the second brushless electric machine difference
Corresponding fixation is located at the outer end top of a second support, and the main shaft of the second brushless electric machine is arranged vertically upward, 8 the second rotors
It is connected respectively the main shaft upper end in the second brushless electric machine；Target head is arranged on second immediately below the second lower cover and rises and falls
On frame, target prism is located at target head bottom, and second laser altitude meter is located at target prism bottom, the second flight controller,
Second source system and second laser receive calibration system and are installed between the second upper cover plate and the second lower cover, the second data
Collection emitter and secondary signal receptor are both connected on the second flight controller, and the second data acquisition emitter and second is believed
The upper end of number receptor is higher than the second upper cover plate；
Ground laser orientation system includes reference laser transmitting position finder and target laser transmitting position finder, and reference laser transmitting is fixed
Position instrument receives calibration system with first laser and uses cooperatively, and target laser is launched position finder and matched somebody with somebody with second laser reception calibration system
Close and use.
The detection method of complicated landform unmanned plane detection system, comprises the following steps：
（1）Assembling measurement unmanned plane and target unmanned plane；
（2）Reference laser transmitting position finder is installed corresponding known position on the ground, target laser is launched position finder
Installed in the place for needing measurement；
（3）Start measurement unmanned plane and target unmanned plane, the first signal receiver and secondary signal receptor receive ground respectively
Remote signal is instructed, and instruction is transferred to the first flight controller and the second flight controller, the first flight control respectively
Device processed and the second flight controller adjust the rotating speed of the first brushless electric machine and the second brushless electric machine, flight respectively according to flight progress
Information data storage is carried out by the first data acquisition emitter and the second data acquisition emitter and is real-time transmitted to ground,
Measurement unmanned plane and target unmanned plane are raised in the air, and measurement unmanned plane is vertical corresponding up and down with reference laser transmitting position finder, target
Mark unmanned plane is vertical corresponding up and down with target laser transmitting position finder；
（4）Unmanned plane to be measured and target unmanned plane are hovered after stablizing in the air, and first laser altitude meter is measured and swashed with benchmark
The distance between light transmitting position finder H1, second laser altitude meter is measured and target laser launches the distance between position finder H2, survey
Amount photographic head bornb sight prism measure, by the reflected light of target prism be obtained unmanned plane to be measured and target without
The distance between man-machine L, by H1、H2And the numerical value of L can obtain measuring line and horizontal plane between photographic head and target prism
Between angle, be just obtained finally by converting automatically the height in place at target laser transmitting position finder, azimuth, away from
From information, the information gathering of measurement point is completed；
（5）After measurement is finished, measurement unmanned plane and the landing of target unmanned plane are reclaimed.
Step（1）The assembling process of middle measurement unmanned plane is specially：8 the first rotors are correspondingly installed to 8 the first nothings
On the main shaft of brush motor, then 8 the first brushless electric machines are assembled in 8 first supports, by the first flight controller, first
Power-supply system and first laser receive calibration system and are assembled between the first upper cover plate and the first lower cover, then by 8 first
Support is assembled with the first upper cover plate, the first lower cover and the first undercarriage, and then carry is steady below the first undercarriage
Determine head, measurement photographic head and first laser altitude meter, the assembling for measuring unmanned plane is completed with this.
Step（1）The assembling process of middle target unmanned plane is specially：8 the second rotors are correspondingly installed to 8 the second nothings
On the main shaft of brush motor, then 8 the second brushless electric machines are assembled in 8 second supports, by the second flight controller, second
Power-supply system and second laser receive calibration system and are assembled between the second upper cover plate and the second lower cover, then by 8 second
Support is assembled with the second upper cover plate, the second lower cover and the second undercarriage, then carry target below the second undercarriage
Mark head, target prism and second laser altitude meter, complete the assembling of target unmanned plane with this.
Using above-mentioned technical proposal, measure unmanned plane and target unmanned plane and flown by receiving ground remote control signal and carrying out instructing
OK, flight course is supplied respectively to the first brushless electric machine and the second brushless electric machine electricity by the first power-supply system and second source system
Can, drive the first rotor and the second rotor wing rotation to provide flight lift, measure the flight stability of unmanned plane and target unmanned plane
It is controlled by the first flight controller and the second flight controller with quick response respectively, measurement photographic head is to target prism
Carry out after the information such as angle, distance, height measure, by the first data acquisition emitter and the second data acquisition emitter point
Do not carry out storage and be sent to ground in real time.
