CN106813682A - A kind of four-way airborne angle means for correcting and bearing calibration - Google Patents

A kind of four-way airborne angle means for correcting and bearing calibration Download PDF

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Publication number
CN106813682A
CN106813682A CN201710014039.2A CN201710014039A CN106813682A CN 106813682 A CN106813682 A CN 106813682A CN 201710014039 A CN201710014039 A CN 201710014039A CN 106813682 A CN106813682 A CN 106813682A
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measurement
distance measuring
calibration
distance
measuring unit
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CN201710014039.2A
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CN106813682B (en
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候晓翠
潘龙
刘喜
徐钦旭
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西安交通大学青岛研究院
青岛翰兴知识产权运营管理有限公司
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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass

Abstract

A kind of four-way airborne angle means for correcting and bearing calibration, including first, second, third, fourth measurement apparatus and calibration device, wherein first, second, third, fourth measurement apparatus all include shell, base, the first distance measuring unit and second distance measuring unit, distance measuring sensor is provided with the outer wall of shell, the set location of distance measuring sensor is flushed with the lower edge of calibration device in the horizontal direction;Calibration device has scale, and it sets in meter full scale and senses with the signal to distance measuring sensor transmitting, in real time the inductor of record sensed position;The lower end of calibration device is provided with for measuring calibration device to the calibration sensor of the vertical range on ground, it is possible to increase certainty of measurement, and the angle correct of flight equipment is carried out after accurate measurement angle change trend, so as to improve monitoring efficiency, improves monitoring accuracy.

Description

A kind of four-way airborne angle means for correcting and bearing calibration
Technical field
The present invention relates to fields of measurement, and in particular to a kind of four-way airborne angle means for correcting and bearing calibration.
Background technology
In this year, with the development of social economy and science and technology, in military and civilian field, aeronautical technology is received extensively Concern.Following aeronautical technology is also important development trend.With the development of aeronautical technology, more next more scientific equipments May be loaded with flight equipment, for example, monitor sensing equipment, communication apparatus, location equipment, capture apparatus etc., all widely It is applied in technical field of aerospace.
Wherein, the equipment by being loaded in flight equipment, it is possible to achieve monitoring, traffic altitude to the image on ground Measurement etc., and different high-altitudes highly has different monitoring of environmental, and unexpected measurement angle (for example inclining) meeting So that measurement data distortion, such as shoot dislocation of photo etc., then accurate to measure particularly weighing for change in a certain height Will.However, current flight equipment to ground when being monitored, due to being influenceed (such as wind, air pressure, height by external environment Degree etc.), often cannot accurately be shot using equipment such as such as cameras in desired angle.Although in the prior art There are the measuring apparatus such as gyroscope to carry out angular surveying, the equipment so as to realize angle correct, but cannot still expire The high-precision measurement of foot.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, there is provided one kind can improve certainty of measurement, accurate measurement The angle correct of flight equipment is carried out after angle change trend, so as to improve monitoring efficiency, the four-way of monitoring accuracy is improved Airborne angle means for correcting and bearing calibration.
The invention provides a kind of four-way airborne angle means for correcting, including first, second, third, fourth measurement apparatus And calibration device, first, second, third, fourth measurement apparatus are arranged on support by connecting rod respectively, calibration device by it is flexible even Wiring is arranged on support;
Wherein first, second, third, fourth measurement apparatus all include shell, base, the first distance measuring unit and second Distance measuring unit, the upper end of base is fixedly connected with the lower end of shell, and the first distance measuring unit and second distance measurement are single Unit is respectively arranged at the lower end of base;The signal direction of the launch of second distance measuring unit vertically downward, and with the first distance The angle of the signal direction of the launch of measuring unit is 5 °, and first, second, third, fourth measurement apparatus are arranged at sustained height simultaneously And it is adjacent between angle be 90 °, the signal of first and second distance measuring unit of first, second, third, fourth measurement apparatus The direction of the launch is distinguished at grade, and the second distance measuring unit of first, second, third, fourth measurement apparatus is divided The side of the calibration device not being located remotely from;
Distance measuring sensor is respectively arranged with the outer wall of the shell of first, second, third, fourth measurement apparatus, range finding is passed The set location of sensor is flushed with the lower edge of calibration device in the horizontal direction;
Calibration device has scale, and it sets in meter full scale and feels with the signal to distance measuring sensor transmitting Should, and the inductor of sensed position is recorded in real time;The lower end of calibration device is provided with for measuring calibration device hanging down to ground The calibration sensor of straight distance.
