CN106742051A - A kind of aircraft hovering functional stabilization method of testing and system - Google Patents
A kind of aircraft hovering functional stabilization method of testing and system Download PDFInfo
- Publication number
- CN106742051A CN106742051A CN201611064427.3A CN201611064427A CN106742051A CN 106742051 A CN106742051 A CN 106742051A CN 201611064427 A CN201611064427 A CN 201611064427A CN 106742051 A CN106742051 A CN 106742051A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- image
- frame
- hovering
- play amount
- 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.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Landscapes
- Image Analysis (AREA)
- Testing, Inspecting, Measuring Of Stereoscopic Televisions And Televisions (AREA)
Abstract
The invention discloses a kind of aircraft hovering functional stabilization method of testing and system, the method includes：Image is captured frame by frame by predeterminated frequency to flying into test zone and opening the aircraft of hovering function using image collection unit, and each frame image real-time Transmission that image collection unit is captured is to image process unit；Image process unit using hover tester when after the first frame image as test foundation, by the first frame image after each frame image all with the first frame image contrast, the side-play amount of aircraft in the two frame images for comparing is calculated frame by frame；In nominative testing duration, if the side-play amount of aircraft is both less than default aircraft and allows mobile side-play amount in all two frame images for comparing, the hovering functional stabilization test of aircraft passes through, and otherwise tests and does not pass through.The testing scheme of the embodiment of the present invention meets the requirement of systematization and automation, and method of testing is simply intelligent, and with low cost, testing efficiency and the degree of accuracy also have comparing guarantee high.
Description
Technical field
The present invention relates to Aerospace vehicle test technical field, more particularly to a kind of aircraft hovering functional stabilization method of testing
And system.
Background technology
In recent years, it is hot with unmanned plane consumer level market, unmanned plane more and more enter into our work and
Life.Unmanned plane during flying device common in the market is divided to two kinds of fixed-wing and many rotors.Wherein consumer level unmanned plane market is more
Multi-rotor unmanned aerial vehicle is seen, this has benefited from one extremely important characteristic of multi-rotor unmanned aerial vehicle aircraft i.e. hovering function.The work(
Can cause that multi-rotor unmanned aerial vehicle can be with VTOL, without launcher, mobility is high, it is adaptable to more occasions, such as with clapping prison
The fields such as control, outdoor exercises, sports tournament, power system and frontier defense inspection, this is that fixed-wing unmanned plane cannot be realized.Nobody
The final purpose that machine is used is mostly that, in order to obtain the video of high-quality, hoverning stability largely also influences whether video
The quality of quality.Situation higher is required many, it may be said that the stability of hovering directly determines the performance of unmanned plane.Cause
This, hoverning stability also becomes the parameter index that major unmanned plane manufacturers compete with one another for.It is how a feast for the eyes in the market
Unmanned plane product carries out hoverning stability test, the method there is presently no comparison system and automatic intelligent is seen.
The content of the invention
In view of the above problems, the invention provides a kind of aircraft hovering functional stabilization method of testing and system, to solve
Certainly existing aircraft hovering functional stabilization tests the problem of inadequate systematization and automation.
To reach above-mentioned purpose, the technical proposal of the invention is realized in this way：
On the one hand, the present invention provides a kind of aircraft hovering functional stabilization method of testing, controls the aircraft to fly into
Test zone, and control the aircraft to open hovering function；
Hovering test starts timing, and predeterminated frequency is pressed frame by frame to the aircraft of floating state using image collection unit
Crawl image, and each frame image real-time Transmission that the image collection unit is captured is to image process unit；
The image process unit using hover tester when after the first frame image as test foundation, by the first frame image
Each frame image afterwards all with the first frame image contrast, aircraft described in the two frame images for comparing is calculated frame by frame
Side-play amount；
In nominative testing duration, if the side-play amount of aircraft is both less than default flying in all two frame images for comparing
Row device allows mobile side-play amount, then the hovering functional stabilization test of the aircraft passes through, and otherwise tests and does not pass through.