Reference laser transmitting position finder and target laser transmitting position finder are placed in selected target location, are measurement unmanned plane
Location positioning is provided with target unmanned plane, it is ensured that the positional precision of measurement unmanned plane and target unmanned plane.
Reference position known to ground is projected in the air by measurement unmanned plane, in the air to the height of impact point, distance and side
Parallactic angle is measured, and can suitably be adjusted according to actual landform, eliminates the unfavorable factors such as sight line interference, terrain obstruction.
Target unmanned plane is measured for measuring system for needing the point of measurement to provide and stablizes high-precision positioning, can be with
Suitably adjusted according to actual landform, eliminated the unfavorable factors such as sight line interference, terrain obstruction.
Ground laser orientation system is that aerial survety unmanned plane and target unmanned plane provide reference by location, it is ensured that measure nobody
The positional precision that machine and target unmanned plane are hovered in the air.
In sum, the present invention is measured using aerial unmanned plane, applied widely, is had very in complicated topographic survey
Big advantage.The present invention is measured using aerial unmanned plane and is sent with real time data, and measurement data efficiency high is easy to operate.This
Invention is applied to unmanned plane on topographic survey, and scientific in principle is real-time, the adverse effect that unfavorable terrain can be overcome to bring,
For providing convenience in real work.
Description of the drawings
Fig. 1 is overall structural representation of the invention；
Fig. 2 is the enlarged drawing for measuring unmanned plane in Fig. 1；
Fig. 3 is the explosive view for measuring unmanned plane in the present invention；
Fig. 4 is the enlarged drawing of target unmanned plane in Fig. 1.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, complicated landform unmanned plane detection system complexity landform unmanned plane of the invention is visited
Examining system, including measuring unmanned plane 30, target unmanned plane 31 and ground laser orientation system.
Measurement unmanned plane 30 includes 8 the first rotors 1,8 the first brushless electric machines 2,8 first supports 3, the first undercarriages
4th, measurement photographic head 5, stable head 6, the first data acquisition emitter 7, the first signal receiver 8, the first upper cover plate 9, first
Lower cover 10, the first flight controller 11, the first power-supply system 12, first laser receive calibration system 13 and first laser surveys height
Instrument 32；First lower cover 10 is horizontally set at the top of the first undercarriage 4, and the inner bottom of 8 first supports 3 is along the first lower cover
10 center is uniformly fixed on the first lower cover 10 by circular array, and 9 lower surface of the first upper cover plate is fixed and is located at 8 first
The inner top of frame 3, correspondingly fixation is located at the outer end top of a first support 3, the first nothing to 8 the first brushless electric machines 2 respectively
The main shaft of brush motor 2 is arranged vertically upward, and 8 the first rotors 1 are connected respectively in the main shaft upper end of the first brushless electric machine 2；
Stable head 6 is arranged on the first undercarriage 4 immediately below the first lower cover 10, and measurement photographic head 5 is located under stable head 6
Portion, first laser altitude meter 32 are located at 5 bottom of measurement photographic head, the first flight controller 11, the first power-supply system 12 and first
Laser pick-off calibration system 13 is installed between the first upper cover plate 9 and the first lower cover 10,7 He of the first data acquisition emitter
First signal receiver 8 is both connected on the first flight controller 11, the first data acquisition emitter 7 and the first signal receiver
8 upper end is higher than the first upper cover plate 9.