Wherein, the inner chamber of shell accommodates electronic device.
Wherein, calibration sensor is elevation carrection sensor.
Wherein, four-way airborne angle means for correcting is arranged on carrying platform.
The present invention also provides a kind of bearing calibration of utilization four-way airborne angle means for correcting, in turn includes the following steps:
(1) initialization of calibration is carried out:Distance measuring sensor using first, second, third, fourth measurement apparatus is launched respectively To calibration device, calibration device senses the sensed position that distance measuring sensor launches distance measuring signal, adjustment range finding sensing to distance measuring signal in real time The launch angle of device transmitting distance measuring signal causes that transmission signal is directed at 0 point of calibration device;
(2) calibration device to the vertical range on ground is measured by calibration device, calibration device the hanging down to ground obtained with measurement Straight distance subtracts the signal level direction of the launch of distance measuring sensor between the emission measurement starting point of second distance measuring unit Distance, obtains the first distance;
(3) using the signal direction of the launch relation of the first distance and the first distance measuring unit, be calculated first respectively, Second, third, in the first measuring unit direction of the launch of the 4th measurement apparatus to the second distance on ground;
(4) counterparty is measured respectively using first and second distance measuring unit of first, second, third, fourth measurement apparatus First and second upward measurement distance, first and second measurement distance is contrasted respectively with first and second distance respectively, if both are identical Then enter step (5), otherwise then behind the inclination angle of adjustment carrying platform, repeat step (1)-(3);
(5) 0 point of calibration device of demarcation distance is measured by distance measuring sensor;
(6) first and second distance measuring unit and range finding for being utilized respectively first, second, third, fourth measurement apparatus are sensed Device is measured in real time, according to the angle of inclination of measurement result real-time adjustment carrying platform.
Wherein, it is specially according to the angle of inclination of measurement result real-time adjustment carrying platform in step (6):
If A. the second distance measurement of first and second distance measuring unit of the first measurement apparatus and the 3rd measurement apparatus is single The first of unit, the measuring route increase of distance measuring sensor, and the distance measuring sensor of the first measurement apparatus and the 3rd measurement apparatus away from From measuring unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 3rd measurement apparatus Side adjustment;
If B. the second distance measuring unit of the first measurement apparatus, distance measuring sensor and the second measurement apparatus first, The measuring route increase of two distance measuring units, and the first measurement apparatus the first distance measuring unit and second measurement apparatus The measuring route of distance measuring sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the first measurement apparatus Side adjustment;
If C. the second distance measurement of first and second distance measuring unit of the second measurement apparatus and the 4th measurement apparatus is single The first of unit, the measuring route increase of distance measuring sensor, and the distance measuring sensor of the second measurement apparatus and the 4th measurement apparatus away from From measuring unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 4th measurement apparatus Side adjustment;
If D. the second distance measuring unit of the second measurement apparatus, distance measuring sensor and the 4th measurement apparatus first, The measuring route increase of two distance measuring units, and the second measurement apparatus the first distance measuring unit and the 4th measurement apparatus The measuring route of distance measuring sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the second measurement apparatus Side adjustment;
If the E. measurement of first and second distance measuring unit and distance measuring sensor of first, second, three, four measurement apparatus Path is constant, then the angle of inclination of carrying platform does not adjust.
Wherein, the adjustment mode at the angle of inclination of carrying platform is the aerodynamic power for increasing or reducing respective side.
Wherein, also including step (7):First range measurement list in the first distance and step (6) that are obtained using step (2) The distance of first measurement in real time, angle of inclination is obtained by trigonometric function.
