CN107065914A - The flight householder method and device of unmanned vehicle - Google Patents
The flight householder method and device of unmanned vehicle Download PDFInfo
- Publication number
- CN107065914A CN107065914A CN201710335356.4A CN201710335356A CN107065914A CN 107065914 A CN107065914 A CN 107065914A CN 201710335356 A CN201710335356 A CN 201710335356A CN 107065914 A CN107065914 A CN 107065914A
- Authority
- CN
- China
- Prior art keywords
- unmanned vehicle
- positional information
- relative
- display screen
- flight
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
Abstract
The invention discloses the flight householder method and device of a kind of unmanned vehicle, belong to unmanned vehicle field, this method includes：Obtain the state of flight information of observation positional information, the positional information of unmanned vehicle and unmanned vehicle；Positional information of the unmanned vehicle relative to observation position is obtained according to the positional information of the unmanned vehicle and observation positional information；By the state of flight information of the unmanned vehicle and relative to the positional information output of observation position.Using the method and apparatus that provide of the present invention, by grasping current flight position and the state of unmanned vehicle, manipulator is helped to control the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, while improving the flight experience of manipulator.
Description
Technical field
The present invention relates to the flight householder method and device of unmanned vehicle, more particularly to a kind of unmanned vehicle.
Background technology
In recent years, unpiloted aircraft (such as fixed wing aircraft, rotor craft includes helicopter), motor vehicle
, submarine or ship, and satellite, space station, or airship etc. are widely used, such as in detecting, the field such as search and rescue.
Manipulation for these movable bodies is usual by user is realized by remote control.
Remotely-piloted vehicle, submarine, or motor vehicles with carrying carrier, for example, can carry the carrier dress of camera or illuminating lamp
Put.For example, camera can be loaded with a kind of telecontrolled aircraft to be taken photo by plane.
Manipulator is during operational movement body, such as unmanned vehicle, because unmanned vehicle average physique is smaller,
(such as four or five hundred meters) are difficult with the naked eye to see in the case of flying far, in this case, and manipulator is difficult to observe nobody to fly
The course heading of row device, be equivalent to it is blind fly, if the supplementary means do not flown, unmanned vehicle is just easy to fly to lose.Separately
Outside, if if flying, being too absorbed in display screen using FPV (First Person View, first person) patterns,
The position for not making clear that unmanned vehicle is current may also finally be caused, cause to get lost or even fly to lose, and while see
FPV, while noting the position of unmanned vehicle, then can allow Consumer's Experience to have a greatly reduced quality.
The content of the invention
The technical problem to be solved in the present invention is the flight householder method and device of a kind of unmanned vehicle, to help to manipulate
Person grasps the current flight position and state of flight of unmanned vehicle, and can aid in controlling the flight of unmanned vehicle accordingly.
The technical scheme that present invention solution above-mentioned technical problem is used is as follows：
According to an aspect of the present invention there is provided the flight householder method of unmanned vehicle a kind of include：
Obtain the state of flight information of observation positional information, the positional information of unmanned vehicle and unmanned vehicle；According to
The positional information and observation positional information of unmanned vehicle obtain positional information of the unmanned vehicle relative to observation position；By nothing
The state of flight information of people's aircraft and the positional information output relative to observation position.
Preferably, the position that observation position is taken off for the position of manipulator and/or unmanned vehicle.
Preferably, the positional information of unmanned vehicle and state of flight information pass through the state that is arranged on unmanned vehicle
Measurement sensor is obtained；When observing the position that position is manipulator, the positional information of manipulator by be attached to manipulator or
Sensor on the object entrained by manipulator is obtained；When it is the position that unmanned vehicle takes off to observe position, nobody flies
The position that row device takes off is obtained by being arranged on carry-on state measurement sensor.
Preferably, the positional information output by the state of flight information of unmanned vehicle and relative to observation position includes：
Exported by the state of flight information of unmanned vehicle and relative to the positional information of observation position to mobile terminal or with display work(
The remote control of energy.
Preferably, the course of state of flight information including unmanned vehicle and/or unmanned vehicle relative to ground level
Elevation information.
Preferably, the positional information output by the state of flight information of unmanned vehicle and relative to observation position includes：
Unmanned vehicle is included moving relative to the positional information of observation position and the course of unmanned vehicle by the form of figure
On the display screen of dynamic terminal or the remote control with display function.
Preferably, unmanned vehicle includes between unmanned vehicle and observation position relative to the positional information of observation position
Distance and unmanned vehicle relative to observation position angle.
Preferably, this method also includes：The azimuth of the screen datum line of display screen is obtained, and by figure with respect to display screen
The positive optical axis reversely rotate the azimuth.
Preferably, this method also includes：Judge display screen screen datum line azimuth and unmanned vehicle relative to
Whether the azimuthal difference for observing position is less than predetermined threshold value, and display screen elevation angle and unmanned vehicle relative to sight
The difference of elevation angle of position is examined again smaller than predetermined threshold value, target prompting information is captured if it is, being produced on screen.
Preferably, the predetermined threshold value is 10 degree.
According to another aspect of the present invention there is provided a kind of unmanned vehicle flight servicing unit include acquisition of information
Module, message processing module and message output module, wherein：
Data obtaining module, positional information, the positional information of unmanned vehicle and flight shape for obtaining observation position
State information, and the positional information and the positional information of unmanned vehicle of position will be observed be transferred to message processing module, it will fly
Status information is transferred to message output module；
Message processing module, unmanned vehicle is obtained for the positional information according to unmanned vehicle and observation positional information
Relative to the positional information of observation position；
Message output module, for exporting the state of flight information and unmanned vehicle of unmanned vehicle relative to observation position
The positional information put.
Preferably, the position that observation position is taken off for the position of manipulator and/or unmanned vehicle.
Preferably, course and/or unmanned vehicle of the state of flight information including unmanned vehicle are relative to ground level
Elevation information.