Target unmanned plane 31 includes 8 the second rotors, 14,8 second supports 16, second of the second brushless electric machine 15,8
Fall frame 17, target prism 18, target head 19, the second data acquisition emitter 21, secondary signal receptor 22, the second upper cover plate
23rd, the second lower cover 24, the second flight controller 25, second source system 26, second laser receive calibration system and second and swash
Light altitude meter 20；Second lower cover 24 is horizontally set at the top of the second undercarriage 17, and the inner bottom of 8 second supports 16 is along
The center of two lower covers 24 is uniformly fixed on the second lower cover 24 by circular array, and 23 lower surface of the second upper cover plate is fixed and is located at
The inner top of 8 second supports 16, correspondingly fixation is located at the outer end of a second support 16 to 8 the second brushless electric machines 15 respectively
Top, the main shaft of the second brushless electric machine 15 are arranged vertically upward, and 8 the second rotors 14 are connected respectively in the second brushless electric machine
15 main shaft upper end；Target head 19 is arranged on the second undercarriage 17 immediately below the second lower cover 24, and target prism 18 sets
In 19 bottom of target head, second laser altitude meter 20 is located at 18 bottom of target prism, the second flight controller 25, second source
System 26 and second laser receive calibration system and are installed between the second upper cover plate 23 and the second lower cover 24, and the second data are adopted
Collection emitter 21 and secondary signal receptor 22 are both connected on the second flight controller 25,21 He of the second data acquisition emitter
The upper end of secondary signal receptor 22 is higher than the second upper cover plate 23.
Ground laser orientation system includes that reference laser transmitting position finder 28 and target laser transmitting position finder 29, benchmark swash
Light is launched position finder 28 and is used cooperatively with first laser reception calibration system 13, and target laser launches position finder 29 and second laser
Receive calibration system to use cooperatively.
The detection method of complicated landform unmanned plane detection system, comprises the following steps：
（1）Assembling measurement unmanned plane 30 and target unmanned plane 31；
（2）Reference laser is launched position finder 28 corresponding known position on the ground is installed, by target laser transmitting positioning
Instrument 29 is installed in the place for needing measurement；
（3）Start measurement unmanned plane 30 and target unmanned plane 31, the first signal receiver 8 and secondary signal receptor 22 are connect respectively
Receive ground remote control signal to be instructed, and instruction be transferred to the first flight controller 11 and the second flight controller 25 respectively,
It is brushless that first flight controller 11 and the second flight controller 25 adjust the first brushless electric machine 2 and second according to flight progress respectively
The rotating speed of motor 15, the information of flight carry out data by the first data acquisition emitter 7 and the second data acquisition emitter 21
Ground is stored and is real-time transmitted to, measurement unmanned plane 30 and target unmanned plane 31 are raised in the air, and measurement unmanned plane 30 is swashed with benchmark
Light is launched position finder and is vertically corresponded to about 28, and target unmanned plane 31 is vertical corresponding about 29 with target laser transmitting position finder；
（4）Unmanned plane to be measured 30 and target unmanned plane 31 are hovered after stablizing in the air, measure 5 bornb sight prism of photographic head
18 measure, you can obtain the height of target prism 18, azimuth, range information, stable finally by target unmanned plane 31
Skyborne height is converted, and is obtained needing the height in place of measurement, azimuth, range information, is completed the letter of measurement point
Breath collection；
Unmanned plane to be measured 30 and target unmanned plane 31 are hovered after stablizing in the air, and first laser altitude meter 32 is measured and benchmark
The distance between Laser emission position finder 28 H1, second laser altitude meter 20 is measured to be launched between position finder 29 with target laser
Apart from H2, measure 5 bornb sight prism 18 of photographic head and measure, be obtained by the reflected light of target prism 18 to be measured
The distance between unmanned plane 30 and target unmanned plane 31 L, by H1、H2Can obtain measuring photographic head 5 and target with the numerical value of L
Angle between prism 18 between line and horizontal plane, is just obtained target laser transmitting position finder 29 finally by conversion automatically
The height in the place at place, azimuth, range information, complete the information gathering of measurement point
（5）After measurement is finished, measurement unmanned plane 30 and the landing of target unmanned plane 31 are reclaimed.
Step（1）The assembling process of middle measurement unmanned plane 30 is specially：8 the first rotors 1 are correspondingly installed to 8 first
On the main shaft of brushless electric machine 2, then 8 the first brushless electric machines 2 are assembled in 8 first supports 3, by the first flight controller
11st, the first power-supply system 12 and first laser receive calibration system 13 and are assembled between the first upper cover plate 9 and the first lower cover 10,
Then 8 first supports 3 are assembled with the first upper cover plate 9, the first lower cover 10 and the first undercarriage 4, then
The stable head 6 of one undercarriage, 4 lower section carry, measurement photographic head 5 and first laser altitude meter 32, complete to measure unmanned plane with this
30 assembling.