Wherein, also including step (8):Distance measuring sensor using the calibration for prestoring launches the path length pair of distance measuring signal The scale and the relation at angle of inclination answered, the graduation position sensed in real time by inductor obtain angle of inclination.
Four-way airborne angle means for correcting of the invention and bearing calibration, it is possible to achieve:
1) angle of inclination, dynamic adjustment angle of inclination are obtained in real time;
2) on the basis of existing angular surveying post-equalization, further fine measurement, Neng Gouti are carried out to angle of inclination High measurement accuracy, monitoring efficiency.
Brief description of the drawings
Fig. 1 is four-way airborne angle means for correcting structural representation
Fig. 2 is the structural representation of calibration device
Fig. 3 is angle correct principle schematic
Specific embodiment
The following detailed description of specific implementation of the invention, it is necessary to it is pointed out here that, below implement to be only intended to this hair Bright further illustrates, it is impossible to be interpreted as limiting the scope of the invention, and art skilled person is according to above-mentioned Some nonessential modifications and adaptations that the content of the invention is made to the present invention, still fall within protection scope of the present invention.
The invention provides a kind of four-way airborne angle means for correcting and bearing calibration, as shown in figure 1, four-way airborne angle Means for correcting 1 includes first, second, third, fourth measurement apparatus and calibration device 7, first, second, third, fourth measurement apparatus It is arranged on support by connecting rod respectively, calibration device 7 is arranged on support by flexible connection line;Wherein first, second, 3rd, the 4th measurement apparatus all include shell 2, base 3, the first distance measuring unit 4, second distance measuring unit 5, base 3 Upper end is fixedly connected with the lower end of shell 2, and the inner chamber of shell 2 can accommodate electronic device, such as process circuit etc.;First distance is surveyed Amount unit 4, second distance measuring unit 5 are respectively arranged at the lower end of base 3;The signal launch party of second distance measuring unit 5 To vertically downward, and it is 5 °, first, second, third, with the angle of the signal direction of the launch of the first distance measuring unit 4 Four measurement apparatus be arranged at sustained height and it is adjacent between angle be 90 °, first, second, third, fourth measurement apparatus The signal direction of the launch of first and second distance measuring unit is distinguished at grade, and first, second, third, fourth measurement The side of the calibration device that the second distance measuring unit of device is located remotely from respectively;
Distance measuring sensor 6 is respectively arranged with the outer wall of the shell 2 of first, second, third, fourth measurement apparatus, is found range Lower edge of the set location of sensor 6 in the horizontal direction with calibration device 7 is flushed, i.e. the lower edge and distance measuring sensor of scaler 7 Positioned at sustained height, so vertical range can be measured by calibration device 7, according to the design size of measurement apparatus, by mark The vertical range for determining the measurement of device 7 subtracts the horizontal direction of distance measuring sensor 6 to the emission measurement starting point of second distance measuring unit The distance between, the vertical range of second distance measuring unit measurement when without run-off the straight is obtained, obtained simultaneously by calculating To the first distance measuring unit to the distance on ground.
Because calibration device 7 is affected by gravity, and flexible connection line is not limiting upon the movement of calibration device 7, therefore, when When flight instruments is inclined, calibration device 7 still can be affected by gravity, and itself will not occur relative inclination, then can Demarcated with using calibration device 7.As shown in Fig. 2 calibration device 7 has scale, centre is 0, upwards to be downwards negative just, and And it has inductor in meter full scale, such that it is able to sense to the signal that distance measuring sensor 6 is launched, record in real time Sensed position.
Fig. 3 is angle correct principle schematic, first, initialization of calibration is carried out by calibration device 7, first, second, the 3rd, the distance measuring sensor 6 of the 4th measurement apparatus launches distance measuring signal respectively, and transmission signal is directed at 0 point of calibration device 7, During being corrected, if without run-off the straight, the signal direction of the launch of second distance measuring unit 5 vertically downward, And the signal direction of the launch of the first distance measuring unit 4 and its angle are 5 °.When there is the inclination in a direction, demarcate Device 7 is affected by gravity still vertically downward, and the transmission signal path e of distance measuring sensor 6, f, g, h, first and second distance are surveyed Measure unit transmission signal path a, b can all shift, Fig. 3 be the first measurement apparatus situation of change (second and third, four dress Principle is put to be similar to), when flight instruments is inclined towards right side, the transmission signal path e of distance measuring sensor 6 shortens, transmitting letter Number alignment calibration device 7 negative scale, transmission signal the path a, b of first and second distance measuring unit with time-varying greatly a ', b ', that By judging that each path can be obtained by the situation at angle of inclination, so as to carry out the adjustment of angle to carrying platform.
