CN108924494B - Aerial monitoring system based on ground - Google Patents
Aerial monitoring system based on ground Download PDFInfo
- Publication number
- CN108924494B CN108924494B CN201810766848.3A CN201810766848A CN108924494B CN 108924494 B CN108924494 B CN 108924494B CN 201810766848 A CN201810766848 A CN 201810766848A CN 108924494 B CN108924494 B CN 108924494B
- Authority
- CN
- China
- Prior art keywords
- information
- target
- camera system
- cloud server
- distance
- 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.)
- Active
Links
Images
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)
- Studio Devices (AREA)
- Closed-Circuit Television Systems (AREA)
Abstract
A ground-based aerial monitoring system comprises an information acquisition terminal, a cloud server and an information display and control terminal; the information acquisition terminal comprises a camera device and a remote control notebook device, wherein the camera device comprises a camera system; the camera system is used for detecting an aerial target, processing information and transmitting the information to the remote control notebook equipment, and the remote control notebook equipment is used for controlling the camera system; the camera system is in communication connection with the cloud server, and aerial target models are arranged in the camera system and the cloud server; the cloud server is used for receiving the information sent by the information acquisition terminal or the information display control terminal, and sending a processing result to the information acquisition terminal or the information display control terminal after processing; the information display control terminal is used for displaying the received data information and giving instruction information. The air warning system is strong in destroy resistance, and can complete the air warning task together through the cooperation of the information acquisition terminal, the cloud server and the information display control terminal.
Description
Technical Field
The invention particularly relates to a ground-based aerial monitoring system.
Background
Building an aerial monitoring system is one task that each authoritative country must face, and only if an aerial monitoring system is built can the air defense security of the country be safeguarded. The radar is a common device for monitoring an air target at present, but for the reasons of complex technology and large performance difference, the radar of some small countries becomes very vulnerable in the presence of weapon systems of developed-technology countries. Therefore, it is necessary to build a set of ground-based aerial monitoring systems based on modern telecommunication networks. ,
disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a ground-based aerial monitoring system.
The purpose of the invention is realized by the following technical scheme:
a ground-based aerial monitoring system comprises an information acquisition terminal, a cloud server and an information display and control terminal; the information acquisition terminal comprises a camera device and a remote control notebook device, wherein the camera device comprises a camera system; the camera system is used for detecting an aerial target, processing information and transmitting the information to the remote control notebook equipment, and the remote control notebook equipment is used for controlling the camera system;
the camera system is in communication connection with the cloud server, and aerial target models are arranged in the camera system and the cloud server; the cloud server is used for receiving the information sent by the information acquisition terminal or the information display control terminal, and sending a processing result to the information acquisition terminal or the information display control terminal after processing; the information display control terminal is used for displaying the received data information and giving instruction information.
Further, the information transmitted to the remote control notebook device by the camera system comprises images, videos, sounds, longitude and latitude and altitude of the camera system, position information of a target and command instructions of the information display and control terminal, wherein the images, the videos and the sounds are observed by the camera system.
Further, the remote control notebook device controls the camera system by transmitting a control instruction to the camera system, wherein the control instruction comprises a rotation direction and a working mode.
Further, an aerial target model is built by collecting information of the existing aircraft, wherein the information of the aircraft comprises the size, the shape and the sound of the aircraft; and establishing a size information database between sensitive points on the target through an aerial target model.
Further, the information of the information acquisition terminal received by the cloud server comprises the model ID of the camera system, WGS-84 coordinate information, a pitch angle, an azimuth angle, an optical focal length and image information; the cloud server judges the attribute of the target according to the image information, then searches for sensitive points on the image, calculates the distance from the target to the camera system according to the positions of the sensitive points, the optical focal length value, the existing information of a database and the like, and finally calculates the WGS-84 coordinate information of the aerial target by combining the distance information, the WGS-84 coordinate information of the camera system, the pitch angle and the azimuth angle information.