Preferably, message output module specifically for：By the course of unmanned vehicle and unmanned vehicle relative to observation
The positional information of position is shown in by the form of figure on the display screen of mobile terminal or remote control with display function.
Preferably, the unmanned vehicle of message output module output flies relative to the positional information of observation position including nobody
Row device is with observing the angle of the distance between position and unmanned vehicle relative to observation position.
Preferably, data obtaining module also includes direction acquiring unit, wherein：Direction acquiring unit, for obtaining display
The azimuth of the screen datum line of screen；Message processing module, is additionally operable to the positive optical axis by figure with respect to display screen and reversely rotates institute
State azimuth.
Preferably, message processing module, is additionally operable to judge azimuth and the unmanned vehicle of the screen datum line of display screen
Whether azimuthal difference relative to observation position is less than predetermined threshold value, and the elevation angle and unmanned vehicle phase of display screen
For observe position elevation angle difference again smaller than predetermined threshold value, capture target if it is, being produced on screen and carry
Show information.
Preferably, predetermined threshold value is 10 degree.
The method and apparatus that the present invention is provided, by grasping the flight position and state of flight of unmanned vehicle, help to grasp
Control person controls the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, while improve the flight experience of manipulator.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the flight householder method of unmanned vehicle provided in an embodiment of the present invention；
A kind of flow chart of the flight householder method for unmanned vehicle that Fig. 2 provides for the preferred embodiment of the present invention；
A kind of display schematic diagram for display screen east-west direction horizontal positioned that Fig. 3 provides for the preferred embodiment of the present invention；
A kind of display schematic diagram for display screen North and South direction horizontal positioned that Fig. 4 provides for the preferred embodiment of the present invention；Fig. 5
For azimuth schematic diagram provided in an embodiment of the present invention；
A kind of azimuth of the screen datum line for display screen that Fig. 6 provides for the preferred embodiment of the present invention and unmanned vehicle
Schematic diagram when azimuth relative to observation position is consistent；
A kind of schematic diagram of the positive optical axis for display screen that Fig. 7 preferred embodiment of the present invention is provided just to unmanned vehicle；
Fig. 8 is the schematic diagram of the elevation angle of unmanned vehicle provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of the elevation angle of display screen provided in an embodiment of the present invention；
A kind of structural representation of the flight servicing unit for unmanned vehicle that Figure 10 provides for the preferred embodiment of the present invention.
Embodiment
In order that technical problems, technical solutions and advantages to be solved are clearer, clear, tie below
Drawings and examples are closed, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only
To explain the present invention, it is not intended to limit the present invention.
It is a kind of flow chart of the flight householder method of unmanned vehicle provided in an embodiment of the present invention as shown in Figure 1, should
Method includes：
S102, the state of flight information for obtaining observation positional information, the positional information of unmanned vehicle and unmanned vehicle.
Wherein, the positional information of unmanned vehicle and state of flight information are surveyed by the state being arranged on unmanned vehicle
Quantity sensor is obtained；Flight position information includes the longitude and latitude of flight position, and state of flight includes pitching, roll and boat
To the elevation information relative to ground level of unmanned vehicle can also be included.
Observation position can be the position that the position of manipulator and unmanned vehicle take off or the position of manipulator
Any one in the position taken off with unmanned vehicle.When observing the position that position is manipulator, the position letter of manipulator
Cease and obtained by being attached to manipulator or the sensor on the object entrained by manipulator；When observation position is unmanned vehicle
During the position taken off, the position that unmanned vehicle takes off is obtained by being arranged on carry-on state measurement sensor.Nobody
The positional information of aircraft takeoff point is that unmanned vehicle is remembered when searching enough position location satellites after the power-up, for the first time
The positional information of record.
Manipulator can select the position that the position of manipulator or unmanned vehicle take off as needed as observation position,
Now need selecting module.Observation position initially can also be just set, is not selected by manipulator.
Wi-Fi (Wireless Fidelity) network can be first set up in this step with unmanned vehicle and carries out point-to-point communication, is passed through
Wireless network obtains unmanned vehicle positional information and state of flight information from unmanned vehicle, it is of course also possible to pass through 2G nets
The 5G networks of network, 3G, 4G and future are communicated.
S104, the positional information according to unmanned vehicle and observation positional information obtain unmanned vehicle relative to observation position
The positional information put.
Specifically, according to the positional information of unmanned vehicle and observation positional information calculation unmanned vehicle and observation position
The distance between put and unmanned vehicle is relative to the angle of observation position, determine position of the unmanned vehicle relative to observation position
Confidence ceases.
S106, the state of flight information for exporting unmanned vehicle and the positional information relative to observation position.
, can be by the state of flight information of unmanned vehicle in the present embodiment as a kind of preferred scheme of the present embodiment
The remote control to mobile terminal or with display function is exported with the positional information relative to observation position.
As another preferred scheme of the present embodiment, by the course of unmanned vehicle, unmanned vehicle and observation position
The distance between put and unmanned vehicle by the form of figure is shown in mobile terminal or band relative to the angle of observation position
On the display screen of the remote control of display function, wherein, unmanned vehicle includes relative to observation relative to the angle of observation position
Location fix angle and the elevation angle relative to observation position, figure can be planar graph or solid figure.Refer to
The positional representation unmanned vehicle position of arrow in Fig. 3 and Fig. 4, the figure of display, the sensing of arrow represents it is that nobody flies
The course of row device, the center of circle represents to observe position position, and the line in arrow and the center of circle represents position and the sight of unmanned vehicle
Projection of the line of position on ground level is examined, line and the angle a in the positive north of ground level represent unmanned vehicle relative to sight
The azimuth of position is examined, to observe several circles of the position as the center of circle, unmanned vehicle distance observation position is represented from the inside to surface
Distance to remote (semidiameter such as adjacent circle is 50 meters), flight is closely represented wherein in the range of dashed circle
Safe distance, when unmanned vehicle is when outside safe distance, except figure shows go beyond the scope, can also pass through voice or text
Word reminds manipulator, manipulator can by controlling the path of unmanned vehicle control in safe range flight so that
Avoid blind flying and flying to lose that (situation as shown in Figure 3, manipulator only needs to make bar toward lower left, with regard to unmanned vehicle can be allowed winged
Return).