Present invention also offers a kind of bearing calibration of utilization four-way airborne angle means for correcting, successively including following step Suddenly:
(1) initialization of calibration is carried out:Distance measuring sensor using first, second, third, fourth measurement apparatus is launched respectively To calibration device, calibration device senses the sensed position that distance measuring sensor launches distance measuring signal, adjustment range finding sensing to distance measuring signal in real time The launch angle of device transmitting distance measuring signal causes that transmission signal is directed at 0 point of calibration device;
(2) calibration device to the vertical range on ground is measured by calibration device, calibration device the hanging down to ground obtained with measurement Straight distance subtracts the signal level direction of the launch of distance measuring sensor between the emission measurement starting point of second distance measuring unit Distance, obtains the first distance;
(3) using the first distance and the signal direction of the launch relation (5 ° of angles) of the first distance measuring unit, count respectively Calculation obtains the second distance in the first measuring unit direction of the launch of first, second, third, fourth measurement apparatus to ground;
(4) counterparty is measured respectively using first and second distance measuring unit of first, second, third, fourth measurement apparatus First and second upward measurement distance, first and second measurement distance is contrasted respectively with first and second distance respectively, if both are identical Then enter step (5), otherwise then behind the inclination angle of adjustment carrying platform, repeat step (1)-(3);
(5) 0 point of calibration device of demarcation distance is measured by distance measuring sensor;
(6) first and second distance measuring unit and range finding for being utilized respectively first, second, third, fourth measurement apparatus are sensed Device is measured in real time, according to the angle of inclination of measurement result real-time adjustment carrying platform.
Wherein, it is specially according to the angle of inclination of measurement result real-time adjustment carrying platform in step (6):
If A. the second distance measurement of first and second distance measuring unit of the first measurement apparatus and the 3rd measurement apparatus is single The first of unit, the measuring route increase of distance measuring sensor, and the distance measuring sensor of the first measurement apparatus and the 3rd measurement apparatus away from From measuring unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 3rd measurement apparatus Side adjustment;
If B. the second distance measuring unit of the first measurement apparatus, distance measuring sensor and the second measurement apparatus first, The measuring route increase of two distance measuring units, and the first measurement apparatus the first distance measuring unit and second measurement apparatus The measuring route of distance measuring sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the first measurement apparatus Side adjustment;
If C. the second distance measurement of first and second distance measuring unit of the second measurement apparatus and the 4th measurement apparatus is single The first of unit, the measuring route increase of distance measuring sensor, and the distance measuring sensor of the second measurement apparatus and the 4th measurement apparatus away from From measuring unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 4th measurement apparatus Side adjustment;
If D. the second distance measuring unit of the second measurement apparatus, distance measuring sensor and the 4th measurement apparatus first, The measuring route increase of two distance measuring units, and the second measurement apparatus the first distance measuring unit and the 4th measurement apparatus The measuring route of distance measuring sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the second measurement apparatus Side adjustment;
If the E. measurement of first and second distance measuring unit and distance measuring sensor of first, second, three, four measurement apparatus Path is constant, then the angle of inclination of carrying platform does not adjust.
Wherein, the adjustment mode at the angle of inclination of carrying platform is the aerodynamic power for increasing or reducing respective side.
Argument section in the present invention can be obtained by way of directly setting, measuring, and other specification can be by meter Calculate or other modes well known in the art obtained, in addition the present invention be it is unobvious it is inclined in the case of the precise fine-adjustment that carries out It is whole, it is larger for some inclinations, or it is extreme in the case of the technical scheme that does not apply to should all exclude, the present invention is reasonable Expection under complete, parameter, formula, the scheme of any discomfort also should all be excluded.