On the other hand, the present invention also provides a kind of aircraft hovering functional stabilization test system, including：Image collection list
Unit, and the image process unit being connected with the image collection unit；
The image collection unit, for starting timing in hovering test, to flying into test zone and opening hovering function
The aircraft capture image frame by frame by predeterminated frequency, and each frame image real-time Transmission that will be captured is to the image processing
Unit；
The image process unit, for using hover tester when after testing time section in the first frame image as test
Foundation, by the first frame image after each frame image all with the first frame image contrast, two frames for comparing are calculated frame by frame
The side-play amount of aircraft described in image；If the side-play amount of aircraft is both less than default flying in all two frame images for comparing
Row device allows mobile side-play amount, then the hovering functional stabilization test of the aircraft passes through, and otherwise tests and does not pass through.
The beneficial effects of the invention are as follows：The present invention provides a kind of aircraft hovering functional stabilization method of testing and system,
Image is captured to the aircraft of floating state by image collection unit frame by frame, and by image real-time Transmission to image processing list
Unit, calculates each frame image and the first frame image after the first frame image and compares the side-play amount of aircraft, and with it is pre-
If aircraft allow mobile side-play amount to contrast to judge the stability of aircraft hovering function.Testing scheme of the invention is expired
Pedal systemization and the requirement of automation, testing scheme are simply intelligent, and with low cost, testing efficiency and the degree of accuracy also have comparing high
Ensure.
Brief description of the drawings
Fig. 1 is the flow chart of the aircraft hovering functional stabilization method of testing of the embodiment of the present invention；
Fig. 2 is the schematic diagram of the aircraft hovering functional stabilization test system of the embodiment of the present invention；
Fig. 3 is the structure chart of the aircraft hovering functional stabilization test system of the embodiment of the present invention.
Specific embodiment
Design concept of the invention is to capture the image of the aircraft of floating state frame by frame by image collection unit, is led to
Each frame image after the first frame image crossed after starting when image process unit calculates tester is relative with the first frame image
Than, the side-play amount of aircraft, and allow mobile side-play amount to contrast with default aircraft, aircraft hovering function is judged accordingly
Stability, realize to aircraft hoverning stability function systemization and automation test.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is described in further detail.
The embodiment of the present invention provides a kind of aircraft hovering functional stabilization method of testing, as shown in figure 1, the method bag
Include：
Step S110：Control the aircraft to fly into test zone, and control the aircraft to open hovering function.
The test zone flown into when Aerospace vehicle test starts is initial testing region, and initial testing region is preferably set to shadow
As the central area scope at collecting unit visual angle.For example, by taking resolution ratio 4000x3000 as an example, centre coordinate for (2000,
1500) x directions coordinate can, then be set between 1500~2500, square region of the y directions coordinate between 1000~2000
As initial testing region.
Step S120：Hovering test starts timing, using image collection unit to the aircraft of floating state by pre-
If frequency captures image frame by frame, and each frame image real-time Transmission that the image collection unit is captured is to image processing list
Unit.
Image collection unit predeterminated frequency was preferably arranged to not less than 30 frames/second.Predeterminated frequency is higher, more easily grabs
The possible position skew of aircraft, accurate testing degree is higher.Certain predeterminated frequency is higher, operand is tested under the same terms and also can
It is bigger.
Step S130：The image process unit using hover tester when after the first frame image as test foundation, will
Each frame image after first frame image all with the first frame image contrast, institute in the two frame images for comparing is calculated frame by frame
State the side-play amount of aircraft；
Step S140：In nominative testing duration, if the side-play amount of aircraft is all small in all two frame images for comparing
Mobile side-play amount is allowed in default aircraft, then the hovering functional stabilization test of the aircraft passes through, and otherwise tests
Do not pass through, the side-play amount for even having aircraft in any two frame images for comparing allows movement more than default aircraft
Side-play amount, then test and do not pass through.