A kind of flow of the flight householder method of unmanned vehicle of preferred embodiment of the present invention offer is provided
Figure, this method includes：
S202, the state of flight information for obtaining observation positional information, the positional information of unmanned vehicle and unmanned vehicle；
S204, the positional information according to unmanned vehicle and observation positional information obtain unmanned vehicle relative to observation position
The distance and angle put；
S206, distance, angle and course by unmanned vehicle relative to observation position are graphically included aobvious
In display screen；
S208, the screen datum line of acquisition display screen azimuth, and figure is reverse relative to the positive optical axis of display screen
Rotate the azimuth.
Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be on display screen
The line at following midpoint, bottom and upper segment refers to when the figure of display is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to screen datum line ground level projection with just
The north to angle (B angles as shown in Figure 5).The positive optical axis of display screen refers to the axle perpendicular to display screen, it is also assumed that being
People soon display screen when, be to be observed perpendicular to the angle of display screen (as shown in Figure 7) of display screen.
Specifically, when the display screen horizontal positioned of mobile terminal or the remote control with display function, magnetic can be passed through
Power meter is realized, using the sensing of magnetometer as benchmark, obtains the screen datum line of display screen in the horizontal direction relative to due north
The azimuth that direction rotates.And the azimuth is reversely rotated by the positive optical axis by figure relative to display screen so that display
The relative position of the unmanned vehicle of screen display and course are kept using ground level as reference, the horizontal positioned direction with display screen
It is unrelated.Here, the azimuth of screen datum line actually just refers to the angle of screen datum line and direct north, refer to Fig. 3 and
Fig. 4, magnetometer can be realized by compass, such as according to the sensing of compass as benchmark, to determine that unmanned vehicle exists
The position shown in real time on display screen, it is ensured that as long as the position and course of unmanned vehicle do not change, no matter manipulator holds
How mobile terminal or remote control with display function rotate change angle on horizontal positioned direction, as long as according to display screen
The azimuth of screen datum line reversely rotates the figure of display relative to the positive optical axis of display screen in real time, it is ensured that on display screen
Arrow and the line in the center of circle keep constant relative to the angle of ground level, i.e., the unmanned vehicle in Fig. 3 and Fig. 4 is relative to observation
The azimuth a of position keeps constant, and the sensing of arrow also keeps constant relative to the angle of ground level.If without guide
Pin function, then can not accomplish that angle a keeps constant, but can ensure when display screen east-west direction horizontal positioned (such as Fig. 3 institutes
Show), arrow can reflect the actual relative position of unmanned vehicle and mobile terminal or the remote control with display function with the center of circle.
, can be by magnetometer with adding when the non-aqueous placing flat of the display screen of mobile terminal or the remote control with display function
Speedometer obtains the azimuth of the screen datum line of display screen, and here the azimuth of the screen datum line of display screen refers to screen
Datum line is in the projection of ground level and the angle of direct north.Magnetometer can be such as used to calculate display screen with accelerometer
Posture Rbg relative to the earth, asks poor by position and the current screen position of unmanned vehicle and obtains vectorial Pg, on a display screen
The vector direction of display is：The x of vectorial (Pb=Rbg*Pg), y-coordinate, so as to obtain the screen datum line of display screen in ground level
Projection relative to the azimuth that direct north rotates.Then the positive optical axis by the figure of display relative to display screen is reversely rotated
The azimuth, is kept using ground level as reference using the relative position and course angle for show unmanned vehicle on display screen,
The horizontal positioned direction of the display screen of remote control with mobile terminal or with display function or to be disposed vertically direction unrelated.
It should be noted that the inapplicable special circumstances when display screen is disposed vertically of this step.
S210, the azimuth of the screen datum line of calculating display screen, elevation angle are respectively with unmanned vehicle relative to observation
The azimuth of position, the difference of elevation angle.
S212, judge display screen screen datum line azimuth and unmanned vehicle relative to observation position azimuth
Difference whether be less than predetermined threshold value, and the elevation angle of elevation angle and unmanned vehicle relative to observation position of display screen
Difference is again smaller than predetermined threshold value, if it is, perform step S214, otherwise return to step S208.
S214, on a display screen generation capture target prompting information.
Wherein, the screen datum line of display screen refers to the reference line parallel with one side of display screen, can be on display screen
The line at following midpoint, bottom and upper segment refers to when the figure of display is forward direction, and screen datum line is for the positive to be up
(as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refer to screen datum line ground level projection with just
The north to angle (B angles as shown in Figure 5).The elevation angle of display screen refers to the angle of the positive optical axis of display screen and ground level (such as
Rb angles shown in Fig. 9), unmanned vehicle refers to unmanned vehicle and the line of observation position relative to the azimuth of observation position
Projection and the angle (such as Fig. 3, Fig. 4 and Fig. 5 a angles) of ground level direct north in ground level, the elevation angle of unmanned vehicle
Refer to unmanned vehicle and the line of observation position and the angle (ra angles as shown in Figure 8) of ground level, predetermined threshold value is 10
Degree.
For example, there is relational expression：Vv2=[v2x v2y v2z] ^T=Rgb* ([0 0 1] ^T)
Wherein, v2=vv2 the first two coordinate, v1=[x2-x1, y2-y1] ^T, v1 represents that vector is holded up to come, and v2 is
The z-axis of display screen takes the first two number to represent in x in the expression of world coordinate system, y direction projections, and x1, y1 is the seat of display screen
Mark, x2, y2 is the coordinate of unmanned vehicle, and T is transposition, and Rgb is display screen attitude matrix, when v2 and v1 differential seat angle is less than certain
Threshold value, represents display screen to the position of unmanned vehicle.