Although for illustrative purposes, it has been described that illustrative embodiments of the invention, those skilled in the art Member it will be understood that, in the case of not departing from the scope and spirit of invention disclosed in appended claims, can be in form and details On carry out various modifications, addition and replace etc. change, and it is all these change should all belong to appended claims of the present invention Each step in protection domain, and claimed each department of product and method, can be in any combination Form is combined.Therefore, to disclosed in this invention implementation method description be not intended to limit the scope of the present invention, But for describing the present invention.Correspondingly, the scope of the present invention is not limited by embodiment of above, but by claim or Its equivalent is defined.

Claims (9)

1. a kind of four-way airborne angle means for correcting, it is characterised in that:Including first, second, third, fourth measurement apparatus and mark Determine device, first, second, third, fourth measurement apparatus are arranged on support by connecting rod respectively, calibration device passes through flexible connection line It is arranged on support;
Wherein first, second, third, fourth measurement apparatus all include shell, base, the first distance measuring unit and second distance Measuring unit, the upper end of base is fixedly connected with the lower end of shell, and the first distance measuring unit and second distance measuring unit are divided The lower end of base is not arranged at;The signal direction of the launch of second distance measuring unit vertically downward, and with the first range measurement The angle of the signal direction of the launch of unit is 5 °, and first, second, third, fourth measurement apparatus are arranged at sustained height and phase Angle between neighbour is 90 °, the signal transmitting of first and second distance measuring unit of first, second, third, fourth measurement apparatus Direction is distinguished at grade, and the second distance measuring unit of first, second, third, fourth measurement apparatus distinguishes position In away from calibration device side;
Distance measuring sensor, distance measuring sensor are respectively arranged with the outer wall of the shell of first, second, third, fourth measurement apparatus Set location flushed with the lower edge of calibration device in the horizontal direction;
Calibration device has scale, and it sets in meter full scale and senses with the signal to distance measuring sensor transmitting, And the inductor of sensed position is recorded in real time;The lower end of calibration device be provided with for measure calibration device to ground it is vertical away from From calibration sensor.
2. device as claimed in claim 1, it is characterised in that:The inner chamber of shell accommodates electronic device.
3. device as claimed in claim 1, it is characterised in that:Calibration sensor is elevation carrection sensor.
4. device as claimed in claim 1, it is characterised in that:Four-way airborne angle means for correcting is arranged on carrying platform.
5. the bearing calibration of a kind of four-way airborne angle means for correcting using as described in above-mentioned any one of claim 1-4, its It is characterised by, in turn includes the following steps:
(1) initialization of calibration is carried out:Distance measuring sensor using first, second, third, fourth measurement apparatus launches range finding respectively To calibration device, calibration device senses the sensed position that distance measuring sensor launches distance measuring signal, adjustment distance measuring sensor hair to signal in real time The launch angle of distance measuring signal is penetrated so that transmission signal is directed at 0 point of calibration device;
(2) calibration device to the vertical range on ground is measured by calibration device, with measure the calibration device that obtains to ground it is vertical away from From subtracting the distance between the emission measurement starting point of the signal level direction of the launch of distance measuring sensor to second distance measuring unit, Obtain the first distance;
(3) using the signal direction of the launch relation of the first distance and the first distance measuring unit, it is calculated first respectively, the 2nd, to the second distance on ground in the first measuring unit direction of the launch of the three, the 4th measurement apparatus;
(4) measured on correspondence direction respectively using first and second distance measuring unit of first, second, third, fourth measurement apparatus First and second measurement distance, by first and second measurement distance respectively with first and second distance contrast respectively, if both it is identical if enter Enter step (5), otherwise then behind the inclination angle of adjustment carrying platform, repeat step (1)-(3);
(5) 0 point of calibration device of demarcation distance is measured by distance measuring sensor;
(6) first and second distance measuring unit and distance measuring sensor reality of first, second, third, fourth measurement apparatus are utilized respectively When measure, according to the angle of inclination of measurement result real-time adjustment carrying platform.