In one embodiment of the invention, consider from test security standpoint, the test zone is confined space.In order to
Ensure that the lighting condition in confined space is good, lighting source is provided with the confined space.By the test zone
Wall is designed as white, the aircraft of floating state be located at the white background wall and the image collection unit it
Between, and exceed safe distance respectively with distance between the two, it is to avoid because apart from the too small unsafe factor for bringing.
In one embodiment of the invention, methods described also includes：
The image collection unit is placed on the support of height-adjustable, the shadow is made by the height for adjusting support
As the height of collecting unit is highly consistent with the aircraft of the floating state, by adjusting regarding for the image collection unit
Angular direction makes the aircraft be located in the angular field of view of the image collection unit.
In an embodiment of the present invention, methods described also includes：
Image data is converted to by YUV gradation datas by software algorithm, image greyscale value is then extracted.Due to wall
It is white, therefore the gray value of wall is theoretically zero, and the gray value of aircraft is not zero in theory.According to pixel grey scale
The position of positioning aircraft by value relation.
Specifically, the gray value of the first frame image after the image process unit is extracted when hovering tester, and according to
The boundary coordinate of the upper and lower, left and right of aircraft described in the gray value search image is simultaneously recorded；
Dimension information of the aircraft in units of pixel, and root are obtained by the boundary coordinate of the first frame image
The corresponding physical length of pixel is conversed in the image according to the actual size of the aircraft.
For example, the physical length of aircraft is 40cm, is obtained according to aircraft right boundary coordinate in the first frame image and flown
It is 1000 pixels that row device is corresponding in the longitudinal direction, then the corresponding physical length of pixel is 0.4mm.
According to the corresponding physical length of pixel in the image, by the default aircraft in units of physical length
The aircraft for allowing mobile side-play amount to be converted into units of pixel allows mobile side-play amount.
For example, the test request of hoverning stability is aircraft allowing mobile side-play amount for ± 50mm, 50mm is conversed
Corresponding pixel count 125, as aircraft allow mobile pixel count.
Then in step S130, the side-play amount that aircraft described in the two frame images for comparing is calculated frame by frame includes：
The image process unit extracts the gray value of each frame image after the first frame image, and according to the gray scale
The boundary coordinate of the upper and lower, left and right of aircraft described in value search image；
The boundary coordinate of each frame image after by the first frame image and the boundary coordinate of the first frame image
Contrasted frame by frame, obtained the pixel count of the boundary coordinate movement of the upper and lower, left and right of aircraft described in two frame images, will be obtained
The upper and lower, left and right for taking boundary coordinate movement maximum pixel number as aircraft described in two frame images side-play amount.
If it should be noted that aircraft does translational motion, the aircraft in the plane parallel with wall
Upper and lower, left and right boundary coordinate movement pixel count it is identical；If aircraft does in the plane parallel with wall revolved
Transhipment is dynamic, then the pixel count of the boundary coordinate movement of the upper and lower, left and right of aircraft is probably different, therefore will obtain
Upper and lower, left and right boundary coordinate movement maximum pixel number as aircraft described in two frame images side-play amount.
In one particular embodiment of the present invention, also dependent on the aircraft boundary coordinate up and down of the first frame image
Mobile pixel count is allowed plus aircraft, test scope border delimited, i.e., lower right boundary is the center of circle above, is permitted with aircraft
Perhaps the pixel count for moving is the circle of radius delimitation as test scope border.The each frame image tested after the first frame image flies
Whether the border up and down of row device exceedes test scope border.If the border up and down of aircraft does not all surpass in all images
Test scope border is crossed, then the hovering functional stabilization test of aircraft passes through, and otherwise tests and does not pass through, i.e., if any frame
The border up and down of aircraft exceeds border in image, then test and do not pass through.