Referring to Fig. 6, when the display screen horizontal positioned of mobile terminal or the remote control with display function, manipulator can be with
Hold display screen follows arrow rotation to find unmanned vehicle in the horizontal direction, when display screen follows arrow to rotate to display screen
Screen datum line azimuth and unmanned vehicle it is consistent relative to the azimuth of observation position when (a angles), now, arrow
Head should be located at the surface of display screen.Referring to Fig. 7, when manipulator is in the azimuth of the screen datum line of Fig. 6 display screens and nothing
On the basis of people's aircraft is consistent relative to the azimuth of observation position, holds display screen and rotate to display screen in vertical direction
When elevation angle and unmanned vehicle are consistent relative to the elevation angle of observation position, the now positive optical axis of the display screen of non-aqueous placing flat
It is oriented to produce on the position of unmanned vehicle, screen and captures target prompting information, can be disappeared by arrow or arrow
Color change point out to capture target, improve the flight experience of manipulator.
And in actual applications, display screen the positive optical axis level off to alignment unmanned vehicle in the case of (differential seat angle is small
In predetermined threshold value), it is also believed that having pointed to unmanned vehicle.Can so it understand, using the center of circle in Fig. 7 as one
The summit of vertical cone, the line in the center of circle to unmanned vehicle is the central axis of vertical cone, and predetermined threshold value is the top of vertical cone
Angle, so, sky in vertical cone is fallen when manipulator lifts the position that display screen follows the direction of arrow to rotate to unmanned vehicle
Between in the range of, then can point out display screen just to having arrived unmanned vehicle, now, the azimuth of the screen datum line of display screen with
Unmanned vehicle reaches unanimity relative to the azimuth of observation position, and the elevation angle and unmanned vehicle of display screen are relative to observation
The elevation angle of position reaches unanimity, and the positive optical axis of display screen tends to be oriented to the position of unmanned vehicle, is also produced on screen
Target prompting information is captured, the prompt message can be the color change of arrow disappearance or arrow, improve manipulator's
Flight experience.
Certainly, the positional information of unmanned vehicle and flight attitude information can also be passed through voice or screen in this method
The mode of curtain word informs manipulator, such as unmanned vehicle how much degree in which direction of manipulator, unmanned vehicle away from
Elevation angle from manipulator how many rice, unmanned vehicle is how many etc., for example, " unmanned vehicle exists voice broadcast
30 degree of your north-east, please come back 50 degree i.e. it can be seen that unmanned vehicle ", so as to preferably improve the flying body of manipulator
Test.
The method provided by the present embodiment, position and boat of the manipulator according to the unmanned vehicle of display screen display
To, it just can easily recognize the position where unmanned vehicle, and the flight path of unmanned vehicle is controlled accordingly, eyes are not
Need to leave the manipulation that display screen just can be to unmanned vehicle progress freely, improve the flight experience of manipulator.
A kind of structure of the flight servicing unit of the unmanned vehicle provided as shown in Figure 10 for the preferred embodiment of the present invention
Schematic diagram, the device includes data obtaining module 10, message processing module 20 and message output module 30, wherein：
Data obtaining module 10, positional information, the positional information of unmanned vehicle and flight for obtaining observation position
Status information；
Specifically, data obtaining module 10 further comprises：Observe position information acquisition module 101 and flight position and
State acquisition module 102, wherein：
Position information acquisition module 101 is observed, the positional information for obtaining observation position, observation position is manipulator's
The position that position and/or unmanned vehicle take off.Because this flight servicing unit is embedded hand-held device, manipulator position
The positional information put with this flight servicing unit is same information, can be by the positional information of this flight servicing unit come real
It is existing, it can also be obtained by being attached to manipulator or the sensor on the object entrained by manipulator.When this flight aids in filling
When putting including GPS module, observation position information acquisition module 101 obtains the gps coordinate of this flight servicing unit by GPS module
It is used as the positional information of manipulator.When this flight servicing unit does not include GPS functions, position information acquisition module is observed
101 obtain the positional information of unmanned vehicle takeoff points, wherein, flight starting point gps coordinate be unmanned vehicle after the power-up, the
Once search the gps coordinate recorded during enough gps satellites.
Flight position and state acquisition module 102 are used for from the current flight position information of unmanned vehicle acquisition and flight
Status information, wherein, flight position information includes the longitude and latitude of flight position.State of flight information includes unmanned vehicle
Pitching, roll and course, the elevation information relative to ground level of unmanned vehicle can also be included.Flight position information and
State of flight information can be obtained by wireless network, and wireless network includes but is not limited to Wi-Fi network, certainly, also by
Other networks are communicated, such as 2G 3G 4G and future 5G, as long as unmanned vehicle and this flight servicing unit are all propped up
Holding these communication protocols can be communicated.
Message processing module 20, unmanned flight is obtained for the positional information according to unmanned vehicle and observation positional information
Device and sends message output module 30 to relative to the positional information of observation position；
Specifically, message processing module 20 is used for positional information and observation positional information calculation according to unmanned vehicle
Unmanned vehicle determines unmanned vehicle with observing the angle of the distance between position and unmanned vehicle relative to observation position
Relative to the positional information of observation position.
Message output module 30, for exporting the state of flight information and unmanned vehicle of unmanned vehicle relative to observation
The positional information of position.
Wherein, the unmanned vehicle that message output module 30 is exported flies relative to the positional information of observation position including nobody
Row device is with observing the angle of the distance between position and unmanned vehicle relative to observation position.
As a kind of preferred scheme of the present embodiment, message output module 30 is by mobile terminal or with display function
The display screen of remote control graphically exports the state of flight information and unmanned vehicle of unmanned vehicle relative to observation
The positional information (referring to Fig. 3 and Fig. 4) of position.