Further, the cloud server obtains distance information between the sensitive points by searching for the sensitive points on the target, and calculates the distance between the target and the camera system.
In summary, due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages:
the ground-based aerial monitoring system is constructed based on a modern telecommunication network, can work in a severe electromagnetic interference environment, and has strong destroy resistance. The air warning task can be completed together through the cooperation of the information acquisition terminal, the cloud server and the information display control terminal.
Drawings
FIG. 1 is a schematic diagram of the connection of the ground-based aerial monitoring system of the present invention;
FIG. 2 is a schematic view of the structure of the image pickup apparatus of the present invention;
FIG. 3 is a schematic diagram of the present invention with three sensitive points located on the same line;
fig. 4 is a schematic diagram of the three sensitive points of the present invention not being located on the same line.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Referring to fig. 1 to 4, the invention relates to a set of ground-based aerial monitoring system constructed based on a modern telecommunication network, which can work in a severe electromagnetic interference environment and has strong destroy resistance.
The invention comprises three parts: the system comprises an information acquisition terminal, a cloud server and an information display and control terminal. The three parts of the invention cooperate together to complete the air warning task together.
The information acquisition terminal comprises a camera device and a remote control notebook device, wherein the camera device comprises a camera system. The camera system is mainly used for detecting an aerial target and simultaneously performing information processing and transmitting information to the remote control notebook equipment; the remote control notebook device is mainly used for controlling the camera system. The camera device further comprises a tripod and a full-automatic level meter, the full-automatic level meter is arranged on the tripod, and the camera system is arranged on the full-automatic level meter.
When a proper place is found, a tripod is erected, leveling is carried out according to bubbles on the tripod, and the horizontal error is reduced. Then, the full-automatic level gauge is erected on the tripod, and the full-automatic level gauge is started to eliminate the horizontal error. When the levelness of the measuring platform is low, errors are generated in measurement, even if the inclination angle and the elevation angle of the platform can be measured, a calculation equation becomes complex, a large amount of calculation resources are occupied, and the platform errors must be eliminated as much as possible in order to improve the measurement precision. The main reason for adopting tripod and full-automatic level is that the full-automatic level has smaller adjustment error range and higher precision, so the tripod is used to eliminate the platform error to the specified range of the full-automatic level. In order to prevent the tripod from shaking under the influence of wind, a weight can be additionally hung below the tripod for fixing.
The camera system comprises an optical observation device, a rotating platform, a signal processing module and a transmission module, wherein the signal processing module and the transmission module are arranged in the optical observation device. The camera system communicates with the remote control device in a wireless manner. Before installation, the camera system needs to carry out north finding and GPS positioning operations. And then the system calculates the final pitch angle of the central axis of the optical observation device and the horizontal azimuth and the azimuth angle information of the true north azimuth by combining the automatically measured azimuth angle and pitch angle of the central axis of the optical observation device according to the north-seeking position and the local magnetic declination information. The state of the control camera system can be adjusted by remotely controlling the notebook device.
The information transmitted to the remote control notebook computer equipment by the camera system comprises images, videos, sound, longitude and latitude and altitude of the camera system, position information of a target and command indication of the information display and control terminal. The remote control notebook device operates the camera system by transmitting control instructions to the camera system, the control instructions including a rotation direction, a working mode, and the like. The remote control notebook computer equipment is adopted for control, so that the phenomenon that the camera system is interfered by man-made physics can be avoided, and higher measurement precision is ensured.
The camera device is also provided with accessory equipment, including a power supply device, a solar cell panel, a radio station and the like. The power supply device and the solar cell panel are mainly used for providing energy for related equipment, the power supply device is a lithium battery with high energy density and strong environment adaptability and can provide various voltages, and the solar cell panel is mainly used for supplementing energy for the power supply device.