In embodiments of the present invention, the image collection unit includes IP Camera or USB camera, such as supports UVC
IP camera or USB camera, the IP Camera is connected by wireless network with the image process unit, described
USB camera is connected by USB data line with the image process unit.Image process unit can be needed for common routine office work
The desktop computer or notebook asked, there is display card, and other are without extra high configuration, and network interface or USB functions are intact, computer peace
Assemble the test software of set, such as image processing software.
The embodiment of the present invention also provides a kind of aircraft hovering functional stabilization test system, such as the common institutes of Fig. 2 and Fig. 3
Show, the system includes：Image collection unit 100, and the image process unit 200 being connected with image collection unit 100；
Image collection unit 100, for starting timing in hovering test, to flying into test zone and opening hovering function
Aircraft 300 captures image frame by frame by predeterminated frequency, and each frame image real-time Transmission that will be captured is to image process unit
200；
Image process unit 200, for using hover tester when after testing time section in the first frame image as test
Foundation, by the first frame image after each frame image all with the first frame image contrast, the two frame images for comparing are calculated frame by frame
The side-play amount of middle aircraft；If the side-play amount of aircraft is both less than default aircraft and allows in all two frame images for comparing
Mobile side-play amount, the then hovering functional stabilization test of aircraft passes through, and otherwise tests and does not pass through.
In embodiments of the present invention, consider from test security standpoint, as shown in figure 3, test zone is confined space 700.
In order to ensure that the lighting condition in confined space is good, lighting source 400 is provided with confined space.The wall of test zone
600 is white, and the aircraft 300 of floating state is located between white background wall 600 and image collection unit 100, and with both
The distance between, i.e. in Fig. 3 apart from a and apart from b, respectively more than default safe distance, it is to avoid because being brought apart from too small
Unsafe factor.
In embodiments of the present invention, stability of aircraft test system also includes：The support 500 of height-adjustable, such as three
Foot stool, for placing image collection unit 100, the height of image collection unit 100 and hovering shape is made by adjusting oneself height
The aircraft 300 of state it is highly consistent.
In embodiments of the present invention, image process unit 200, are additionally operable to the first frame image after extracting when hovering tester
Gray value, and according to gray value search for image in aircraft upper and lower, left and right boundary coordinate and record, by the first frame
The boundary coordinate of image obtains dimension information of the aircraft in units of pixel, and converses shadow according to the actual size of aircraft
The corresponding physical length of pixel as in；According to the corresponding physical length of pixel in image, will be default long with physics
Spend allows mobile side-play amount for the aircraft of unit allows the aircraft that mobile side-play amount is converted into units of pixel；With
And,
The gray value of each frame image after the first frame image is extracted, and aircraft in image is searched for according to gray value
The boundary coordinate of upper and lower, left and right；The boundary coordinate of each frame image after by the first frame image and the side of the first frame image
Boundary's coordinate is contrasted the pixel count of the boundary coordinate movement of the upper and lower, left and right for obtaining aircraft in two frame images frame by frame, will
The upper and lower, left and right of acquisition boundary coordinate movement maximum pixel number as aircraft in two frame images side-play amount.
In embodiments of the present invention, image collection unit 100 includes IP Camera or USB camera, as supported UVC
IP camera or USB camera, IP Camera is connected by wireless network with image process unit 200, and USB camera is led to
USB data line is crossed to be connected with image process unit 200.Image process unit 200 can be the desk-top of common routine office work demand
Computer or notebook, there is display card, and other are without extra high configuration, and network interface or USB functions are intact, and computer is installed supporting
Test software, such as image processing software.
In sum, the beneficial effect of the embodiment of the present invention is, a kind of aircraft hovering work(provided in an embodiment of the present invention
Stabilizability method of testing and system, image is captured to the aircraft of floating state by image collection unit frame by frame, and by shadow
As real-time Transmission to image process unit, calculate each frame image after the first frame image and compared with the first frame image
The side-play amount of aircraft, and with default aircraft allow mobile side-play amount to contrast to judge the stabilization of aircraft hovering function
Property.The testing scheme of the embodiment of the present invention meets the requirement of systematization and automation, and testing scheme is simply intelligent, with low cost,
Testing efficiency and the degree of accuracy also have comparing guarantee high.