As another preferred scheme of the present embodiment, data obtaining module 10 also includes direction acquiring unit 103, uses
In the azimuth for the screen datum line for obtaining display screen.Message processing module 20 is additionally operable to the figure of display with respect to display screen
The positive optical axis reversely rotates the azimuth, with the relative position that show unmanned vehicle on display screen and course angle holding with
Ground level is reference, and the horizontal positioned direction with display screen is unrelated.Wherein, the screen datum line of display screen refers to and display screen
Parallel reference line, can be the line at following midpoint on display screen on one side, and bottom and upper segment refers to the figure when display for just
To, and screen datum line be for the positive to be up (as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen
Refer to screen datum line in the projection of ground level and the angle (B angles as shown in Figure 5) of direct north.The positive optical axis of display screen is
Refer to perpendicular to display screen axle, it is also assumed that be people soon display screen when, be aobvious to be observed perpendicular to the angle of display screen
(as shown in Figure 7) of display screen.
Specifically, when display screen horizontal direction is placed, direction acquiring unit 103 can be realized by magnetometer,
Benchmark is used as by the sensing of magnetometer, the screen datum line for obtaining display screen rotates relative to direct north in the horizontal direction
Azimuth.The positive optical axis of the message processing module 20 by the figure of display relative to display screen reversely rotates the azimuth.Please
Refering to Fig. 3 and Fig. 4, magnetometer can be realized by compass, and unmanned flight is determined as benchmark according to the sensing of compass
The position that device is shown in real time on a display screen, it is ensured that as long as the position and course of unmanned vehicle do not change, no matter move end
How end or the remote control with display function change angle in the horizontal direction, it is ensured that the line phase in display screen upward arrow and the center of circle
Angle for ground level keeps constant (azimuth a holding of the unmanned vehicle relative to observation position i.e. in Fig. 3 and Fig. 4
It is constant).
When display screen non-horizontal directions is placed, direction acquiring unit 103 can be realized by magnetometer and accelerometer,
It can such as use magnetometer to calculate the posture Rbg of display screen relative to the earth with accelerometer, pass through the position of unmanned vehicle
Put and seek poor vectorial Pg with current screen position, the vector direction shown on a display screen is：Vectorial (Pb=Rbg*Pg's)
X, y-coordinate, so as to obtain the screen datum line of display screen in the projection of ground level relative to the azimuth that direct north rotates.With
So that the relative position and course angle of display screen display unmanned vehicle are kept using ground level as reference, with mobile terminal or band
The horizontal positioned direction of the display screen of the remote control of display function or to be disposed vertically direction unrelated.
It should be noted that this inapplicable special circumstances when display screen is disposed vertically of preferred scheme.
As the present embodiment another preferred scheme, message processing module 20 is additionally operable to judge the screen of display screen
Whether azimuthal difference of the azimuth of datum line with unmanned vehicle relative to observation position is less than predetermined threshold value, and aobvious
The difference of the elevation angle of the elevation angle of display screen with unmanned vehicle relative to observation position again smaller than predetermined threshold value, if it is,
Then produced on screen and capture target prompting information.Wherein, the screen datum line of display screen refers to that one side with display screen is put down
Capable reference line, can be the line at following midpoint on display screen, bottom and upper segment refers to that it is forward direction to work as the figure of display, and shields
Curtain datum line be for the positive to be up (as shown in Figures 3 and 4).The azimuth of the screen datum line of display screen refers to screen
Datum line is in the projection of ground level and the angle (B angles as shown in Figure 5) of direct north.The elevation angle of display screen refers to display screen
The angle (rb angles as shown in Figure 9) of the positive optical axis and ground level, unmanned vehicle refers to nothing relative to the azimuth of observation position
People's aircraft and the line of observation position are in the projection of ground level and the angle of ground level direct north (such as Fig. 3, Fig. 4 and Fig. 5
A angles), the elevation angle of unmanned vehicle refers to that unmanned vehicle and the line of observation position and the angle of ground level are (as shown in Figure 8
Ra angles), predetermined threshold value is 10 degree.
Referring to Fig. 7, manipulator can hold mobile terminal or the remote control with display function follows what is shown on screen
The direction of arrow rotates searching unmanned vehicle, when display screen follow arrow rotate to display screen screen datum line azimuth
With unmanned vehicle relative to observation position azimuth it is consistent, and display screen elevation angle and unmanned vehicle relative to observation
When the elevation angle of position is consistent, now the positive optical axis of the display screen of non-aqueous placing flat is oriented to the position of unmanned vehicle, in screen
Produced on curtain and capture target prompting information.And in actual applications, leveled off in the positive optical axis of display screen and be directed at unmanned flight
In the case of device (differential seat angle is less than predetermined threshold value), it is also believed that having pointed to unmanned vehicle.Produced on screen
Target prompting information is captured, the flight experience of manipulator is improved.
Certainly, mobile terminal or remote control with display function can also include voice module, for voice message nobody
The positional information and flight attitude information of aircraft, including unmanned vehicle which direction of manipulator how much degree, nobody
Aircraft is how many apart from the elevation angle of manipulator how many rice, unmanned vehicle etc., for example, voice broadcast " nobody
Aircraft please come back 50 degree i.e. it can be seen that unmanned vehicle in 30 degree of your north-east ", so as to preferably improve manipulator's
Flight experience.
It should be noted that the various technical schemes of the flight householder method of above-mentioned unmanned vehicle, in this unmanned flight
Equally applicable in the flight servicing unit of device, detailed content is no longer repeated.
The flight householder method and device of unmanned vehicle provided in an embodiment of the present invention, by grasping unmanned vehicle
Flight position and state of flight, help manipulator to control the flight path of unmanned vehicle, it is to avoid blind to fly and fly to lose, and carry simultaneously
The high flight experience of manipulator.
