CN108286964A - A kind of air navigation aid during aircraft landing - Google Patents
A kind of air navigation aid during aircraft landing Download PDFInfo
- Publication number
- CN108286964A CN108286964A CN201711470724.2A CN201711470724A CN108286964A CN 108286964 A CN108286964 A CN 108286964A CN 201711470724 A CN201711470724 A CN 201711470724A CN 108286964 A CN108286964 A CN 108286964A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- landing
- preset
- takeoff
- binocular
- 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.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
Abstract
The invention discloses the air navigation aids during a kind of aircraft landing, the described method comprises the following steps：S1：Startup is taken off or landing procedure；S2：Aircraft is switched to corresponding pattern or the landing mode of taking off；S3：It is pre-positioned by GNSS system；S4：Terrestrial reference is captured by binocular navigation module to be accurately positioned；S5：With it is preset take off or sinking speed rise or landing；S6：Reach it is preset take off or descent altitude after complete landing operation.The present invention is pre-positioned during landing using GNSS, binocular navigation system is used to carry out pinpoint mode again, improve positioning accuracy, avoid due to electromagnetic interference radio signal, satellite-signal is too weak, lose star and caused by positioning is inaccurate or positioning failure, the problem of security risk being be easy to cause under complex environment, even resulting in aircraft damage.
Description
Technical field
The present invention relates to aircraft real-time navigation fields, and in particular to the air navigation aid during a kind of aircraft landing
Background technology
Flying instrument has the advantages that machinery is simple in structure, movement is flexible, posture is various, scalability is good and easy care, because
And in exploration, the fields such as mapping, rescue, take photo by plane and play the part of more and more important role, and these fields none do not require it is quite high
Accuracy, reliability and independence.
Existing aircraft navigation method mostly uses GPS navigation, can reach 1.5 meters in outdoor positioning accuracy, for
General user's is set to service and can meet.However on unmanned plane, the precision of the GPS receiver of conventional low cost cannot meet respectively
The navigation accuracy of the complicated posture of kind, and be difficult to position under complex environment, such as inside integrated mill, below mountain area and mine
Under environment, GPS signal by electromagnetic interference, satellite-signal is too weak, loses magnitude happen when that it will cause positioning is inaccurate or fixed
The problem of position failure, there are great security risks, seriously result even in aircraft damage.
Invention content
It is an object of the invention to：For solve in the prior art GPS signal by electromagnetic interference, satellite-signal is too weak, loses
The problem of being not allowed it will cause positioning when magnitude happens or position failure, there are problems that security risk, provide one kind
Air navigation aid during aircraft landing.
The technical solution adopted by the present invention is as follows：
A kind of air navigation aid during aircraft landing, the described method comprises the following steps：
S1：Startup is taken off or landing procedure；
S2：Aircraft is switched to corresponding pattern or the landing mode of taking off；
S3：It is pre-positioned by GNSS；
S4：Terrestrial reference is captured by binocular navigation module to be accurately positioned；
S5：Rise or land with preset takeoff speed or sinking speed；
S6：Reach it is preset take off or descent altitude after complete landing operation.
In the step S4, binocular navigation module carries out pinpoint method and is：By mounted on aircraft ventral
Camera is continuously shot the targeted graphical on landing platform, and the figure of shooting and the figure that prestores are compared, according to
Graphic Pattern Matching degree calculates three dimensional local information.
In said program, the step S4, specially：
S41：Positioned at the left and right of aircraft ventral two, camera obtains the left images of targeted graphical respectively；
S42：It is split the image of acquisition to obtain candidate region；
S43：Feature extraction is carried out to candidate region；
S44：The feature extracted and the feature for the figure that prestores are subjected to similitude matching, form matched shape；
S45：Extract the characteristic point position of matched shape；
S46：The three dimensional local information of aircraft is calculated according to matched characteristic point；
Preferably, the targeted graphical is T words.