The above, specific embodiment only of the invention, under above-mentioned teaching of the invention, those skilled in the art
Other improvement or deformation can be carried out on the basis of above-described embodiment.It will be understood by those skilled in the art that above-mentioned tool
The purpose of the present invention is simply preferably explained in body description, and protection scope of the present invention should be defined by scope of the claims.
Claims (10)
1. a kind of aircraft hovering functional stabilization method of testing, it is characterised in that
Control the aircraft to fly into test zone, and control the aircraft to open hovering function；
Hovering test starts timing, and the aircraft of floating state is captured frame by frame by predeterminated frequency using image collection unit
Image, and each frame image real-time Transmission that the image collection unit is captured is to image process unit；
The image process unit using hover tester when after the first frame image as test foundation, after the first frame image
Each frame image all with the first frame image contrast, the skew of aircraft described in the two frame images for comparing is calculated frame by frame
Amount；
In nominative testing duration, if the side-play amount of aircraft is both less than default aircraft in all two frame images for comparing
Mobile side-play amount is allowed, then the hovering functional stabilization test of the aircraft passes through, and otherwise tests and does not pass through.
2. aircraft according to claim 1 hovering functional stabilization method of testing, it is characterised in that
The test zone is confined space, and lighting source is provided with the confined space；
The wall of the test zone is designed as white, the aircraft of floating state be located at the white background wall and
Between the image collection unit, and exceed safe distance respectively with distance between the two.
3. aircraft according to claim 2 hovering functional stabilization method of testing, it is characterised in that methods described is also wrapped
Include：
The gray value of the first frame image after during the image process unit extraction hovering tester, and searched according to the gray value
The boundary coordinate of the upper and lower, left and right of aircraft described in rope image is simultaneously recorded；
Dimension information of the aircraft in units of pixel is obtained by the boundary coordinate of the first frame image, and according to institute
The actual size for stating aircraft converses in the image the corresponding physical length of pixel；
According to the corresponding physical length of pixel in the image, the default aircraft in units of physical length is allowed
The aircraft that mobile side-play amount is converted into units of pixel allows mobile side-play amount；
Then the side-play amount for calculating aircraft described in the two frame images for comparing frame by frame includes：
The image process unit extracts the gray value of each frame image after the first frame image, and is searched according to the gray value
The boundary coordinate of the upper and lower, left and right of aircraft described in rope image；
The boundary coordinate of each frame image after by the first frame image is carried out with the boundary coordinate of the first frame image
Contrast frame by frame, the pixel count of the boundary coordinate movement of the upper and lower, left and right of aircraft described in two frame images is obtained, by what is obtained
Upper and lower, left and right boundary coordinate movement maximum pixel number as aircraft described in two frame images side-play amount.
4. aircraft according to claim 1 hovering functional stabilization method of testing, it is characterised in that the image collection
Unit includes IP Camera or USB camera, and the IP Camera is connected by wireless network with the image process unit
Connect, the USB camera is connected by USB data line with the image process unit.
5. aircraft according to claim 1 hovering functional stabilization method of testing, it is characterised in that methods described is also wrapped
Include：
The image collection unit is placed on the support of height-adjustable, the image is adopted by the height for adjusting support
The height for collecting unit is highly consistent with the aircraft of the floating state.
6. a kind of aircraft hovering functional stabilization test system, it is characterised in that including：Image collection unit, and with institute
State the image process unit of image collection unit connection；
The image collection unit, for starting timing in hovering test, to flying into test zone and opening the institute of hovering function
State aircraft and capture image frame by frame by predeterminated frequency, and each frame image real-time Transmission that will be captured is to the image processing list
Unit；
The image process unit, for using hover tester when after testing time section in the first frame image as test according to
According to, by the first frame image after each frame image all with the first frame image contrast, the two frame shadows for comparing are calculated frame by frame
The side-play amount of aircraft as described in；If the side-play amount of aircraft is both less than default flight in all two frame images for comparing
Device allows mobile side-play amount, then the hovering functional stabilization test of the aircraft passes through, and otherwise tests and does not pass through.