Above by reference to the preferred embodiments of the present invention have been illustrated, not thereby limit to the interest field of the present invention.This
Art personnel do not depart from the scope of the present invention and essence, can have a variety of flexible programs to realize the present invention, for example as one
The feature of individual embodiment can be used for another embodiment and obtain another embodiment.All institutes within the technical concept with the present invention
Any modifications, equivalent substitutions and improvements made, all should be within the interest field of the present invention.
Claims (15)
1. the flight householder method of a kind of unmanned vehicle, it is characterised in that this method includes：
Obtain observation positional information and the positional information of unmanned vehicle；
Unmanned vehicle is obtained relative to observation position according to the positional information of the unmanned vehicle and the observation positional information
The positional information put, the unmanned vehicle includes relative to the positional information of observation position：The unmanned vehicle relative to
The azimuth of observation position and the unmanned vehicle are relative to the elevation angle for observing position；
Judge the azimuthal difference of azimuth and the unmanned vehicle relative to observation position of the screen datum line of display screen
Whether value is less than predetermined threshold value, and height of the elevation angle of the display screen with the unmanned vehicle relative to observation position
The difference at angle is less than predetermined threshold value, and target prompting information is captured if it is, being produced on screen.
2. the flight householder method of unmanned vehicle according to claim 1, it is characterised in that the predetermined threshold value is
10 degree.
3. the flight householder method of unmanned vehicle according to claim 1 or 2, it is characterised in that the observation position
The position that position or unmanned vehicle for manipulator are taken off.
4. the flight householder method of unmanned vehicle according to claim 3, it is characterised in that the unmanned vehicle
Positional information is obtained by the state measurement sensor being arranged on unmanned vehicle；
When observing the position that position is manipulator, the positional information of manipulator is by being attached to manipulator or being taken in manipulator
Sensor on the object of band is obtained；
When it is the position that unmanned vehicle takes off to observe position, the position that unmanned vehicle takes off is by setting on board the aircraft
State measurement sensor obtain.
5. the flight householder method of unmanned vehicle according to claim 1, it is characterised in that also include：
Obtain the course of the unmanned vehicle；
The course of the unmanned vehicle and the unmanned vehicle are passed through into figure relative to the positional information of observation position
Form is shown on the display screen；
Obtain the azimuth of the screen datum line of the display screen, and the positive optical axis by the figure relative to display screen reversely revolves
Turn the azimuth.
6. the flight householder method of unmanned vehicle according to claim 1, it is characterised in that the unmanned vehicle phase
Also include for the positional information for observing position：The unmanned vehicle is relative to the distance between observation position；
Methods described also includes：
According to the unmanned vehicle relative to the distance between observation position, determine the unmanned vehicle whether in safety
Distance is outer；
If the unmanned vehicle is in outside the safe distance, output voice messaging or text information, the voice messaging
Or text information is used to remind unmanned vehicle described in the manipulator of the unmanned vehicle to be in outside the safe distance.
7. the flight householder method of unmanned vehicle according to claim 1, it is characterised in that also include：
Pass through the positional information and flight attitude information of unmanned vehicle described in voice output.
8. the flight servicing unit of a kind of unmanned vehicle, it is characterised in that the device includes：At data obtaining module and information
Manage module；Wherein,
Described information acquisition module, the positional information for obtaining observation positional information and unmanned vehicle；
Described information processing module, nothing is obtained for the positional information according to the unmanned vehicle and the observation positional information
People's aircraft includes relative to the positional information for observing position, the unmanned vehicle relative to the positional information of observation position：
The unmanned vehicle is relative to the azimuth of observation position and the unmanned vehicle relative to the elevation angle for observing position；
Described information processing module, the azimuth for being additionally operable to judge the screen datum line of display screen is relative with the unmanned vehicle
Whether azimuthal difference in observation position is less than predetermined threshold value, and display screen elevation angle and unmanned vehicle relative to
The difference for observing the elevation angle of position is less than predetermined threshold value, and target prompting information is captured if it is, being produced on screen.
9. device according to claim 8, it is characterised in that the predetermined threshold value is 10 degree.
10. device according to claim 8 or claim 9, it is characterised in that the observation position for the position of manipulator or nobody
The position of aircraft takeoff.
11. device according to claim 10, it is characterised in that the positional information of the unmanned vehicle is by being arranged on
State measurement sensor on unmanned vehicle is obtained；
When observing the position that position is manipulator, the positional information of manipulator is by being attached to manipulator or being taken in manipulator
Sensor on the object of band is obtained；
When it is the position that unmanned vehicle takes off to observe position, the position that unmanned vehicle takes off is by setting on board the aircraft
State measurement sensor obtain.
12. device according to claim 8, it is characterised in that described information acquisition module be additionally operable to obtain it is described nobody
The state of flight information of aircraft, the state of flight information of the unmanned vehicle includes the course of unmanned vehicle；
Described device also includes：Message output module, for by the course of the unmanned vehicle and relative to observation position
Positional information is shown on a display screen by the form of figure；The azimuth of the screen datum line of the display screen is obtained, and will
The figure reversely rotates the azimuth relative to the positive optical axis of display screen.
13. device according to claim 8, it is characterised in that also include：
Voice module, positional information and flight attitude information for exporting the unmanned vehicle.
14. a kind of mobile terminal, it is characterised in that including：Unmanned vehicle as described in claim any one of 8-13 flies
Row servicing unit.