Step（1）The assembling process of middle target unmanned plane 31 is specially：8 the second rotors 14 are correspondingly installed to 8
On the main shaft of two brushless electric machines 15, then 8 the second brushless electric machines 15 are assembled in 8 second supports 16, second is flown
Controller 25, second source system 26 and second laser receive calibration system and are assembled in the second upper cover plate 23 and the second lower cover 24
Between, then 8 second supports 16 are assembled with the second upper cover plate 23, the second lower cover 24 and the second undercarriage 17,
Then carry target head 19, target prism 18 and second laser altitude meter 20 below the second undercarriage 17, are completed with this
The assembling of target unmanned plane 31.
The present embodiment not makees any pro forma restriction to the shape of the present invention, material, structure etc., every according to this
Any simple modification, equivalent variations and modification that bright technical spirit is made to above example, belong to the technology of the present invention side
The protection domain of case.
Claims (4)
1. complicated landform unmanned plane detection system, it is characterised in that：Fixed including measuring unmanned plane, target unmanned plane and ground laser
Position system；
Measurement unmanned plane includes 8 the first rotors, 8 the first brushless electric machines, 8 first supports, the first undercarriage, measurement shootings
Head, stable head, the first data acquisition emitter, the first signal receiver, the first upper cover plate, the first lower cover, the first flight
Controller, the first power-supply system, first laser receive calibration system and first laser altitude meter；First lower cover is horizontally set on
First rises and falls top of the trellis, and the inner bottom of 8 first supports is uniformly fixed on along the center of the first lower cover by circular array
On one lower cover, the first upper cover plate lower surface fixes the inner top for being located at 8 first supports, 8 the first brushless electric machine difference
Corresponding fixation is located at the outer end top of a first support, and the main shaft of the first brushless electric machine is arranged vertically upward, 8 the first rotors
It is connected respectively the main shaft upper end in the first brushless electric machine；What stable head was arranged on immediately below the first lower cover first rises and falls
On frame, measurement photographic head is located at stable head bottom, and first laser altitude meter is located at measurement photographic head bottom, the first flight control
Device, the first power-supply system and first laser receive calibration system and are installed between the first upper cover plate and the first lower cover, and first
Data acquisition emitter and the first signal receiver are both connected on the first flight controller, the first data acquisition emitter and
The upper end of one signal receiver is higher than the first upper cover plate；
Target unmanned plane includes 8 the second rotors, 8 the second brushless electric machines, 8 second supports, the second undercarriage, target ribs
Mirror, target head, the second data acquisition emitter, secondary signal receptor, the second upper cover plate, the second lower cover, the second flight
Controller, second source system, second laser receive calibration system and second laser altitude meter；Second lower cover is horizontally set on
At the top of second undercarriage, the inner bottom of 8 second supports is uniformly fixed on along the center of the second lower cover by circular array
On two lower covers, the second upper cover plate lower surface fixes the inner top for being located at 8 second supports, 8 the second brushless electric machine difference
Corresponding fixation is located at the outer end top of a second support, and the main shaft of the second brushless electric machine is arranged vertically upward, 8 the second rotors
It is connected respectively the main shaft upper end in the second brushless electric machine；Target head is arranged on second immediately below the second lower cover and rises and falls
On frame, target prism is located at target head bottom, and second laser altitude meter is located at target prism bottom, the second flight controller,
Second source system and second laser receive calibration system and are installed between the second upper cover plate and the second lower cover, the second data
Collection emitter and secondary signal receptor are both connected on the second flight controller, and the second data acquisition emitter and second is believed
The upper end of number receptor is higher than the second upper cover plate；
Ground laser orientation system includes reference laser transmitting position finder and target laser transmitting position finder, and reference laser transmitting is fixed
Position instrument receives calibration system with first laser and uses cooperatively, and target laser is launched position finder and matched somebody with somebody with second laser reception calibration system
Close and use.