7. aircraft according to claim 6 hovering functional stabilization test system, it is characterised in that
The test zone is confined space, and lighting source is provided with the confined space；
The wall of the test zone is white, and the aircraft of floating state is located at the white background wall and the shadow
Between picture collecting unit, and exceed safe distance respectively with distance between the two.
8. aircraft according to claim 7 hovering functional stabilization test system, it is characterised in that
The image process unit, is additionally operable to the gray value of the first frame image after extracting when hovering tester, and according to described
Gray value search image in aircraft upper and lower, left and right boundary coordinate and record, by the border of the first frame image
Coordinate obtains dimension information of the aircraft in units of pixel, and according to the actual size of the aircraft is conversed
The corresponding physical length of pixel in image；According to the corresponding physical length of pixel in the image, by it is default with
Physical length allows the inclined of movement for the aircraft of unit allows the aircraft that mobile side-play amount is converted into units of pixel
Shifting amount；And,
The gray value of each frame image after the first frame image is extracted, and flight described in image is searched for according to the gray value
The boundary coordinate of the upper and lower, left and right of device；The boundary coordinate and the first frame of each frame image after by the first frame image
The boundary coordinate of image is contrasted the boundary coordinate for obtaining the upper and lower, left and right of aircraft described in two frame images frame by frame
Mobile pixel count, the maximum pixel number of the boundary coordinate movement of the upper and lower, left and right that will be obtained is used as described in two frame images
The side-play amount of aircraft.
9. aircraft according to claim 6 hovering functional stabilization test system, it is characterised in that the image collection
Unit includes IP Camera or USB camera, and the IP Camera is connected by wireless network with the image process unit
Connect, the USB camera is connected by USB data line with the image process unit.
10. aircraft according to claim 6 hovering functional stabilization test system, it is characterised in that the aircraft
System for testing stability also includes：The support of height-adjustable, for placing the image collection unit, by adjusting from height
Degree makes the height of the image collection unit highly consistent with the aircraft of the floating state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611064427.3A CN106742051B (en) | 2016-11-28 | 2016-11-28 | Aircraft hovering function stability testing method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611064427.3A CN106742051B (en) | 2016-11-28 | 2016-11-28 | Aircraft hovering function stability testing method and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106742051A true CN106742051A (en) | 2017-05-31 |
| CN106742051B CN106742051B (en) | 2023-07-21 |
Family
ID=58901896
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611064427.3A Active CN106742051B (en) | 2016-11-28 | 2016-11-28 | Aircraft hovering function stability testing method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106742051B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050969A (en) * | 2018-06-14 | 2018-12-21 | 广东工业大学 | A kind of multi-rotor unmanned aerial vehicle vision spot hover stability test platform |
| CN109211573A (en) * | 2018-09-12 | 2019-01-15 | 北京工业大学 | A kind of evaluating method of unmanned plane hoverning stability |
| CN109974660A (en) * | 2019-03-18 | 2019-07-05 | 南昌大学 | Method based on unmanned plane hovering video measuring unmanned plane hovering precision |