The camera system is connected with the cloud server in a communication mode, and the communication means comprises: current commercial telecommunications networks, satellite communications networks or radio stations, of which commercial telecommunications networks are the main ones. When the area has no network signal, the satellite communication can be adopted, but the satellite communication data rate is low and the cost is expensive, so the radio station mode can also be adopted. The radios are typically arranged in pairs with one end connected to the camera system and the other end arranged in the network signal coverage area. The wireless radio station working process is as follows, the camera system transmits the information to be transmitted to the wireless radio station in a wired mode, and the wireless radio station modulates the data and then transmits the information in a wireless mode; and the wireless radio station at the other end demodulates the signals after receiving the wireless signals, and can continue to transmit the recovered data in a wired or wireless mode, wherein the wireless mode is to transmit the information to a nearby telecommunication signal base station through a self-contained wireless network card and then transmit the information to a cloud server or an information display and control terminal through the base station, and the wired mode is to access the telecommunication network in an optical fiber or cable mode. Similarly, the information display and control terminal or the cloud server sends the information to the camera system in the same way.
And aerial target models are arranged in the camera system and the cloud server. The cloud server is used for receiving the information sent by the information acquisition terminal or the information display control terminal and sending a processing result to the information acquisition terminal or the information display control terminal after processing.
The invention establishes an aerial target model by collecting the information of the existing aircraft, wherein the information of the aircraft comprises the size, the shape and the sound of the aircraft; and establishing a size information database between sensitive points on the target through an aerial target model.
The cloud server receives information of the information acquisition terminal, wherein the information comprises model ID of a camera system, WGS-84 coordinate information, a pitch angle and an azimuth angle, an optical focal length and image information, the cloud server judges the attribute of a target according to the image information, then searches for sensitive points on the image, calculates the distance from the target to the camera system according to the positions of the sensitive points, the optical focal length value, existing information of a database and the like, and finally calculates WGS-84 coordinate information of the aerial target by combining the distance information, the WGS-84 coordinate information of the camera system, the pitch angle and the azimuth angle information.
If three sensitive points on the target are located on a straight line, e.g.O is the observation point, A, D, B is the three sensitive points on the target and are located on a straight line, known as ∠ AOD ═ θ1And ∠ BOD ═ θ2The distance between AD is a, the distance between BD is b, and the distance between OD is solved.
The mathematical model is shown in equation 2, and the solving of the mathematical model results in a solving equation for the distance d, as shown in equation 3.
Because the target distance is longer and the distance is larger than the target size, the approximate solution can be performed to approximate the formula, the approximation algorithm is shown in formula 4, and the obtained approximate formula of d is shown in formula 5.
If the three sensitive points on the target are not located on a straight line, as shown in FIG. 4, O is the observation point, P1、P2、P3And solving the distance information between the three points and the observation point for the three sensitive points on the target by knowing the distance information between the three points and the angle information between the three points and the observation point.
A mathematical model is established as shown in equation 6 or equation 7. It can be seen from the formula that the equation solution has no formula solution, and d can be calculated only by an iterative solution method12、d13、d23At present, a relatively sophisticated solution algorithm is available, and is not described in detail here.
When some aircrafts carry other weaponry at the same time, the aircrafts can be identified at the same time to serve as remark information. For example, one F16 carries two missiles, which will give a position information corresponding to time first, and finally F16 and two missile models. The information is sent to an information acquisition terminal or an information display control terminal in a wired or wireless mode.
Therefore, when the camera system finds an aerial target, firstly, the attribute of the target is identified, the identification process can be simultaneously stepped, namely, the identification of the camera system is carried out on one hand, and on the other hand, the camera system sends image information to the cloud server to be assisted by the cloud server for identification. The camera system can avoid communication delay by self identification, but the computing capability is limited, the cloud server can quickly identify, but the information transmission needs to consume time, and the camera system and the cloud server complement each other and are identified together.