6. method as claimed in claim 5, it is characterised in that:According to measurement result real-time adjustment carrying platform in step (6) Angle of inclination be specially:
If A. the second distance measuring unit of first and second distance measuring unit of the first measurement apparatus and the 3rd measurement apparatus, The measuring route of distance measuring sensor increases, and the first distance of the distance measuring sensor of the first measurement apparatus and the 3rd measurement apparatus is surveyed Measure unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 3rd measurement apparatus one Side adjusts;
If B. the first and second of the second distance measuring unit of the first measurement apparatus, distance measuring sensor and the second measurement apparatus away from From measuring unit measuring route increase, and first distance measuring unit and the second measurement apparatus of the first measurement apparatus range finding The measuring route of sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the first measurement apparatus one Side adjusts;
If C. the second distance measuring unit of first and second distance measuring unit of the second measurement apparatus and the 4th measurement apparatus, The measuring route of distance measuring sensor increases, and the first distance of the distance measuring sensor of the second measurement apparatus and the 4th measurement apparatus is surveyed Measure unit measuring route reduce, then the first distance measuring unit from the angle of inclination of carrying platform to the 4th measurement apparatus one Side adjusts;
If D. the first and second of the second distance measuring unit of the second measurement apparatus, distance measuring sensor and the 4th measurement apparatus away from From measuring unit measuring route increase, and first distance measuring unit and the 4th measurement apparatus of the second measurement apparatus range finding The measuring route of sensor reduces, then the first distance measuring unit from the angle of inclination of carrying platform to the second measurement apparatus one Side adjusts;
If the E. measuring route of first and second distance measuring unit of first, second, three, four measurement apparatus and distance measuring sensor Constant, then the angle of inclination of carrying platform does not adjust.
7. the method as described in claim 5 or 6, it is characterised in that:The adjustment mode at the angle of inclination of carrying platform is increase Or reduce the aerodynamic power of respective side.
8. method as claimed in claims 6 or 7, it is characterised in that:Also include step (7):First obtained using step (2) The distance of the first distance measuring unit measurement in real time, angle of inclination is obtained by trigonometric function in distance and step (6).
9. method as claimed in claim 8, it is characterised in that:Also include step (8):Sensed using the range finding of the calibration for prestoring The corresponding scale of path length of device transmitting distance measuring signal and the relation at angle of inclination, the scale position sensed in real time by inductor Put and obtain angle of inclination.
CN201710014039.2A 2017-01-09 2017-01-09 Four-direction airborne angle correction device and correction method Active CN106813682B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2685082A3 (en) * 1991-09-07 1993-06-18 Lukassen Flughafentechnik Gmbh Control device for levels of water incorporated in aircraft
CN104670666A (en) * 2015-02-27 2015-06-03 中国民航大学 Aircraft landing attitude alarming system and alarming control method
CN105091858A (en) * 2015-08-02 2015-11-25 上海砺晟光电技术有限公司 Two-dimension inclination angle non-contact measurement method and system based on absolute distance measurement
CN105717498A (en) * 2016-02-04 2016-06-29 杭州南江机器人股份有限公司 Pitch angle measuring and correcting system and method of laser range finder
CN106155073A (en) * 2016-07-22 2016-11-23 珠海卡特瑞科农林航空装备研究所有限公司 A kind of unmanned plane with flying height lock function

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2685082A3 (en) * 1991-09-07 1993-06-18 Lukassen Flughafentechnik Gmbh Control device for levels of water incorporated in aircraft
CN104670666A (en) * 2015-02-27 2015-06-03 中国民航大学 Aircraft landing attitude alarming system and alarming control method
CN105091858A (en) * 2015-08-02 2015-11-25 上海砺晟光电技术有限公司 Two-dimension inclination angle non-contact measurement method and system based on absolute distance measurement
CN105717498A (en) * 2016-02-04 2016-06-29 杭州南江机器人股份有限公司 Pitch angle measuring and correcting system and method of laser range finder
CN106155073A (en) * 2016-07-22 2016-11-23 珠海卡特瑞科农林航空装备研究所有限公司 A kind of unmanned plane with flying height lock function

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