| CN114323552A (en) * | 2021-11-18 | 2022-04-12 | 厦门大学 | Method for judging stability of water entering and exiting from cross-medium navigation body |
| CN114877876A (en) * | 2022-07-12 | 2022-08-09 | 南京市计量监督检测院 | Unmanned aerial vehicle hovering precision evaluation method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030094537A1 (en) * | 2000-07-28 | 2003-05-22 | Austen-Brown John Frederick | Personal hoverplane with four tiltmotors |
| JP2005286643A (en) * | 2004-03-29 | 2005-10-13 | Tama Tlo Kk | Automatic moving object tracking method and its system |
| RU93777U1 (en) * | 2009-10-22 | 2010-05-10 | Юрий Александрович Борисов | DEVICE FOR MEASURING THE INCORPORTIVITY OF THE HELICOPTER BLADES OF A HELICOPTER |
| CN103492264A (en) * | 2011-02-17 | 2014-01-01 | 佐治亚技术研究公司 | Hovering and gliding multi-wing flapping micro aerial vehicle |
| CN103853156A (en) * | 2014-02-07 | 2014-06-11 | 中山大学 | Small four-rotor aircraft control system and method based on airborne sensor |
| CN105083588A (en) * | 2015-08-17 | 2015-11-25 | 华南农业大学 | Performance test platform and method for multi-rotor unmanned aerial vehicle |
| CN105083585A (en) * | 2015-07-10 | 2015-11-25 | 桂林航天工业学院 | Balance test system of four-rotor aircraft |
| CN105217054A (en) * | 2015-10-12 | 2016-01-06 | 西北农林科技大学 | A kind of fixed-wing VUAV detects landing platform automatically |
| FR3026435A1 (en) * | 2014-09-29 | 2016-04-01 | Turbomeca | DEVICE AND METHOD FOR INTEGRITY TESTING OF A RAPID REACTIVATION SYSTEM OF A TURBOMOTOR OF A HELICOPTER |
| CN205150273U (en) * | 2015-10-29 | 2016-04-13 | 上海交通大学 | 6 -degree of freedom unmanned aerial vehicle attitude control testing arrangement |
| US20160246304A1 (en) * | 2015-02-24 | 2016-08-25 | Qualcomm Incorporated | Near-flight Testing Maneuvers for Autonomous Aircraft |
| CN105947233A (en) * | 2016-06-22 | 2016-09-21 | 北方信息控制集团有限公司 | Multi-rotor power testing device and method |
| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
| CN106143949A (en) * | 2016-07-06 | 2016-11-23 | 西安交通大学 | A kind of unmanned vehicle testboard and method of testing thereof |
-
2016
- 2016-11-28 CN CN201611064427.3A patent/CN106742051B/en active Active
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030094537A1 (en) * | 2000-07-28 | 2003-05-22 | Austen-Brown John Frederick | Personal hoverplane with four tiltmotors |
| JP2005286643A (en) * | 2004-03-29 | 2005-10-13 | Tama Tlo Kk | Automatic moving object tracking method and its system |
| RU93777U1 (en) * | 2009-10-22 | 2010-05-10 | Юрий Александрович Борисов | DEVICE FOR MEASURING THE INCORPORTIVITY OF THE HELICOPTER BLADES OF A HELICOPTER |
| CN103492264A (en) * | 2011-02-17 | 2014-01-01 | 佐治亚技术研究公司 | Hovering and gliding multi-wing flapping micro aerial vehicle |
| CN103853156A (en) * | 2014-02-07 | 2014-06-11 | 中山大学 | Small four-rotor aircraft control system and method based on airborne sensor |
| FR3026435A1 (en) * | 2014-09-29 | 2016-04-01 | Turbomeca | DEVICE AND METHOD FOR INTEGRITY TESTING OF A RAPID REACTIVATION SYSTEM OF A TURBOMOTOR OF A HELICOPTER |
| US20160246304A1 (en) * | 2015-02-24 | 2016-08-25 | Qualcomm Incorporated | Near-flight Testing Maneuvers for Autonomous Aircraft |
| CN105083585A (en) * | 2015-07-10 | 2015-11-25 | 桂林航天工业学院 | Balance test system of four-rotor aircraft |
| CN105083588A (en) * | 2015-08-17 | 2015-11-25 | 华南农业大学 | Performance test platform and method for multi-rotor unmanned aerial vehicle |
| CN105217054A (en) * | 2015-10-12 | 2016-01-06 | 西北农林科技大学 | A kind of fixed-wing VUAV detects landing platform automatically |
| CN205150273U (en) * | 2015-10-29 | 2016-04-13 | 上海交通大学 | 6 -degree of freedom unmanned aerial vehicle attitude control testing arrangement |
| CN105947233A (en) * | 2016-06-22 | 2016-09-21 | 北方信息控制集团有限公司 | Multi-rotor power testing device and method |