15. a kind of remote control, it is characterised in that including：Display screen and the unmanned vehicle as described in profit requires any one of 8-13
Flight servicing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710335356.4A CN107065914B (en) | 2013-07-05 | 2013-07-05 | Flight assistance method and device for unmanned aerial vehicle |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310282385.0A CN103344250B (en) | 2013-07-05 | 2013-07-05 | The flight householder method and device of unmanned vehicle |
| CN201710335356.4A CN107065914B (en) | 2013-07-05 | 2013-07-05 | Flight assistance method and device for unmanned aerial vehicle |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310282385.0A Division CN103344250B (en) | 2013-07-05 | 2013-07-05 | The flight householder method and device of unmanned vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107065914A true CN107065914A (en) | 2017-08-18 |
| CN107065914B CN107065914B (en) | 2020-04-28 |
Family
ID=49279066
Family Applications (3)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310282385.0A Active CN103344250B (en) | 2013-07-05 | 2013-07-05 | The flight householder method and device of unmanned vehicle |
| CN201710335356.4A Active CN107065914B (en) | 2013-07-05 | 2013-07-05 | Flight assistance method and device for unmanned aerial vehicle |
| CN201710338641.1A Expired - Fee Related CN107168360B (en) | 2013-07-05 | 2013-07-05 | Flight assistance method and device for unmanned aerial vehicle |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310282385.0A Active CN103344250B (en) | 2013-07-05 | 2013-07-05 | The flight householder method and device of unmanned vehicle |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710338641.1A Expired - Fee Related CN107168360B (en) | 2013-07-05 | 2013-07-05 | Flight assistance method and device for unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (3) | CN103344250B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108475064A (en) * | 2017-05-16 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Method, equipment and computer readable storage medium for equipment control |
Families Citing this family (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113628500A (en) | 2014-09-30 | 2021-11-09 | 深圳市大疆创新科技有限公司 | System and method for supporting analog mobility |
| JP6212788B2 (en) | 2014-09-30 | 2017-10-18 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Method for operating unmanned aerial vehicle and unmanned aerial vehicle |
| CN105438488B (en) * | 2014-09-30 | 2018-07-17 | 深圳市大疆创新科技有限公司 | Aircraft and its control method and aerocraft system |
| CN105518487B (en) * | 2014-10-27 | 2017-09-12 | 深圳市大疆创新科技有限公司 | The position indicating method and device of aircraft |
| JP6279097B2 (en) | 2015-05-18 | 2018-02-14 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドＳｚ Ｄｊｉ Ｔｅｃｈｎｏｌｏｇｙ Ｃｏ．，Ｌｔｄ | Control method and device for drone based on headless mode |
| WO2017013840A1 (en) * | 2015-07-17 | 2017-01-26 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカ | Unmanned flight vehicle, flight control method, flight basic program, and forced movement program |
| JP6657030B2 (en) * | 2015-07-17 | 2020-03-04 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Unmanned aerial vehicle, flight control method, flight basic program and forced movement program |
| CN106598063B (en) * | 2015-10-14 | 2021-10-26 | 松下电器（美国）知识产权公司 | Unmanned aerial vehicle and flight control method |
| JP6767802B2 (en) * | 2015-11-30 | 2020-10-14 | パナソニック インテレクチュアル プロパティ コーポレーション オブ アメリカＰａｎａｓｏｎｉｃ Ｉｎｔｅｌｌｅｃｔｕａｌ Ｐｒｏｐｅｒｔｙ Ｃｏｒｐｏｒａｔｉｏｎ ｏｆ Ａｍｅｒｉｃａ | Unmanned aerial vehicle and its flight control method |
| CN105717930A (en) * | 2016-01-19 | 2016-06-29 | 深圳一电科技有限公司 | Method, device and system for controlling drone |
| CN106843243A (en) * | 2016-03-22 | 2017-06-13 | 北京京东尚科信息技术有限公司 | The management method of UAS and unmanned plane route |
| CN106292799B (en) * | 2016-08-25 | 2018-10-23 | 北京奇虎科技有限公司 | Unmanned plane, remote control and its control method |
| WO2018045654A1 (en) * | 2016-09-09 | 2018-03-15 | 深圳市大疆创新科技有限公司 | Method and system for displaying state of mobile device and control device |
| CN108319274A (en) * | 2017-01-16 | 2018-07-24 | 吕佩剑 | A kind of graphic display method of unmanned vehicle position |
| CN108170475A (en) * | 2017-12-21 | 2018-06-15 | 中国船舶重工集团公司第七0七研究所 | A kind of embedded software development method for mobile heading reference equipment |
| CN109001647A (en) * | 2018-10-08 | 2018-12-14 | 成都戎创航空科技有限公司 | A kind of unmanned plane battery capacity early warning system |
| CN113110581B (en) * | 2021-04-19 | 2022-09-13 | 西北工业大学 | Nonlinear aircraft position maintaining control method based on combination of main system and auxiliary system |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5716032A (en) * | 1996-04-22 | 1998-02-10 | United States Of America As Represented By The Secretary Of The Army | Unmanned aerial vehicle automatic landing system |
| CN1515914A (en) * | 2001-12-29 | 2004-07-28 | 北京航空航天大学 | Operation method of antenna tracking device for unmanned hverplane |
| CN102183941A (en) * | 2011-05-31 | 2011-09-14 | 河北科技大学 | Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system |
| CN202285045U (en) * | 2011-11-03 | 2012-06-27 | 南京鑫轩电子系统工程有限公司 | Angle tracking system |
| CN102854887A (en) * | 2012-09-06 | 2013-01-02 | 北京工业大学 | Unmanned plane route planning and remote synchronous control method |
| CN202694151U (en) * | 2011-12-16 | 2013-01-23 | 新时代集团国防科技研究中心 | Control terminal device for unmanned aircraft |