2. the detection method of complicated landform unmanned plane detection system according to claim 1, it is characterised in that：Including following
Step：
（1）Assembling measurement unmanned plane and target unmanned plane；
（2）Reference laser transmitting position finder is installed corresponding known position on the ground, target laser is launched position finder
Installed in the place for needing measurement；
（3）Start measurement unmanned plane and target unmanned plane, the first signal receiver and secondary signal receptor receive ground respectively
Remote signal is instructed, and instruction is transferred to the first flight controller and the second flight controller, the first flight control respectively
Device processed and the second flight controller adjust the rotating speed of the first brushless electric machine and the second brushless electric machine, flight respectively according to flight progress
Information data storage is carried out by the first data acquisition emitter and the second data acquisition emitter and is real-time transmitted to ground,
Measurement unmanned plane and target unmanned plane are raised in the air, and measurement unmanned plane is vertical corresponding up and down with reference laser transmitting position finder, target
Mark unmanned plane is vertical corresponding up and down with target laser transmitting position finder；
（4）Unmanned plane to be measured and target unmanned plane are hovered after stablizing in the air, and first laser altitude meter is measured and swashed with benchmark
The distance between light transmitting position finder H1, second laser altitude meter is measured and target laser launches the distance between position finder H2, survey
Amount photographic head bornb sight prism measure, by the reflected light of target prism be obtained unmanned plane to be measured and target without
The distance between man-machine L, by H1、H2And the numerical value of L can obtain measuring line and horizontal plane between photographic head and target prism
Between angle, be just obtained finally by converting automatically the height in place at target laser transmitting position finder, azimuth, away from
From information, the information gathering of measurement point is completed；
（5）After measurement is finished, measurement unmanned plane and the landing of target unmanned plane are reclaimed.
3. the detection method of complicated landform unmanned plane detection system according to claim 2, it is characterised in that：Step（1）
The assembling process of middle measurement unmanned plane is specially：8 the first rotors are correspondingly installed on the main shaft of 8 the first brushless electric machines,
Then 8 the first brushless electric machines are assembled in 8 first supports, by the first flight controller, the first power-supply system and first
Laser pick-off calibration system is assembled between the first upper cover plate and the first lower cover, then will be covered in 8 first supports and first
Plate, the first lower cover and the first undercarriage are assembled, the then stable head of carry, measurement shooting below the first undercarriage
Head and first laser altitude meter, complete the assembling for measuring unmanned plane with this.
4. the detection method of complicated landform unmanned plane detection system according to claim 2, it is characterised in that：Step（1）
The assembling process of middle target unmanned plane is specially：8 the second rotors are correspondingly installed on the main shaft of 8 the second brushless electric machines,
Then 8 the second brushless electric machines are assembled in 8 second supports, by the second flight controller, second source system and second
Laser pick-off calibration system is assembled between the second upper cover plate and the second lower cover, then will be covered in 8 second supports and second
Plate, the second lower cover and the second undercarriage are assembled, then carry target head, target prism below the second undercarriage
And second laser altitude meter, the assembling of target unmanned plane is completed with this.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269482A (en) * | 2018-08-09 | 2019-01-25 | 广东有为物联科技有限公司 | A kind of bridge anticollision laser level detection method |
| CN109658743A (en) * | 2019-02-01 | 2019-04-19 | 江苏蒲公英无人机有限公司 | A kind of training system and its method in eight word course line of unmanned plane level |
| KR102217877B1 (en) * | 2020-11-23 | 2021-02-19 | 주식회사 이화엔지니어링 | Drone surveying system for terrain change |
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| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN105973230A (en) * | 2016-06-30 | 2016-09-28 | 西安电子科技大学 | Collaborative sensing and planning method for double unmanned aerial vehicles |
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| CN109269482B (en) * | 2018-08-09 | 2021-11-23 | 中山市聚云软件科技有限公司 | Bridge anti-collision laser horizontal detection method |
| CN109658743A (en) * | 2019-02-01 | 2019-04-19 | 江苏蒲公英无人机有限公司 | A kind of training system and its method in eight word course line of unmanned plane level |
| CN109658743B (en) * | 2019-02-01 | 2021-04-27 | 江苏蒲公英无人机有限公司 | Training method for horizontal splayed air route of unmanned aerial vehicle |
| KR102217877B1 (en) * | 2020-11-23 | 2021-02-19 | 주식회사 이화엔지니어링 | Drone surveying system for terrain change |
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