In said program, the flow of taking off of the air navigation aid is specially：
S1：Start takeoff operational；
S2：Aircraft is switched to the pattern of taking off；
S3：It is pre-positioned by GNSS, vectored flight device is moved to above takeoff point, judges whether to reach targeted graphical
Top, it is no, repeat S3, be, carry out S4；
S4：It is accurately positioned by binocular navigation module, judges whether to reach takeoff setting, it is no, according to being accurately positioned
Location information adjustment aircraft position, carry out S3, be, carry out S5；
S5：Aircraft rises to preset height of taking off with preset takeoff speed from scheduled takeoff setting；
S6：Aircraft is converted to the pattern of remaining, and completes takeoff operational.
In said program, the landing flow of the air navigation aid is specially：
S1：Start landing operation；
S2：Aircraft is switched to landing mode；
S3：It is pre-positioned by GNSS, vectored flight device flies to level point safe altitude overhead, judges whether to reach drop
Safe landing point height overhead, it is no, S3 is repeated, is the height that drop to binocular navigation module and can work, carries out S4；
S4：It is accurately positioned by binocular navigation module, judges whether to reach landing place overhead, it is no, according to accurate
The position of the location information adjustment aircraft of positioning, repeats S4, is, carry out S5；
S5：Aircraft is begun to decline with preset sinking speed, until dropping to preset position；
S6：Aircraft carries out detection of contacting to earth, no, adjusts attitude of flight vehicle, repeats S6, is, completes landing operation.
In conclusion by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
The present invention is pre-positioned during landing using GNSS, then pinpoint using the progress of binocular navigation system
Mode improves positioning accuracy, avoid due to electromagnetic interference radio signal, satellite-signal is too weak, lose star and caused by it is fixed
Avoided while the problem of position is inaccurate or positioning failure since existing airmanship positioning accuracy is inadequate, cause taking off and
When landing, it can not accurately judge the position that aircraft is in, security risk is be easy to cause under complex environment, even result in winged
The problem of row device damages, is compared the image taken with pre-stored image using binocular navigation system, according to Graphic Pattern Matching
Degree calculates the mode of specific three-dimensional information, substantially increases the precision of navigation so that takeoff and landing is more accurate.
Description of the drawings
The present invention will illustrate by embodiment and with reference to the appended drawing, wherein：
Fig. 1 is take-off process flow diagram of the present invention；
Fig. 2 is descent flow diagram of the present invention；
Fig. 3 is binocular navigation system flow diagram in the present invention.
Specific implementation mode
All features disclosed in this specification or disclosed all methods or in the process the step of, in addition to mutually exclusive
Feature and/or step other than, can combine in any way.
A kind of air navigation aid during aircraft landing, the described method comprises the following steps：
S1：Startup is taken off or landing procedure；
S2：Aircraft is switched to corresponding pattern or the landing mode of taking off；
S3：It is pre-positioned by GNSS system；
S4：Terrestrial reference is captured by binocular navigation module to be accurately positioned；
S5：With it is preset take off or sinking speed rise or landing；
S6：Reach it is preset take off or descent altitude after complete landing operation.
In the step S4, binocular navigation module carries out pinpoint method and is：By mounted on aircraft ventral
Camera is continuously shot the targeted graphical on landing platform, and the figure of shooting and the figure that prestores are compared, according to
Graphic Pattern Matching degree calculates three dimensional local information.
Further, the step S4, specially：
S41：Positioned at the left and right of aircraft ventral two, camera obtains the left images of targeted graphical respectively；
S42：It is split the image of acquisition to obtain candidate region；
S43：Feature extraction is carried out to candidate region；
S44：The feature extracted and the feature for the figure that prestores are subjected to similitude matching, form matched shape；
S45：Extract the characteristic point position of matched shape；
S46：The three dimensional local information of aircraft is calculated according to matched characteristic point；
Preferably, the targeted graphical is T words.
Embodiment 1
A kind of air navigation aid during aircraft landing, the flow of taking off of the air navigation aid are specially：
S1：Start takeoff operational；
S2：Aircraft is switched to the pattern of taking off；
S3：It is pre-positioned by GNSS, judges whether the top for reaching the targeted graphical of ground, it is no, S3 is repeated, is,
Carry out S4；
S4：It is accurately positioned by binocular navigation system, judges whether to reach takeoff setting, it is no, S3 is carried out, is, into
Row S5；
S5：Aircraft rises to preset height of taking off with preset takeoff speed from scheduled takeoff setting；
S6：Aircraft is converted to the pattern of remaining, and completes takeoff operational.
Further, the step S4, specially：
S41：Positioned at the left and right of aircraft ventral two, camera obtains the left images of targeted graphical respectively；
S42：It is split the image of acquisition to obtain candidate region；
S43：Feature extraction is carried out to candidate region；
S44：The feature extracted and the feature for the figure that prestores are subjected to similitude matching, form matched shape；
S45：Extract the characteristic point position of matched shape；
S46：The three dimensional local information of aircraft is calculated according to matched characteristic point；
Preferably, the targeted graphical is T words.
Embodiment 2
A kind of air navigation aid during aircraft landing, the landing flow of the air navigation aid are specially：
S1：Start landing operation；
S2：Aircraft is switched to landing mode；
S3：It is pre-positioned by GNSS, vectored flight device flies to level point safe altitude overhead, and drop to binocular navigation system
The height that system can work；
S4：It is accurately positioned by binocular navigation system, judges whether landing place is predeterminated position.
S5：Aircraft is adjusted according to the location information that binocular navigation system provides, until dropping to preset position；
S6：Aircraft carries out detection of contacting to earth, no, repeats detection process of contacting to earth, is, completes landing operation.
Further, the step S4, specially：
S41：Positioned at the left and right of aircraft ventral two, camera obtains the left images of targeted graphical respectively；
S42：It is split the image of acquisition to obtain candidate region；
S43：Feature extraction is carried out to candidate region；
S44：The feature extracted and the feature for the figure that prestores are subjected to similitude matching, form matched shape；
S45：Extract the characteristic point position of matched shape；
S46：The three dimensional local information of aircraft is calculated according to matched characteristic point；
Preferably, the targeted graphical is T words.
The above, only presently preferred embodiments of the present invention, are not intended to limit the invention, patent protection model of the invention
It encloses and is subject to claims, equivalent structure variation made by every specification and accompanying drawing content with the present invention, similarly
It should be included within the scope of the present invention.
Claims (5)
1. the air navigation aid during a kind of aircraft landing, which is characterized in that the described method comprises the following steps：
S1：Startup is taken off or landing procedure；
S2：Aircraft is switched to corresponding pattern or the landing mode of taking off；
S3：It is pre-positioned by GNSS；
S4：Terrestrial reference is captured by binocular navigation module to be accurately positioned；
S5：Rise or land with preset takeoff speed or sinking speed；
S6：Reach it is preset take off or descent altitude after complete landing operation.
In the step S4, binocular navigation module carries out pinpoint method and is：Pass through the camera shooting mounted on aircraft ventral
Head is continuously shot the targeted graphical on landing platform, the figure of shooting and the figure that prestores is compared, according to figure
Matching degree calculates three dimensional local information.
2. the air navigation aid during a kind of aircraft landing according to claim 1, which is characterized in that the step
S4, specially：
S41：Positioned at the left and right of aircraft ventral two, camera obtains the left images of targeted graphical respectively；
S42：It is split the image of acquisition to obtain candidate region；
S43：Feature extraction is carried out to candidate region；
S44：The feature extracted and the feature for the figure that prestores are subjected to similitude matching, form matched shape；
S45：Extract the characteristic point position of matched shape；
S46：The three dimensional local information of aircraft is calculated according to matched characteristic point.
3. the air navigation aid during a kind of aircraft landing according to claim 2, which is characterized in that the target figure
Shape is T words.
4. the air navigation aid during a kind of aircraft landing according to claim 1 or 2, which is characterized in that described to lead
The flow of taking off of boat method is specially：
S1：Start takeoff operational；
S2：Aircraft is switched to the pattern of taking off；
S3：It is pre-positioned by GNSS, vectored flight device is moved to above takeoff point, judges whether to reach the upper of targeted graphical
Side, it is no, S3 is repeated, is, carries out S4；
S4：It is accurately positioned by binocular navigation module, judges whether to reach takeoff setting, it is no, according to pinpoint position
The position of confidence breath adjustment aircraft, carries out S3, is, carry out S5；
S5：Aircraft rises to preset height of taking off with preset takeoff speed from scheduled takeoff setting；
S6：Aircraft is converted to the pattern of remaining, and completes takeoff operational.
5. the air navigation aid during a kind of aircraft landing according to claim 1 or 2, which is characterized in that described to lead
The landing flow of boat method is specially：
S1：Start landing operation；
S2：Aircraft is switched to landing mode；
S3：It is pre-positioned by GNSS, vectored flight device flies to level point safe altitude overhead, judges whether to reach level point
Safe altitude overhead, it is no, S3 is repeated, is the height that drop to binocular navigation module and can work, carries out S4；
S4：It is accurately positioned by binocular navigation module, judges whether to reach landing place overhead, it is no, according to being accurately positioned
Location information adjustment aircraft position, repeat S4, be, carry out S5；
S5：Aircraft is begun to decline with preset sinking speed, until dropping to preset position；
S6：Aircraft carries out detection of contacting to earth, no, adjusts attitude of flight vehicle, repeats S6, is, completes landing operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470724.2A CN108286964A (en) | 2017-12-29 | 2017-12-29 | A kind of air navigation aid during aircraft landing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711470724.2A CN108286964A (en) | 2017-12-29 | 2017-12-29 | A kind of air navigation aid during aircraft landing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108286964A true CN108286964A (en) | 2018-07-17 |
Family
ID=62832483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711470724.2A Pending CN108286964A (en) | 2017-12-29 | 2017-12-29 | A kind of air navigation aid during aircraft landing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108286964A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077595A (en) * | 2019-04-28 | 2019-08-02 | 北京理工大学 | Unmanned automated spacecraft lands and recovery system automatically under the conditions of complicated dynamic is jolted |
| CN112783198A (en) * | 2020-12-23 | 2021-05-11 | 武汉量宇智能科技有限公司 | Method for judging aircraft control starting point |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5657009A (en) * | 1991-10-31 | 1997-08-12 | Gordon; Andrew A. | System for detecting and viewing aircraft-hazardous incidents that may be encountered by aircraft landing or taking-off |
| CN104897159A (en) * | 2015-05-20 | 2015-09-09 | 南京航空航天大学 | Aircraft full-course navigation method based on sequence image matching |
| CN105955291A (en) * | 2016-04-29 | 2016-09-21 | 深圳市哈博森科技有限公司 | Unmanned plane flight route track recording and automatic flight control mode |
| CN205644286U (en) * | 2016-05-16 | 2016-10-12 | 景德镇学院 | Unmanned aerial vehicle independently lands based on vision assistive technology |
| CN106054931A (en) * | 2016-07-29 | 2016-10-26 | 北方工业大学 | Unmanned aerial vehicle fixed-point flight control system based on visual positioning |
| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
| CN205959071U (en) * | 2016-06-17 | 2017-02-15 | 海南海大信息产业园有限公司 | Unmanned aerial vehicle landing bootstrap system |
| CN106774423A (en) * | 2017-02-28 | 2017-05-31 | 亿航智能设备（广州）有限公司 | The landing method and system of a kind of unmanned plane |
-
2017
- 2017-12-29 CN CN201711470724.2A patent/CN108286964A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5657009A (en) * | 1991-10-31 | 1997-08-12 | Gordon; Andrew A. | System for detecting and viewing aircraft-hazardous incidents that may be encountered by aircraft landing or taking-off |
| CN104897159A (en) * | 2015-05-20 | 2015-09-09 | 南京航空航天大学 | Aircraft full-course navigation method based on sequence image matching |
| CN105955291A (en) * | 2016-04-29 | 2016-09-21 | 深圳市哈博森科技有限公司 | Unmanned plane flight route track recording and automatic flight control mode |
| CN205644286U (en) * | 2016-05-16 | 2016-10-12 | 景德镇学院 | Unmanned aerial vehicle independently lands based on vision assistive technology |
| CN205959071U (en) * | 2016-06-17 | 2017-02-15 | 海南海大信息产业园有限公司 | Unmanned aerial vehicle landing bootstrap system |
| CN106054903A (en) * | 2016-07-27 | 2016-10-26 | 中南大学 | Multi-rotor unmanned aerial vehicle self-adaptive landing method and system |
| CN106054931A (en) * | 2016-07-29 | 2016-10-26 | 北方工业大学 | Unmanned aerial vehicle fixed-point flight control system based on visual positioning |
| CN106774423A (en) * | 2017-02-28 | 2017-05-31 | 亿航智能设备（广州）有限公司 | The landing method and system of a kind of unmanned plane |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110077595A (en) * | 2019-04-28 | 2019-08-02 | 北京理工大学 | Unmanned automated spacecraft lands and recovery system automatically under the conditions of complicated dynamic is jolted |
| CN112783198A (en) * | 2020-12-23 | 2021-05-11 | 武汉量宇智能科技有限公司 | Method for judging aircraft control starting point |
| CN112783198B (en) * | 2020-12-23 | 2022-07-29 | 武汉量宇智能科技有限公司 | Method for judging aircraft control starting point |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7235144B2 (en) | Apparatus, method and program | |
| CN106774431B (en) | Method and device for planning air route of surveying and mapping unmanned aerial vehicle | |
| CN106708066B (en) | View-based access control model/inertial navigation unmanned plane independent landing method | |
| KR101494654B1 (en) | Method and Apparatus for Guiding Unmanned Aerial Vehicle and Method and Apparatus for Controlling Unmanned Aerial Vehicle | |
| Xiang et al. | Development of a low-cost agricultural remote sensing system based on an autonomous unmanned aerial vehicle (UAV) | |
| CN103822635B (en) | The unmanned plane during flying spatial location real-time computing technique of view-based access control model information | |
| JP6390013B2 (en) | Control method for small unmanned aerial vehicles | |
| Marut et al. | ArUco markers pose estimation in UAV landing aid system | |
| CN105335733A (en) | Autonomous landing visual positioning method and system for unmanned aerial vehicle | |
| JP2005115623A (en) | Navigation system using image recognition | |
| KR101160454B1 (en) | Construction method of 3D Spatial Information using position controlling of UAV | |
| EP3734394A1 (en) | Sensor fusion using inertial and image sensors | |
| JP2014006148A (en) | Aerial photographing method and aerial photographing system | |
| CN104007766A (en) | Flight control method and device for unmanned aerial vehicle | |
| CN107908197A (en) | The accurate landing system of unmanned plane and method based on infrared beacon and vision | |
| US20190197908A1 (en) | Methods and systems for improving the precision of autonomous landings by drone aircraft on landing targets | |
| CN105388908A (en) | Machine vision-based unmanned aerial vehicle positioned landing method and system | |
| CN109597432B (en) | Unmanned aerial vehicle take-off and landing monitoring method and system based on vehicle-mounted camera unit | |
| CN108255190A (en) | Precision landing method based on multisensor and it is tethered at unmanned plane using this method | |
| KR101771492B1 (en) | Method and system for mapping using UAV and multi-sensor | |
| JP2023041675A (en) | Drone-work support system and drone-work support method | |
| CN108286964A (en) | A kind of air navigation aid during aircraft landing | |
| Laliberte et al. | Unmanned aerial vehicles for rangeland mapping and monitoring: A comparison of two systems | |
| Liu et al. | Vision-guided autonomous landing of multirotor UAV on fixed landing marker | |
| JP2010214979A (en) | Computer, landing route calculation program, and recording medium |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180717 |
|
| RJ01 | Rejection of invention patent application after publication |