| US20130066489A1 (en) * | 2011-09-08 | 2013-03-14 | Andrew Robert Hooks | Consistent Localizer Captures |
| US20130085629A1 (en) * | 2011-09-30 | 2013-04-04 | Aurora Flight Sciences Corporation | Hardware-Based Weight And Range Limitation System, Apparatus And Method |
Family Cites Families (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57186111A (en) * | 1981-05-13 | 1982-11-16 | Nissan Motor Co Ltd | Map display device for vehicle |
| JP3412973B2 (en) * | 1995-07-21 | 2003-06-03 | 株式会社東芝 | ISAR image target identification processing device |
| JP2830843B2 (en) * | 1996-05-15 | 1998-12-02 | 日本電気株式会社 | 3D information display method for terminal control |
| JPH11248468A (en) * | 1998-03-05 | 1999-09-17 | Mitsubishi Electric Corp | Map data display device |
| WO2004113836A1 (en) * | 2003-06-20 | 2004-12-29 | Mitsubishi Denki Kabushiki Kaisha | Picked-up image display method |
| US9057627B2 (en) * | 2005-03-15 | 2015-06-16 | Fci Associates, Inc. | Low cost flight instrumentation system |
| FR2887329B1 (en) * | 2005-06-21 | 2007-08-03 | Airbus France Sas | METHOD AND DISPLAY DEVICE FOR AN AIRCRAFT THAT FOLLOWS A FLIGHT PLAN |
| US7873240B2 (en) * | 2005-07-01 | 2011-01-18 | The Boeing Company | Method for analyzing geographic location and elevation data and geocoding an image with the data |
| FR2897975B1 (en) * | 2006-02-28 | 2008-10-17 | Airbus France Sas | METHOD AND DEVICE FOR ASSISTING THE CONTROL OF AN AIRCRAFT. |
| CN101493699B (en) * | 2009-03-04 | 2011-07-20 | 北京航空航天大学 | Aerial unmanned plane ultra-viewing distance remote control method |
| US8515596B2 (en) * | 2009-08-18 | 2013-08-20 | Honeywell International Inc. | Incremental position-based guidance for a UAV |
| CN102445947A (en) * | 2010-10-06 | 2012-05-09 | 鸿富锦精密工业（深圳）有限公司 | Control system and method of unmanned aerial vehicle |
| CN102620731A (en) * | 2011-01-26 | 2012-08-01 | 英华达（南京）科技有限公司 | Handheld apparatus capable of transmitting positioning data and method for transmitting positioning data thereof |
| CN102419171A (en) * | 2011-08-10 | 2012-04-18 | 王桥生 | Disaster detection electronic mapping system based on UAV aerial photography |
| CN103176475A (en) * | 2013-02-27 | 2013-06-26 | 广东工业大学 | Ground station for unmanned aerial vehicles |
-
2013
- 2013-07-05 CN CN201310282385.0A patent/CN103344250B/en active Active
- 2013-07-05 CN CN201710335356.4A patent/CN107065914B/en active Active
- 2013-07-05 CN CN201710338641.1A patent/CN107168360B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5716032A (en) * | 1996-04-22 | 1998-02-10 | United States Of America As Represented By The Secretary Of The Army | Unmanned aerial vehicle automatic landing system |
| CN1515914A (en) * | 2001-12-29 | 2004-07-28 | 北京航空航天大学 | Operation method of antenna tracking device for unmanned hverplane |
| CN102183941A (en) * | 2011-05-31 | 2011-09-14 | 河北科技大学 | Civil-mobile-phone-network-based ultra-long-range unmanned aerial vehicle control system |
| US20130066489A1 (en) * | 2011-09-08 | 2013-03-14 | Andrew Robert Hooks | Consistent Localizer Captures |
| US20130085629A1 (en) * | 2011-09-30 | 2013-04-04 | Aurora Flight Sciences Corporation | Hardware-Based Weight And Range Limitation System, Apparatus And Method |
| CN202285045U (en) * | 2011-11-03 | 2012-06-27 | 南京鑫轩电子系统工程有限公司 | Angle tracking system |
| CN202694151U (en) * | 2011-12-16 | 2013-01-23 | 新时代集团国防科技研究中心 | Control terminal device for unmanned aircraft |
| CN102854887A (en) * | 2012-09-06 | 2013-01-02 | 北京工业大学 | Unmanned plane route planning and remote synchronous control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108475064A (en) * | 2017-05-16 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Method, equipment and computer readable storage medium for equipment control |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107168360B (en) | 2021-03-30 |
| CN107065914B (en) | 2020-04-28 |
| CN103344250B (en) | 2017-06-09 |
| CN103344250A (en) | 2013-10-09 |
| CN107168360A (en) | 2017-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103344250B (en) | The flight householder method and device of unmanned vehicle | |
| CN103345826B (en) | Remote terminal, flight assisting system and the method for unmanned vehicle | |
| CN103365298B (en) | The flight assisting system and method for unmanned vehicle | |
| US10648809B2 (en) | Adaptive compass calibration based on local field conditions | |
| US11353892B2 (en) | Drop-off location planning for delivery vehicle | |
| US11036241B2 (en) | Simple multi-sensor calibration | |
| CN108351653B (en) | System and method for UAV flight control | |
| US10060746B2 (en) | Methods and systems for determining a state of an unmanned aerial vehicle | |
| CN104854428B (en) | sensor fusion | |
| US20180149948A1 (en) | Flying camera with string assembly for localization and interaction | |
| US11447371B2 (en) | Perforated capsule hook for stable high speed retract | |
| US20120223181A1 (en) | Lighter-Than-Air Systems, Methods, and Kits for Obtaining Aerial Images | |
| US20230122535A1 (en) | Processes for Generating and Updating Flyable Airspace for Unmanned Aerial Vehicles | |
| AU2022203829B2 (en) | Stereo abort of unmanned aerial vehicle deliveries | |
| US20240019876A1 (en) | Tether-Based Wind Estimation | |
| US20230394814A1 (en) | Stereo Abort of Unmanned Aerial Vehicle Deliveries | |
| Troncho Jordán | A Prospective Geoinformatics Approach to Indoor Navigation for Unmanned Air System (UAS) by use of Quick Response (QR) codes | |
| Lemmens | Hybrid UAS |
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 |