| CN106143949A (en) * | 2016-07-06 | 2016-11-23 | 西安交通大学 | A kind of unmanned vehicle testboard and method of testing thereof |
| CN106094868A (en) * | 2016-08-01 | 2016-11-09 | 杨珊珊 | The Hovering control device of unmanned vehicle and Hovering control method thereof |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109050969A (en) * | 2018-06-14 | 2018-12-21 | 广东工业大学 | A kind of multi-rotor unmanned aerial vehicle vision spot hover stability test platform |
| CN109050969B (en) * | 2018-06-14 | 2024-01-30 | 广东工业大学 | Multi-rotor unmanned aerial vehicle vision fixed point hovering stability test platform |
| CN109211573A (en) * | 2018-09-12 | 2019-01-15 | 北京工业大学 | A kind of evaluating method of unmanned plane hoverning stability |
| CN109974660A (en) * | 2019-03-18 | 2019-07-05 | 南昌大学 | Method based on unmanned plane hovering video measuring unmanned plane hovering precision |
| CN114323552A (en) * | 2021-11-18 | 2022-04-12 | 厦门大学 | Method for judging stability of water entering and exiting from cross-medium navigation body |
| CN114877876A (en) * | 2022-07-12 | 2022-08-09 | 南京市计量监督检测院 | Unmanned aerial vehicle hovering precision evaluation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106742051B (en) | 2023-07-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106742051A (en) | A kind of aircraft hovering functional stabilization method of testing and system | |
| CN101576771B (en) | Scaling method for eye tracker based on nonuniform sample interpolation | |
| CN102917232B (en) | Face recognition based 3D (three dimension) display self-adaptive adjusting method and face recognition based 3D display self-adaptive adjusting device | |
| CN109508741B (en) | Method for screening training set based on deep learning | |
| WO2019052318A1 (en) | Method, apparatus and system for monitoring elevator car | |
| CN109801301A (en) | A kind of automatic collection method of tile work progress msg based on BIM and computer vision | |
| CN110059611A (en) | A kind of intelligence vacant seat recognition methods in classroom | |
| CN108830267A (en) | A kind of method and system goed over examination papers based on image recognition | |
| CN107421963A (en) | A kind of nuclear fuel green compact crack detection device and crack detecting method | |
| CN106447728A (en) | Scanning state adjustment method and apparatus | |
| CN110554046A (en) | detection system and method for pins of electronic components | |
| CN112710670B (en) | Solar cell coating detection device and control method | |
| CN112040198A (en) | Intelligent water meter reading identification system and method based on image processing | |
| CN112702481A (en) | Table tennis track tracking device and method based on deep learning | |
| CN109726721A (en) | A kind of Chinese chess recognition methods based on convolutional neural networks model | |
| CN104392202A (en) | Image-identification-based automatic cutting method | |
| CN107392251A (en) | A kind of method that target detection network performance is lifted using category images | |
| CN105699387A (en) | Electronic product appearance defect detection system | |
| CN103949054A (en) | Infrared light gun positioning method and system | |
| CN207924513U (en) | A kind of unmanned plane of achievable power line automatic detecting | |
| CN114677644A (en) | Student seating distribution identification method and system based on classroom monitoring video | |
| CN112465794A (en) | Golf ball detection method based on YOLOv4 and embedded platform | |
| CN109374037A (en) | A kind of image automatic detection device | |
| JP6360650B1 (en) | Anomaly detection system, method and program | |
| CN207117843U (en) | A kind of portable translucent correction system and equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |