CN107438863A - A kind of method and device for positioning of flying - Google Patents
A kind of method and device for positioning of flying Download PDFInfo
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- CN107438863A CN107438863A CN201680011495.5A CN201680011495A CN107438863A CN 107438863 A CN107438863 A CN 107438863A CN 201680011495 A CN201680011495 A CN 201680011495A CN 107438863 A CN107438863 A CN 107438863A
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- 238000010586 diagram Methods 0.000 description 4
- 230000015572 biosynthetic process Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000013507 mapping Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10004—Still image; Photographic image
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Abstract
The method and device of flight positioning, wherein, the method for the flight positioning includes：Obtain target area image (11)；Preset mark in identification object region image, wherein preset mark are identified with two-dimensional coordinate information, and two-dimensional coordinate information is used for the two-dimensional coordinate (12) for identifying preset mark；According to two-dimensional coordinate information, the two-dimensional coordinate (13) of aircraft is determined；By range sensor or according to the corresponding relation between the pixel wide of preset mark and the pixel wide of preset mark and flying height, the flying height (14) of aircraft is determined.The three-dimensional coordinate of aircraft is determined by the method for positioning of flying, realizes the accurate flying positioning of aircraft.
Description
Technical field
The present embodiments relate to the side that Aerial vehicle position technical field, the flight more particularly to a kind of aircraft position
Method and device.
Background technology
At present, aircraft is positioned using GPS, more accurate formation flight can be realized in outdoor, because GPS believes
Number it is not easy to penetrate metal and mixed mud, by stronger bridging effect aircraft can be caused can not to utilize GPS indoors indoors
Carry out formation flight.In the prior art, generally indoor positioning is carried out using technologies such as Bluetooth, Wifi.
Inventor has found during the embodiment of the present invention is realized：In the prior art, Bluetooth, Wifi etc. are utilized
Technology, indoor position accuracy be not high.
The content of the invention
The present invention solves the technical problem of a kind of method and device for positioning of flying is provided, target area can be identified
Preset mark in area image, according to the two-dimensional coordinate information of preset mark, determine the two-dimensional coordinate of aircraft；Passed by distance
Sensor or according to the corresponding relation between the pixel wide and pixel wide and flying height of preset mark, so that it is determined that flying
The three-dimensional coordinate of row device, realize the accurate flying positioning of aircraft.
In a first aspect, the embodiment of the present invention provides a kind of method for positioning of flying, methods described is performed by aircraft, institute
The method of stating includes：
Obtain target area image；
The preset mark in the target area image is identified, wherein the preset mark is identified with two-dimensional coordinate information,
The two-dimensional coordinate information is used for the two-dimensional coordinate for identifying the preset mark；
According to the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined；
It is by range sensor or wide according to the pixel wide of the preset mark and the pixel of the preset mark
Corresponding relation between degree and flying height, determine the flying height of the aircraft.
Alternatively, according to the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined, including：
According to the offset pixels width between the center of the preset mark and the center of the target area image and
The developed width value of the pixel wide of the preset mark and the preset mark, it is determined that corresponding with the offset pixels width
Real offset；
According to the real offset and the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined.
Alternatively, the preset mark is the preset mark nearest apart from the target area image center.
Alternatively, according to the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined, including：
If the two-dimensional coordinate information of the None- identified preset mark nearest apart from the target area image center, basis
The two-dimensional coordinate information of the preset mark near apart from the target area image center second, determine the two dimension seat of the aircraft
Mark.
Alternatively, the preset mark is Quick Response Code.
In a first aspect, the embodiment of the present invention provides a kind of device for positioning of flying, it is characterised in that described device bag
Include：
Acquisition module, for obtaining target area image；
Identification module, for identifying the preset mark in the target area image, wherein the preset mark is identified with
Two-dimensional coordinate information, the two-dimensional coordinate information are used for the two-dimensional coordinate for identifying the preset mark；
Two-dimensional coordinate locating module, for according to the two-dimensional coordinate information, determining the two-dimensional coordinate of the aircraft；
Flying height locating module, for by range sensor or according to the pixel wide of the preset mark and
Corresponding relation between the pixel wide and flying height, determine the flying height of the aircraft.
Alternatively, the two-dimensional coordinate locating module includes：
Real offset determining unit, for the center according to the preset mark and the center of the target area image
Between offset pixels width and the preset mark pixel wide and the preset mark developed width value, it is determined that with
Real offset corresponding to the offset pixels width；
Two-dimensional coordinate determining unit, for according to the real offset and the two-dimensional coordinate information, it is determined that described
The two-dimensional coordinate of aircraft.
Alternatively, the preset mark is the preset mark nearest apart from the target area image center.
Alternatively, if the two-dimensional coordinate locating module is nearest apart from the target area image center for None- identified
Preset mark two-dimensional coordinate information, then according to the two dimension of the preset mark near apart from the target area image center second
Coordinate information, determine the two-dimensional coordinate of the aircraft.
Alternatively, the preset mark is Quick Response Code.
A kind of method and device of positioning of flying provided in an embodiment of the present invention, by obtaining target area image, identification
The preset mark of target area image, wherein preset mark are identified with two-dimensional coordinate information, according to two-dimensional coordinate information, it is determined that flying
The two-dimensional coordinate of row device, by range sensor or according to the pixel wide of preset mark and the pixel wide of preset mark
Corresponding relation between flying height, the flying height of aircraft is determined, so that it is determined that the three-dimensional coordinate of aircraft, realizes and fly
The accurate flying positioning of row device.
Brief description of the drawings
In order to illustrate more clearly of the technical scheme of the embodiment of the present application, will make below to required in the embodiment of the present application
Accompanying drawing is briefly described.It should be evident that drawings described below is only some embodiments of the present application, for
For those of ordinary skill in the art, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of method of positioning of flying provided in an embodiment of the present invention；
Fig. 2 is the floor map of marked region in the embodiment of the present invention；
Fig. 3 is the schematic diagram of target area image in the embodiment of the present invention；
Fig. 4 is the mapping table between the pixel wide and flying height of preset mark in the embodiment of the present invention；
Fig. 5 is a kind of structural representation of the device for flight positioning that further embodiment of this invention provides；
Fig. 6 is the structural representation of two-dimensional coordinate locating module shown in Fig. 5；
Fig. 7 is the hardware architecture diagram of the aircraft of the method provided in an embodiment of the present invention for performing flight positioning.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that specific embodiment described herein is only to explain the present invention, not
For limiting the present invention.
In addition, as long as technical characteristic involved in each embodiment of invention described below is each other not
Conflict can is formed to be mutually combined.
In embodiments of the present invention, multiple aircraft carry out formation flight displays, each aircraft be provided with head and
Camera on head, camera increase surely by head, regulation camera obtains mesh with angle shot vertically downward
Area image is marked, final realize is accurately positioned to aircraft two-dimensional coordinate.
The embodiment of the present invention is specifically addressed with reference to specific accompanying drawing.
Fig. 1 is a kind of method of positioning of flying provided in an embodiment of the present invention, and this method is performed by aircraft.Such as Fig. 1 institutes
Show, this method includes following：
Step 11, obtain target area image.
In embodiments of the present invention, Fig. 2 is the floor map of marked region 200 in the embodiment of the present invention.Marked region
200 are located in two-dimensional coordinate system XY, and marked region 200 includes the preset mark 201 arranged in multiple lines and multiple rows.In practical application
In, preset mark 201 can be the pattern formed using modes such as laying, spraying or printings.The carrier bag of preset mark 201
Include but be not limited to polythene PE, the thin material such as PVC, such as, the carrier of preset mark 201 can also be ground.
According to the target area 210 in carry-on camera shot mark region 200, it is right with target area 210 to obtain
The target area image 220 answered.
The target area image 220 shot by the camera with certain focal length to obtain contracts relative to target area 210
Predetermined ratio is put.
Preset mark in step 12, identification object region image, wherein preset mark are identified with two-dimensional coordinate information, and two
Dimension coordinate information is used for the two-dimensional coordinate for identifying preset mark.
In embodiments of the present invention, preset mark 201 is identified with two-dimensional coordinate information, the two-dimensional coordinate of preset mark 201
Information refers to the two-dimensional coordinate of the preset mark 201 in above-mentioned two-dimensional coordinate system XY.
Preset mark 201 can be identified with the Quick Response Code of two-dimensional coordinate information, for example, matrix two-dimensional code, stack
Quick Response Code, row row's formula Quick Response Code etc. or be identified with two-dimensional coordinate information other forms figure.
Step 13, according to two-dimensional coordinate information, determine the two-dimensional coordinate of aircraft.
In an embodiment of the present invention, according to the skew picture between the center of preset mark and the center of target area image
The developed width value of the pixel wide and preset mark of plain width and preset mark, it is determined that corresponding with offset pixels width real
Border offset；And then according to real offset and two-dimensional coordinate information, determine the two-dimensional coordinate of aircraft.For example, such as Fig. 3 institutes
Showing, Fig. 3 is the schematic diagram of target area image 220, is illustrated by taking the preset mark 221 in target area image 220 as an example,
Wherein, the preset mark 201 in the corresponding target area 210 of the preset mark 221 in target area image 220.
For example, the offset pixels width between the center of preset mark 221 and the center of target area image 220 is M, in advance
The pixel wide of bidding note 221 is N.The developed width value of preset mark 221 is A, specifically, the actual width of preset mark 221
Angle value is equal to the width value of preset mark 201 in the two-dimensional coordinate system XY shown in Fig. 1.Above-mentioned offset pixels width, preset mark
221 pixel wide is to detect to obtain from target area image 220.
N/A is to be equal to the predetermined ratio that target area image 220 scales relative to target area 210, therefore, it is determined that pre-
Under conditions of offset pixels width between the center of bidding note 221 and the center of target area image 220 is M, you can it is determined that
In above-mentioned two-dimensional coordinate system XY, the center of preset mark 201 is relative to the real offset between the center of target area 210
It is M/ (N/A).
For example two-dimensional coordinate of the preset mark 201 in two-dimensional coordinate system XY is (x, y) corresponding to preset mark 221, is entered
Deviation angle of one step according to the center of target area image 220 relative to the center of preset mark 221, you can it is determined that in two dimension
In coordinate system XY, the two-dimensional coordinate at the center of target area image 220, so as to by the two dimension at the center of target area image 220
Two-dimensional coordinate of the coordinate as aircraft, so as to which the two-dimensional coordinate of aircraft is precisely located.
In an alternative embodiment of the invention, preset mark is the nearest preset mark in the center of distance objective area image 220.
According to the nearest preset mark in the center of distance objective area image 220, the two-dimensional coordinate of aircraft is determined.That is, will
Two-dimensional coordinate of the two-dimensional coordinate of the nearest preset mark in the center of distance objective area image 220 as aircraft, so as to
With the two-dimensional coordinate of roughly positioning aircraft.In actual applications, if the center of None- identified distance objective area image 220
The two-dimensional coordinate information of nearest preset mark, then according to the near preset mark in the center second of distance objective area image 220,
The two-dimensional coordinate of the aircraft is determined, i.e., by the two dimension of the near preset mark in the center second of distance objective area image 220
Two-dimensional coordinate of the coordinate as aircraft, is avoided because wearing or blocking, and leads to not identify distance objective area image 220
The nearest preset mark in center.
Step 14, by range sensor or according to the pixel wide of preset mark and the pixel wide of preset mark
Corresponding relation between flying height, determine the flying height of aircraft.
In embodiments of the present invention, the flying height of aircraft on the one hand can be determined by range sensor, for example, logical
Ultrasonic sensor or laser range sensor measurement are crossed, so that it is determined that the flying height of aircraft.On the other hand can root
According to preset mark 221 in target area image 220 pixel wide and preset mark 221 pixel wide and flying height it
Between corresponding relation, determine the flying height of aircraft.
For example, in aerocraft real test flight, by the flying height of aircraft and under the flying height it is pre-
The pixel wide of bidding note 221 is stored in mapping table as shown in Figure 4, is determined from target area image 220 default
After the pixel wide of mark 221, above-mentioned mapping table is matched, you can determine the flying height of aircraft.
It should be noted that the execution sequence of step 13 and step 14 can be exchanged.For example, first believed according to two-dimensional coordinate
Breath, the two-dimensional coordinate of aircraft is determined, then by range sensor or according to the pixel wide of preset mark and default
Corresponding relation between the pixel wide and flying height of mark, determine the flying height of aircraft.And for example, distance is first passed through to pass
Sensor or according to the corresponding relation between the pixel wide of preset mark and the pixel wide of preset mark and flying height,
The flying height of aircraft is determined, then according to two-dimensional coordinate information, determines the two-dimensional coordinate of aircraft.
A kind of method of positioning of flying provided in an embodiment of the present invention, by obtaining target area image, identifies target area
The preset mark of area image, wherein preset mark are identified with two-dimensional coordinate information, according to two-dimensional coordinate information, determine aircraft
Two-dimensional coordinate, by range sensor or according to the pixel wide of preset mark and the pixel wide of preset mark and flight
Corresponding relation between height, the flying height of aircraft is determined, so that it is determined that the three-dimensional coordinate of aircraft, realizes aircraft
Accurate flying positions.
Fig. 5 is a kind of device for flight positioning that further embodiment of this invention provides.As shown in figure 5, the device includes：Obtain
Modulus block 51, identification module 52, two-dimensional coordinate locating module 53, flying height locating module 54.
Acquisition module 51 is used to obtain target area image；
The preset mark that identification module 52 is used in identification object region image, wherein preset mark are identified with two-dimensional coordinate
Information, two-dimensional coordinate information are used for the two-dimensional coordinate for identifying preset mark；
Two-dimensional coordinate locating module 53 is used for the two-dimensional coordinate for according to two-dimensional coordinate information, determining aircraft；
Flying height locating module 54 is used to pass through range sensor or the pixel wide and picture according to preset mark
Corresponding relation between plain width and flying height, determine the flying height of aircraft.
In embodiments of the present invention, first, acquisition module 51 obtains target area image, and then identification module 52 identifies mesh
The preset mark in area image is marked, in order to which the two-dimensional coordinate of aircraft is calculated, preset mark is identified with two-dimensional coordinate letter
Breath, two-dimensional coordinate information are used for the two-dimensional coordinate for identifying preset mark, and finally, one side two-dimensional coordinate locating module 53 is according to two
Dimension coordinate information determines the two-dimensional coordinate of aircraft, and another aspect flying height locating module 54 passes through range sensor or root
The flying height of aircraft is determined according to the corresponding relation between the pixel wide and pixel wide and flying height of preset mark,
So that it is determined that the three-dimensional coordinate of aircraft, realizes the accurate flying positioning of aircraft.
In actual applications, acquisition module 51 can be the picture pick-up devices such as camera.Identification module 52, two-dimensional coordinate positioning mould
Block 53 and flying height locating module 54 can be processors.
Fig. 6 is the structural representation of two-dimensional coordinate locating module 53 shown in Fig. 5.Two-dimensional coordinate locating module 53 includes：
Real offset determining unit 531 and two-dimensional coordinate determining unit 532.
Real offset determining unit 531 is used for according in the center of the preset mark and the target area image
The pixel wide of offset pixels width and the preset mark between the heart and the developed width value of the preset mark, it is determined that
Real offset corresponding with the offset pixels width.
Two-dimensional coordinate determining unit 532 is used for according to the real offset and the two-dimensional coordinate information, determines institute
State the two-dimensional coordinate of aircraft.
In actual applications, real offset determining unit 531 and two-dimensional coordinate determining unit 532 can be different respectively
Processor or same processor.
It should be noted that because the method and the device of flight positioning of flight positioning are to be based on identical inventive concept,
Embodiment of the method can be mutually applicable with the relevant art content in device embodiment, is no longer described in detail herein.
Fig. 7 is the hardware architecture diagram of the aircraft of the method provided in an embodiment of the present invention for performing flight positioning.Such as
Shown in Fig. 7, the aircraft includes：One or more processors 710 and memory 720, with a processor 710 in Fig. 7
Exemplified by, processor 710 is connected with memory 720, and memory 720 is stored with the instruction that can be performed by processor 710, instruct by with
It is set to execution：
Obtain target area image；
Preset mark in identification object region image, wherein preset mark are identified with two-dimensional coordinate information, two-dimensional coordinate
Information is used for the two-dimensional coordinate for identifying preset mark；
According to two-dimensional coordinate information, the two-dimensional coordinate of aircraft is determined；
By range sensor or according to the pixel wide of preset mark and the pixel wide of preset mark and flight
Corresponding relation between height, determine the flying height of aircraft.
The aircraft of the method for the execution flight positioning that further embodiment of this invention provides, according to two-dimensional coordinate information, really
The two-dimensional coordinate instruction for determining aircraft is specifically configured to perform：
According to the offset pixels width between the center of the preset mark and the center of the target area image and
The developed width value of the pixel wide of the preset mark and the preset mark, it is determined that corresponding with the offset pixels width
Real offset；
According to the real offset and the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined.
The aircraft of the method for the execution flight positioning that further embodiment of this invention provides, according to two-dimensional coordinate information, really
The two-dimensional coordinate instruction for determining aircraft is specifically configured to perform：
If the two-dimensional coordinate information of the None- identified preset mark nearest apart from the target area image center, basis
The two-dimensional coordinate information of the preset mark near apart from the target area image center second, determine the two dimension seat of the aircraft
Mark.
Memory 720 is used as a kind of non-volatile computer readable storage medium storing program for executing, available for storage non-volatile software journey
Sequence, non-volatile computer executable program and module, the device such as the execution flight positioning in the embodiment of the present invention are corresponding
Programmed instruction/module (for example, acquisition module 51, identification module 52, two-dimensional coordinate locating module 53 shown in accompanying drawing 5 and
Flying height locating module 54).Processor 710 is by running the non-volatile software program being stored in memory 720, referring to
Order, various function application and data processing so as to execute server, that is, realize the side that the flight of above method embodiment positions
Method.
Memory 720 can include storing program area and storage data field, wherein, storing program area can store operation system
Application program required for system, at least one function；Storage data field can store the use according to the device for performing flight positioning
Data created etc..In addition, memory 720 can include high-speed random access memory, non-volatile deposit can also be included
Reservoir, for example, at least a disk memory, flush memory device or other non-volatile solid state memory parts.In some implementations
In example, memory 720 is optional including that can pass through relative to the remotely located memory of processor 710, these remote memories
Network connection extremely performs aircraft flight positioner.The example of above-mentioned network include but is not limited to internet, intranet,
LAN, mobile radio communication and combinations thereof.
One or more of modules are stored in the memory 720, when by one or more of processors
710 when performing, the method that performs positioning of being flown in above-mentioned any means embodiment.
Above-mentioned aircraft can perform the method that is provided of the embodiment of the present invention, possess the corresponding functional module of execution method and
Beneficial effect.Not ins and outs of detailed description in the present embodiment, reference can be made to the method that the embodiment of the present invention is provided.
Professional should further appreciate that, each example described with reference to the embodiments described herein
Module and algorithm steps, it can be realized with electronic hardware, computer software or the combination of the two, it is hard in order to clearly demonstrate
The interchangeability of part and software, the composition and step of each example are generally described according to function in the above description.
These functions are performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.
Professional and technical personnel can realize described function using distinct methods to each specific application, but this realization
It is it is not considered that beyond the scope of this invention.Described computer software can be stored in computer read/write memory medium, the journey
Sequence is upon execution, it may include such as the flow of the embodiment of above-mentioned each method.Wherein, described storage medium can be magnetic disc, CD,
Read-only memory or random access memory etc..
The alternative embodiment of the present invention is the foregoing is only, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
- A kind of 1. method for positioning of flying, it is characterised in that methods described is performed by aircraft, and methods described includes：Obtain target area image；The preset mark in the target area image is identified, wherein the preset mark is identified with two-dimensional coordinate information, it is described Two-dimensional coordinate information is used for the two-dimensional coordinate for identifying the preset mark；According to the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined；By range sensor or according to the pixel wide of the pixel wide of the preset mark and the preset mark with Corresponding relation between flying height, determine the flying height of the aircraft.
- 2. according to the method for claim 1, it is characterised in that according to the two-dimensional coordinate information, determine the aircraft Two-dimensional coordinate, including：According to the offset pixels width between the center of the preset mark and the center of the target area image and described The developed width value of the pixel wide of preset mark and the preset mark, it is determined that corresponding with the offset pixels width actual Offset；According to the real offset and the two-dimensional coordinate information, the two-dimensional coordinate of the aircraft is determined.
- 3. method according to claim 1 or 2, it is characterised in that the preset mark is Quick Response Code.
- 4. according to any described method in claim 1-3, it is characterised in that the preset mark is apart from the target area The nearest preset mark in area image center.
- 5. according to any described method in claim 1-4, it is characterised in that according to the two-dimensional coordinate information, determine institute The two-dimensional coordinate of aircraft is stated, including：If the two-dimensional coordinate information of the None- identified preset mark nearest apart from the target area image center, according to distance The two-dimensional coordinate information of the near preset mark in the target area image center second, determine the two-dimensional coordinate of the aircraft.
- 6. a kind of device for positioning of flying, it is characterised in that described device includes：Acquisition module, for obtaining target area image；Identification module, for identifying the preset mark in the target area image, wherein the preset mark is identified with two dimension Coordinate information, the two-dimensional coordinate information are used for the two-dimensional coordinate for identifying the preset mark；Two-dimensional coordinate locating module, for according to the two-dimensional coordinate information, determining the two-dimensional coordinate of the aircraft；Flying height locating module, for by range sensor or according to the pixel wide of the preset mark and described Corresponding relation between pixel wide and flying height, determine the flying height of the aircraft.
- 7. device according to claim 6, it is characterised in that the two-dimensional coordinate locating module includes：Real offset determining unit, between the center according to the preset mark and the center of the target area image Offset pixels width and the preset mark pixel wide and the preset mark developed width value, it is determined that with it is described Real offset corresponding to offset pixels width；Two-dimensional coordinate determining unit, for according to the real offset and the two-dimensional coordinate information, determining the flight The two-dimensional coordinate of device.
- 8. the device according to claim 6 or 7, it is characterised in that the preset mark is Quick Response Code.
- 9. according to any described device in claim 6-8, it is characterised in that the preset mark is apart from the target area The nearest preset mark in area image center.
- 10. according to any described device in claim 6-9, it is characterised in that if the two-dimensional coordinate locating module is used for The two-dimensional coordinate information of the None- identified preset mark nearest apart from the target area image center, then according to apart from the mesh The two-dimensional coordinate information of the near preset mark in area image center second is marked, determines the two-dimensional coordinate of the aircraft.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2016/093898 WO2018027451A1 (en) | 2016-08-08 | 2016-08-08 | Flight positioning method and device |
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| Publication Number | Publication Date |
|---|---|
| CN107438863A true CN107438863A (en) | 2017-12-05 |
| CN107438863B CN107438863B (en) | 2021-07-30 |
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| CN201680011495.5A Active CN107438863B (en) | 2016-08-08 | 2016-08-08 | Flight positioning method and device |
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| WO (1) | WO2018027451A1 (en) |
Cited By (2)
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| CN108305346A (en) * | 2017-12-28 | 2018-07-20 | 国网上海市电力公司 | Equipment routing inspection method, apparatus |
| CN113504794A (en) * | 2021-07-23 | 2021-10-15 | 中国科学院地理科学与资源研究所 | Unmanned aerial vehicle cluster reconstruction method and system and electronic equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111722179A (en) * | 2020-06-29 | 2020-09-29 | 河南天安润信信息技术有限公司 | Multipoint-distributed unmanned aerial vehicle signal direction finding method |
| CN114842465A (en) * | 2022-06-06 | 2022-08-02 | 阿波罗智联(北京)科技有限公司 | License plate detection method and device, electronic equipment, medium and intelligent transportation equipment |
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| CN107438863B (en) | 2021-07-30 |
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