CN108924494A - Aerial monitoring system based on ground - Google Patents
Aerial monitoring system based on ground Download PDFInfo
- Publication number
- CN108924494A CN108924494A CN201810766848.3A CN201810766848A CN108924494A CN 108924494 A CN108924494 A CN 108924494A CN 201810766848 A CN201810766848 A CN 201810766848A CN 108924494 A CN108924494 A CN 108924494A
- Authority
- CN
- China
- Prior art keywords
- information
- camera chain
- target
- cloud server
- camera
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Closed-Circuit Television Systems (AREA)
- Studio Devices (AREA)
Abstract
A kind of aerial monitoring system based on ground, including information acquisition terminal, Cloud Server, information display and control terminal；Information acquisition terminal includes photographic device and remote control laptop devices, and photographic device includes camera chain；The camera chain transmits information for air contact, progress information processing and to remote control laptop devices, and remote control laptop devices are for manipulating camera chain；Camera chain and Cloud Server communication connection, are equipped with air target model in camera chain and Cloud Server；The information that the Cloud Server is used to receive information acquisition terminal or information display and control terminal is sent, and processing result is sent to information acquisition terminal or information display and control terminal after processing；The information display and control terminal provides command information for showing the data information received.The anti-lethality of the present invention is strong, by the common cooperation of information acquisition terminal, Cloud Server, these three parts of information display and control terminal, can complete air alert task jointly.
Description
Technical field
The aerial monitoring system based on ground that present invention relates particularly to a kind of.
Background technique
Constructing aerial monitoring system is the task that each sovereign state must face, and has only built aerial prison
Examining system can just defend the air defence safety of country.Radar is the common apparatus being currently monitored to aerial target, but by
The reason complicated in technology, performance differenceization is larger, for some weak nations of micro state, force of the radar in scientific and technological developed country
Become very fragile in face of device system.Therefore, a set of aerial monitoring system based on ground is constructed based on modern telecommunication network
Make necessary.,
Summary of the invention
The aerial monitoring system based on ground that It is an object of the present invention to solve the deficiency of the existing technology and provide a kind of.
The purpose of the present invention is what is be achieved through the following technical solutions：
A kind of aerial monitoring system based on ground, including information acquisition terminal, Cloud Server, information display and control terminal；Letter
Breath acquisition terminal includes photographic device and remote control laptop devices, and photographic device includes camera chain；The camera chain
For air contact, carry out information processing and to remote control laptop devices transmit information, remote control laptop devices for pair
Camera chain is manipulated；
Camera chain and Cloud Server communication connection, are equipped with aerial target mould in camera chain and Cloud Server
Type；The information that the Cloud Server is used to receive information acquisition terminal or information display and control terminal is sent, and tie processing after handling
Fruit is sent to information acquisition terminal or information display and control terminal；The information display and control terminal for showing the data information received,
And provide command information.
Further, the information of the camera chain to remote control laptop devices transmission includes what camera chain was observed
Image, video, sound, the longitude and latitude of camera chain and height above sea level, the location information of target and information display and control terminal
Order instruction.
Further, the remote control laptop devices are by manipulating described take the photograph to the camera chain transfer control instruction
Camera system, the control instruction include direction of rotation, working method.
Further, air target model is established by collecting the information of existing aircraft, the information of the aircraft includes
The size of aircraft, shape, sound；The dimension information database in target between sensitive spot is established by air target model.
Further, the Cloud Server receives model ID, WGS- that the information of information acquisition terminal includes camera chain
84 coordinate informations, pitch angle and azimuth, optical focal length, image information；The Cloud Server is first judged according to image information
The attribute of target then looks for the sensitive spot on image, according to the position of these sensitive spots, optical focal length numerical value, database
There is information etc., calculate the distance of target range camera chain, the WGS-84 of range information, camera chain is finally combined to sit
Information, pitch angle and azimuth information are marked, the WGS-84 coordinate information of aerial target is calculated.
Further, the Cloud Server obtains the distance between sensitive spot information, meter by finding the sensitive spot in target
Target is calculated at a distance from the camera chain.
In conclusion by adopting the above-described technical solution, compared with prior art, the present invention having the advantage that：
The present invention is based on a set of aerial monitoring system based on ground of modern telecommunication network building, which can
It works under severe electromagnetic interference environment, anti-lethality is strong.The present invention passes through information acquisition terminal, Cloud Server, information
The common cooperation of these three parts of display and control terminal can complete air alert task jointly.
Detailed description of the invention
Fig. 1 is the connection schematic diagram of the aerial monitoring system the present invention is based on ground；
Fig. 2 is the structural schematic diagram of photographic device of the invention；
Fig. 3 is the schematic diagram that three sensitive spots of the invention are located along the same line；
Fig. 4 is the schematic diagram that three sensitive spots of the invention are not located along the same line.
Specific embodiment
A specific embodiment of the invention is further described in detail with reference to the accompanying drawing.
Referring to Figure 1~4, the present invention is a set of aerial monitoring system based on ground based on modern telecommunication network building
System, the system can work under severe electromagnetic interference environment, and anti-lethality is strong.
The present invention includes three parts：Information acquisition terminal, Cloud Server, information display and control terminal.Three portions of the invention
Divide common cooperation, it is common to complete air alert task.
Information acquisition terminal includes photographic device and remote control laptop devices, and photographic device includes camera chain.It is described
Camera chain is mainly used for air contact, combines and carries out information processing and believe to remote control laptop devices transmission
Breath；Remote control laptop devices are mainly used for manipulating camera chain.Photographic device further includes tripod, full-automatic level
Instrument, full-automatic level are arranged on tripod, and camera chain is arranged on full-automatic level.
When searching out suitable place, tripod is set up, and leveled according to the bubble on tripod, reduced horizontal
Error.Full-automatic level is erected on tripod later, starts full-automatic level, elimination of level error.When measurement is flat
When platform levelness is lower, measurement can generate error, even if the inclination angle and the elevation angle of platform can be measured, accounting equation can also become
Complexity occupies a large amount of computing resources, to improve measurement accuracy, it is necessary to elimination platform error as far as possible.Using tripod and automatically
The main reason for level is that full-automatic level alignment error range is smaller, and precision is higher, therefore is missed platform with tripod
Difference is eliminated into full-automatic level prescribed limit.To prevent tripod from being generated shake by wind effect, can add below tripod
Weight is hung to be fixed.
Camera chain includes optical observation apparatus, rotating platform, signal processing module and transmission module, signal processing mould
Block and transmission module are arranged in optical observation apparatus.Camera chain is communicated with remote control device using wireless mode.It takes the photograph
Camera system needs seek north, GPS positioning operation in a pre-installation.System according to the position Xun Bei and works as geomagnetic declination information later,
Azimuth and pitch angle in conjunction with the optical observation central axis of automatic measurement, calculate final optical observation apparatus central axis
The pitch angle of line and level orientation and azimuth information with geographical north orientation.It is taken the photograph by the adjustable control of remote control laptop devices
The state of camera system.
Camera chain to remote control laptop devices transmit information include camera chain observe image, video,
The order of sound, the longitude and latitude of camera chain and height above sea level, the location information of target and information display and control terminal indicates.It is distant
Laptop devices are controlled by manipulating the camera chain, the control instruction to the camera chain transfer control instruction
Including direction of rotation, working method etc..Carrying out control using remote control laptop devices can be to avoid artificial physical disturbance video camera
The work of system guarantees higher measurement accuracy.
Auxiliary device, including power supply device, solar panel, radio station etc. are additionally provided in photographic device.Power supply dress
It sets and is mainly used for providing the energy for relevant device with solar panel, power supply device is that energy density is higher and environment adapts to energy
The stronger lithium battery of power, it is possible to provide multiple voltage, solar panel are mainly used for supplementing energy for power supply device.
Camera chain and Cloud Server communication connection, means of communication include：Current commercial telecommunications network, satellite communication
Network or radio station, wherein based on commercial telecommunications network.When region is without network signal, it is logical that satellite can be used
Letter, but since satellite communications data rate is low and rate are more expensive, radio station's mode can also be used.Radio station is general
It is organized in pairs, one end is connected with camera chain, and the other end is configured at the network signal area of coverage.Radio station's course of work is such as
Under, camera chain will need the information transmitted to send radio station to by wired mode, and radio station adjusts data
Wirelessly information is sent after system；The radio station of the other end carries out signal demodulation after receiving wireless signal,
Restoring can be by wired or wirelessly continue to propagate after data, and wireless mode is will by included wireless network card
Information is sent to neighbouring telecommunication signal base station, then is sent to Cloud Server or information display and control terminal, wired mode by base station
It is then to be linked into telecommunication network by optical fiber or cable mode.Similarly, information display and control terminal or Cloud Server use phase
Camera chain is sent information to mode.
Air target model is equipped in camera chain and Cloud Server.Cloud Server is for receiving information collection end
The information that end or information display and control terminal are sent, and processing result is sent to information acquisition terminal or the aobvious control of information eventually after processing
End.
The present invention establishes air target model by collecting the information of existing aircraft, and the information of aircraft includes aircraft
Size, shape, sound；The dimension information database in target between sensitive spot is established by air target model.
Cloud Server receive information acquisition terminal information include camera chain model ID, WGS-84 coordinate information,
Pitch angle and azimuth, optical focal length, image information, Cloud Server first judge the attribute of target according to image information, then
The sensitive spot on image is found, information etc. is had according to the position of these sensitive spots, optical focal length numerical value, database, is calculated
The distance of target range camera chain, finally combine range information, the WGS-84 coordinate information of camera chain, pitch angle and
Azimuth information calculates the WGS-84 coordinate information of aerial target.
If three sensitive spots in target are located on straight line, as shown in Figure 3.O is observation point, and A, D, B are mesh
Three sensitive spots put on, and be located in a straight line, it is known that ∠ AOD=θ1With ∠ BOD=θ2, the distance between AD is a, BD
The distance between be b, solve the distance between OD d.
Mathematical model is as shown in formula 2, is solved to obtain the solution formula of distance d to it, as shown in formula 3.
Farther out due to target range, distance differs larger compared with target size, can be carried out at approximation with approximate solution to formula
Reason, approximate algorithm is as shown in formula 4, and the approximate formula for obtaining d is as shown in formula 5.
If three sensitive spots in target are not located in a straight line, as shown in figure 4, O is point of observation, P1、P2、P3For
Three sensitive spots in target, it is known that this distance between 3 points information and their angle informations between point of observation solve
The range information of 3 points and point of observation.
Founding mathematical models such as formula 6 is as shown in formula 7.It can be seen that equation solution does not have formula from formula
Solution, can only seek mode by iteration and calculate d12、d13、d23, the derivation algorithm of current existing comparative maturity, here no longer in detail
It describes in detail bright.
When some aircraft also carry other weaponrys simultaneously, it can identify simultaneously, as remark information.Such as
One frame F16 carry, two pieces of guided missiles, it will first provide a location information corresponding with the time, is finally F16 and two piece and leads
Play model.These information will be by wired or be wirelessly sent to information acquisition terminal or information display and control terminal.
It therefore, is identification objective attribute target attribute first, identification process can the same time-division when camera chain has found aerial target
Two steps are walked, and are on the one hand the identification of camera chain itself, and on the other hand image information is sent to Cloud Server by it, are taken by cloud
Business device assists identification.Camera chain itself identification avoids communication delay, but computing capability is limited, and Cloud Server can be fast
Speed identification, but information transmission needs elapsed time, and the two complements one another, common to identify.
In addition, the sensitive spot in target is found, when being aware of sensitive spot, so that it may obtain the distance between sensitive spot letter
Breath, calculates target at a distance from camera chain according to calculation formula.Finally, in conjunction with the position of camera chain, pitch angle,
Azimuth calculates the position of target.To improve recognition effect, number voice can be identified, to assist to identify
The attribute of aerial target.All process camera chains are carried out simultaneously with Cloud Server, final result a part of cloud service
Pass back in camera chain, another part is transmitted in information display and control terminal.
Remote control laptop devices of the invention can be a dedicated notebook computer, carry high-definition interface, can be by screen
Information is transmitted on other devices and is shown, such as display screen, projector, TV etc..For the hair of aerial target acquisition
Now, a kind of mode is that personnel are had found on the ground to aerial target, and then controlling camera chain makes its be directed at aerial target, such as
Fruit camera chain discovery aerial target can be marked automatically, and personnel can be by the functions such as scaling, translating to the mesh
Mark is observed in detail.Another way is that camera chain is aligned to some airspace, is marked automatically after waiting target to enter interface
Note comes out, and issues alarm.In addition, in order to reduce personnel burden, can manual setting observe camera chain range of observation, camera shooting
Machine system is according to algorithm, continuous automatic adjusting position, it is ensured that the airspace for covering setting is transferred to tracking shape after finding target automatically
State, and issue alarm.When target needs to be transferred to tracking by detecting, can using artificial tracking, can also continue using automatically with
Track, the direction alignment target of artificial tracking individuals adjustment camera chain, camera chain adjust automatically state when automatically tracking,
So that target is in the center of camera chain.
The target information for coming to need to pay close attention to or camera chain discovery target are distributed when receiving information display and control terminal
Afterwards, the warning light being remotely controlled in laptop devices can dodge, while loudspeaker can sound an alarm the sound.Camera chain is found doubtful
Target, red boxes mark suspected target position can be used on picture, and the course of work later is as follows.Target is first adjusted to camera lens
Secondly center increases optical zoom focal length, obtain target clear image, which can be automatically performed and also be manually operable.
Therefore, the data in the various situations of video camera must have first been calculated in advance, for example, camera chain uses 4K high-definition camera,
Resolution ratio is 3840 × 2160, changes focal length using optical zoom mode, obtains the visual field width under various focal lengths respectively, is counted
The corresponding angular range of different pixels point out.After aerial target is placed in the middle and can clearly observe, photographic intelligence therein is extracted
It is analyzed.Analytic process is first to analyze the attribute of target, and sensitive target point is then extracted on the basis of attribute, is calculated different
Sensitive spot angle information, the information of combining target database, calculates distance of the target away from video camera later, finally, in conjunction with taking the photograph
The location information of camera and the azimuth of camera chain and pitch angle, calculate the spatial position of target.The process can be
It is completed on camera system, Cloud Server can also be sent information to, assisted to calculate by Cloud Server, return to result after calculating
To camera chain.Sometimes bandwidth limited, it can suitably reduce the number of pictures of transmitting, such as the situation that network condition is preferable
Under, 15 pictures of transmitting per second may be implemented, the information in this 15 picture is calculated by Cloud Server realization；But work as
When network condition is poor, the number of pictures of transmission per second can be reduced to 5, even less with picture together subsidiary letter
Breath further includes the geographical location of time, the camera chain elevation angle and azimuth, camera chain, and it is net in order to prevent that the time, which is added,
Network delay adds timestamp for each data, on the other hand assists the flying speed for calculating target.
Laptop devices are remotely controlled other than the monitored picture of monitor camera system, also add electronic map function.Electricity
Sub- map is also used for the working method for assisting operator to make rational planning for camera chain for assisting display.Electronic map and prison
Control picture can and now on picture, can also individually occur.Electronic map can show the position of camera chain and right
The location information in quasi- orientation, object observing, higher level distribute location information of target etc..It is detailed on electronic map by clicking
Communication icon can check that details, the details of camera chain have model, longitude and latitude and height above sea level, observe mesh
Target details have oblique distance, azimuth, the elevation angle, height above sea level, speed, attribute apart from camera chain.
In order to find that night target, camera chain are equipped with Night.In this mode, camera chain captures
Infrared light, in order to find distant object as far as possible under low-light (level), camera chain is equipped with low-power infrared laser
Device, it and camera chain rotate together, and laser is opened after opening Night.When aerial discovery target, infrared ray meeting
It returns, will appear bright spot on image, but due to that can not see target overall picture clearly, traditional observation method will be limited, but can
To estimate target range using following manner.The orientation of information display and control terminal comprehensive utilization multiple cameras system discovery target
Angle and height angle information estimate the position of target in conjunction with each camera chain geographical location information.Night is since there are some
The insect of flight exists, therefore there is also limitations for this mode.In addition, if bright spot can also be generated by being irradiated on atural object, therefore
It is also required to avoid.In view of current most of aircraft carries aero-engine, having sprayed flame also will be helpful to target
Positioning, therefore another way is to close laser, detection find aerial engine wake flame, information display and control terminal it is comprehensive these
Information calculates the physical location of target.To sum up, the effect of observation can all give a discount greatly under the environment such as night, terrible weather
Button.In order to protect camera chain, it should also avoid camera chain being directed at the strong light devices such as the sun, prevent from damaging photosensitive member
Part, camera chain are equipped with self-protection system, calculate position of sun at that time automatically, in conjunction with these information adjust automaticallies
Inclination angle and pitch angle, to avoid intense light source.
Information display and control terminal can be used as the use of operational commanding platform, and main device is a special purpose computer.Information is aobvious
Control terminal provides some command informations for showing the data information being collected into.The information being collected into, which mainly has, carrys out cloud service
Aerial Targets Information, the target information of information acquisition terminal.The software systems of information display and control terminal provide electronic map, this
A little target informations can be selectively shown on these maps, and operator, which can according to need, checks believing for these targets
Information, including photographic intelligence.Operator according to the observation to the case where can assign instruction, these instructions can reach information collection
Terminal, such as when some aircraft enters an information acquisition terminal, which is sent to information for target information
Display and control terminal sends information to other information collections after information display and control terminal operator judges according to flight track
Terminal, to realize that purpose is continuously tracked in target.Target data can also be sent in military network through isolating device, thus
Realize data sharing, a kind of relatively simple method is to be packaged target data according to military target data format, utilize serial ports
Network transmission transmits it after the military network computer of the serial ports other end is received using serial ports in military network, this
Kind mode is it is possible to prevente effectively from leakage of data.
Information acquisition terminal of the invention is divided into two classes, and one kind is mobile information acquisition terminal, and operator chooses related
Place sets up it, is manipulated using remote control laptop devices to equipment, and information is transmitted through the network to the aobvious control of information
Center, mobility is stronger, but ensures that pressure is larger.Another kind of is fixed information acquisition terminal, is set up and telecommunication signal
On tower, remotely it can be manipulated, operating and controlling interface carries out in the development interface that information shows control center, ensures that pressure is small, can
All weather operations, but can not move.These two types of information acquisition terminals can work in different occasions, the former operates mainly in war
Strive, during military exercises, the latter can work it is in office when the phase, non-wartime monitors aerial enemy's situation, for guarding against national defence and emphasis mesh
Mark, wartime can continue to play a significant role.This country weaker to some shortage radars or electronic warfare capability provides
A means of ensureing air defence safety, and due to low cost, the anti-lethality of system is strong.
The present invention is a kind of system for making up air defence safety, belongs to a part of national defense construction.
Embodiment described above is merely to illustrate technical idea and feature of the invention, in the art its object is to make
Technical staff can understand the content of the present invention and implement it accordingly, patent model of the invention only cannot be limited with the present embodiment
It encloses, i.e., it is all according to same changes or modifications made by disclosed spirit, it still falls in the scope of the patents of the invention.
Claims (6)
1. a kind of aerial monitoring system based on ground, which is characterized in that aobvious including information acquisition terminal, Cloud Server, information
Control terminal；Information acquisition terminal includes photographic device and remote control laptop devices, and photographic device includes camera chain；It is described to take the photograph
Camera system transmits information for air contact, progress information processing and to remote control laptop devices, and remote control notebook is set
It is ready for use on and camera chain is manipulated；
Camera chain and Cloud Server communication connection, are equipped with air target model in camera chain and Cloud Server；
The information that the Cloud Server is used to receive information acquisition terminal or information display and control terminal is sent, and send out processing result after handling
Give information acquisition terminal or information display and control terminal；The information display and control terminal is given for showing the data information received
Command information out, described instruction information send photographic device or/and remote control laptop devices to.
2. the aerial monitoring system according to claim 1 based on ground, which is characterized in that the camera chain is to distant
Control laptop devices transmission information include camera chain observe image, video, sound, camera chain longitude and latitude
And the location information of height above sea level, target and the order of information display and control terminal indicate.
3. the aerial monitoring system according to claim 2 based on ground, which is characterized in that the remote control laptop devices
By manipulating the camera chain to the camera chain transfer control instruction, the control instruction includes rotation side
To, working method.
4. the aerial monitoring system according to claim 1 based on ground, which is characterized in that by collecting existing aircraft
Information establish air target model, the information of the aircraft includes the size of aircraft, shape, sound；Pass through aerial mesh
Mark the dimension information database in model foundation target between sensitive spot.
5. the aerial monitoring system according to claim 4 based on ground, which is characterized in that the Cloud Server receives letter
The information of breath acquisition terminal includes model ID, WGS-84 coordinate information, pitch angle and the azimuth of camera chain, optics coke
Away from, image information；The Cloud Server first judges the attribute of target according to image information, then looks for the sensitivity on image
Point has information etc. according to the position of these sensitive spots, optical focal length numerical value, database, calculates target range video camera system
The distance of system finally combines WGS-84 coordinate information, pitch angle and the azimuth information of range information, camera chain, calculates
The WGS-84 coordinate information of aerial target out.
6. according to any aerial monitoring system based on ground of claim 5, which is characterized in that the Cloud Server is logical
Cross the sensitive spot found in target, obtain the distance between sensitive spot information, calculate target and the camera chain away from
From.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766848.3A CN108924494B (en) | 2018-07-13 | 2018-07-13 | Aerial monitoring system based on ground |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810766848.3A CN108924494B (en) | 2018-07-13 | 2018-07-13 | Aerial monitoring system based on ground |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108924494A true CN108924494A (en) | 2018-11-30 |
| CN108924494B CN108924494B (en) | 2020-08-28 |
Family
ID=64411292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810766848.3A Active CN108924494B (en) | 2018-07-13 | 2018-07-13 | Aerial monitoring system based on ground |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108924494B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111712861A (en) * | 2019-05-24 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method of remote control equipment and remote control equipment |
| CN113341787A (en) * | 2021-05-06 | 2021-09-03 | 中国科学院国家空间科学中心 | Teleoperation system for ground matching experiment of space station high-temperature cabinet |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201918032U (en) * | 2010-12-31 | 2011-08-03 | 同济大学 | Low-altitude flying anti-collision device of aircraft |
| KR101164656B1 (en) * | 2012-03-08 | 2012-07-11 | 주식회사 바로텍시너지 | Photographing apparatus for tracking object with high speed |
| RU2465613C1 (en) * | 2011-07-28 | 2012-10-27 | Государственное образовательное учреждение высшего профессионального образования "ВОЕННАЯ АКАДЕМИЯ СВЯЗИ имени Маршала Советского Союза С.М. Буденного" Министерства обороны Российской Федерации | Method and apparatus for determining location of radio source |
| US20150015895A1 (en) * | 2013-07-10 | 2015-01-15 | Faro Technologies, Inc. | Three-dimensional measurement device having three-dimensional overview camera |
| CN105931263A (en) * | 2016-03-31 | 2016-09-07 | 纳恩博（北京）科技有限公司 | Target tracking method and electronic equipment |
| 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 |
| CN106403900A (en) * | 2016-08-29 | 2017-02-15 | 上海交通大学 | Flyer tracking and locating system and method |
| CN106452658A (en) * | 2016-10-25 | 2017-02-22 | 成都紫瑞青云航空宇航技术有限公司 | Low-altitude air defense equipment |
| CN106772338A (en) * | 2016-11-25 | 2017-05-31 | 杭州捍鹰科技有限公司 | Unmanned machine positioning device, method and system |
-
2018
- 2018-07-13 CN CN201810766848.3A patent/CN108924494B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201918032U (en) * | 2010-12-31 | 2011-08-03 | 同济大学 | Low-altitude flying anti-collision device of aircraft |
| RU2465613C1 (en) * | 2011-07-28 | 2012-10-27 | Государственное образовательное учреждение высшего профессионального образования "ВОЕННАЯ АКАДЕМИЯ СВЯЗИ имени Маршала Советского Союза С.М. Буденного" Министерства обороны Российской Федерации | Method and apparatus for determining location of radio source |
| KR101164656B1 (en) * | 2012-03-08 | 2012-07-11 | 주식회사 바로텍시너지 | Photographing apparatus for tracking object with high speed |
| US20150015895A1 (en) * | 2013-07-10 | 2015-01-15 | Faro Technologies, Inc. | Three-dimensional measurement device having three-dimensional overview camera |
| CN105931263A (en) * | 2016-03-31 | 2016-09-07 | 纳恩博（北京）科技有限公司 | Target tracking method and electronic equipment |
| 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 |
| CN106403900A (en) * | 2016-08-29 | 2017-02-15 | 上海交通大学 | Flyer tracking and locating system and method |
| CN106452658A (en) * | 2016-10-25 | 2017-02-22 | 成都紫瑞青云航空宇航技术有限公司 | Low-altitude air defense equipment |
| CN106772338A (en) * | 2016-11-25 | 2017-05-31 | 杭州捍鹰科技有限公司 | Unmanned machine positioning device, method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111712861A (en) * | 2019-05-24 | 2020-09-25 | 深圳市大疆创新科技有限公司 | Control method of remote control equipment and remote control equipment |
| CN113341787A (en) * | 2021-05-06 | 2021-09-03 | 中国科学院国家空间科学中心 | Teleoperation system for ground matching experiment of space station high-temperature cabinet |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108924494B (en) | 2020-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107247458A (en) | UAV Video image object alignment system, localization method and cloud platform control method | |
| CN105700547B (en) | A kind of aerial three-dimensional video-frequency streetscape system and implementation method based on navigation dirigible | |
| CN109523471B (en) | Method, system and device for converting ground coordinates and wide-angle camera picture coordinates | |
| CN104168455A (en) | Air-based large-scene photographing system and method | |
| US20110010025A1 (en) | Monitoring system using unmanned air vehicle with wimax communication | |
| CN104155006A (en) | Handheld thermal infrared imager and method for same to carry out quick locking and ranging on small target | |
| CN102654940A (en) | Traffic information acquisition system based on unmanned aerial vehicle and processing method of traffic information acquisition system | |
| CN109946729B (en) | Aerial target tracking method and device | |
| CN109085573A (en) | Vehicle-mounted unmanned aerial vehicle managing and control system and method | |
| CN104320587A (en) | Method for automatically obtaining shooting range of outdoor pan-tilt camera | |
| CN101196561A (en) | Wireless ranging omnidirectional image combined locating system | |
| CN106210647A (en) | Based on the method and system building base station coverage area full-view image of taking photo by plane | |
| CN113516708B (en) | Power transmission line inspection unmanned aerial vehicle accurate positioning system and method based on image recognition and UWB positioning fusion | |
| CN109752713B (en) | Radar video monitoring method | |
| CN107730652A (en) | A kind of cruising inspection system, method and device | |
| CN106210675A (en) | A kind of transmission line forest fire monitoring method, device and system | |
| CN114360196B (en) | 5G smart campus system based on cloud platform | |
| CN217986479U (en) | Targeted bird repelling system | |
| CN108734655A (en) | The method and system that aerial multinode is investigated in real time | |
| CN113126126A (en) | All-time automatic target-scoring system and ammunition drop point positioning method thereof | |
| CN111624592A (en) | Low-altitude target detection method and system based on multi-source detector | |
| CN108924494A (en) | Aerial monitoring system based on ground | |
| Roberts et al. | Soldier-worn augmented reality system for tactical icon visualization | |
| KR100390600B1 (en) | Apparatus for monitoring woodfire and position pursuit and a method for operating the same | |
| CN216647401U (en) | Safety helmet recognition device |
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 |