In addition, sensitive points on the target are searched, when the sensitive points are known, distance information between the sensitive points can be obtained, and the distance between the target and the camera system is calculated according to a calculation formula. And finally, calculating the position of the target by combining the position, the pitch angle and the azimuth angle of the camera system. To improve the recognition effect, some sounds may be recognized to assist in recognizing the attributes of the aerial target. All the process camera systems and the cloud server are developed simultaneously, one part of the final result of the cloud service is transmitted back to the camera systems, and the other part of the final result is transmitted to the information display and control terminal.
The remote control notebook computer equipment can be a special notebook computer, carries a high-definition interface, and can transmit screen information to other devices for display, such as a display screen, a projector, a television and the like. For the detection of the aerial target, one way is that a person finds the aerial target on the ground, then controls the camera system to aim at the aerial target, and if the camera system finds the aerial target and automatically marks the aerial target, the person can observe the target in detail through functions of zooming, translating and the like. The other mode is to aim the camera system at a certain airspace, wait for the target to automatically mark out after entering the interface, and send out an alarm. In addition, in order to reduce the burden of personnel, the observation range of the observation camera system can be manually set, the position of the camera system is continuously and automatically adjusted according to an algorithm, the set airspace is ensured to be covered, the target is automatically switched into a tracking state after being found, and an alarm is sent out. When the target needs to be tracked from the detection, manual tracking can be adopted, automatic tracking can also be continuously adopted, manual tracking personnel adjust the pointing direction of the camera system to be aligned with the target, and the camera system automatically adjusts the state during automatic tracking, so that the target is positioned at the center of the camera system.
When target information needing to be paid attention is distributed by the information display and control terminal or a camera system finds a target, an alarm lamp on the remote control notebook computer equipment flashes, and meanwhile, a loudspeaker gives out alarm sound. For the camera system to find the suspected target, the suspected target position is marked by a red square on the picture, and the following working process is followed. Firstly, the target is adjusted to the central position of the lens, then the optical zooming focal length is increased, the clear image of the target is obtained, and the process can be automatically completed and can also be manually operated. Therefore, data of the camera under various conditions must be measured in advance, for example, a 4K high-definition camera is adopted in the camera system, the resolution is 3840 × 2160, the focal length is changed by adopting an optical zooming mode, the view field widths under various focal lengths are respectively obtained, and the angle ranges corresponding to different pixel points are counted. When the aerial target is centered and can be clearly observed, the photo information in the aerial target is extracted for analysis. The analysis process comprises the steps of firstly analyzing the attribute of a target, then extracting a sensitive target point on the basis of the attribute, calculating angle information of different sensitive points, then calculating the distance between the target and a camera by combining the information of a target database, and finally calculating the spatial position of the target by combining the position information of the camera and the azimuth angle and the pitch angle of a camera system. The process can be completed on the camera device, information can also be sent to the cloud server, the cloud server assists in computing, and the result is returned to the camera system after computing. Sometimes limited by bandwidth, the number of transmitted pictures can be reduced appropriately, for example, under the condition of a better network condition, 15 pictures can be transmitted per second, and the cloud server calculates the information in the 15 pictures; however, when the network conditions are poor, the number of pictures transmitted per second can be reduced to 5, or even less, and the information accompanying the pictures also includes time, elevation and azimuth of the camera system, and geographic position of the camera system, and the time is added to prevent network delay, and the time is added to each datum to add a time stamp, and on the other hand, to assist in calculating the flying speed of the target.
Besides the monitoring picture of the monitoring camera system, the remote control notebook computer equipment also has the function of an electronic map. Electronic maps are used to assist the display and also to assist the operator in properly planning the operation of the camera system. The electronic map and the monitoring picture can be combined on the picture, and can also be independently presented. The electronic map displays the position and the direction of alignment of the camera system, the position information of the observation target, the position information of the upper distribution target, and the like. The detailed information can be checked by clicking a detailed information icon on the electronic map, the detailed information of the camera system comprises a model, longitude and latitude and an altitude, and the detailed information of the observation target comprises a slant range, an azimuth angle, an elevation angle, an altitude, a speed and an attribute which are far away from the camera system.
In order to be able to find the night target, the camera system is provided with a night mode. In this mode, the camera system captures infrared light and, in order to be able to detect distant objects as far as possible at low light levels, the camera system is equipped with a low-power infrared laser device which rotates with the camera system, the laser being switched on after the night mode has been switched on. When a target is found in the air, infrared rays return, and bright spots appear on an image, but the traditional observation method is limited because the whole appearance of the target cannot be seen, but the target distance can be estimated in the following way. The information display control terminal comprehensively utilizes the azimuth angle and the elevation angle information of the target found by the multiple camera systems, and estimates the position of the target by combining the geographical position information of each camera system. There are also limitations to this approach at night due to the presence of some flying insects. In addition, if the light is irradiated on the ground object, the light is also generated, and therefore, the light needs to be avoided. Considering that most of the current aircraft carry aircraft engines, the flame sprayed out will also help the positioning of the target, so another way is to turn off the laser, detect and find the tail flame of the engine in the air, and the information display and control terminal integrates the information to calculate the actual position of the target. In short, the observation effect is greatly reduced in the environments of night, severe weather and the like. In order to protect the camera system, the camera system should be prevented from being directed at the high-light equipment such as the sun and the like, and the photosensitive element is prevented from being damaged, the camera system is provided with a self-protection system, the position of the sun at the moment is automatically calculated, and the inclination angle and the pitch angle are automatically adjusted by combining the information, so that the high-light source is avoided.
The information display and control terminal can be used as a combat command platform, and the main device of the information display and control terminal is a special computer. The information display and control terminal is used for displaying the collected data information and giving some instruction information. The collected information mainly comprises aerial target information of cloud service and target information of an information acquisition terminal. The software system of the information display and control terminal provides an electronic map, the target information can be selectively displayed on the map, and an operator can view the credible information of the targets, including photo information, according to the needs. The operator can issue instructions according to the observed conditions, the instructions can be transmitted to the information acquisition terminal, for example, when a certain aircraft enters one information acquisition terminal, the information terminal sends target information to the information display and control terminal, and the information display and control terminal operator sends the information to other information acquisition terminals after making judgment according to flight tracks, so that the aim of continuously tracking the target is fulfilled. The target data can also be sent to a military network through the isolation device, so that data sharing is realized.
The information acquisition terminals are divided into two types, one type is a mobile information acquisition terminal, an operator selects a relevant place to erect the information acquisition terminal, remote control notebook equipment is adopted to control the equipment, information is transmitted to an information display and control center through a network, the mobility is strong, and the guarantee pressure is high. The other type is a fixed information acquisition terminal, the fixed information acquisition terminal is erected on a telecommunication signal tower, the fixed information acquisition terminal can be remotely controlled, a control interface is arranged in a development interface of an information display and control center, the pressure is low, the fixed information acquisition terminal can work all day long, but cannot move. The two types of information acquisition terminals can work in different occasions, wherein the former mainly works in the war and military exercise period, and the latter can work in any period, monitors the air enemy situation in non-war, is used for guarding national defense and key targets, and can continuously play an important role in war. The method provides a means for guaranteeing air defense safety for countries which lack radar or have weak electronic countermeasure capability, and the system has strong destroy resistance due to low manufacturing cost.
The invention relates to a system for making up air defense safety, which belongs to a part of national defense construction.
The above-mentioned embodiments are only for illustrating the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the same, and the present invention is not limited to the embodiments, i.e. all equivalent changes or modifications made according to the spirit of the present invention are still within the scope of the present invention.
Claims (4)
1. The ground-based aerial monitoring system is characterized by comprising an information acquisition terminal, a cloud server and an information display and control terminal; the information acquisition terminal comprises a camera device and a remote control notebook device, wherein the camera device comprises a camera system; the camera system is used for detecting an aerial target, processing information and transmitting the information to the remote control notebook equipment, and the remote control notebook equipment is used for controlling the camera system;
the method comprises the following steps that a camera system is in communication connection with a cloud server, aerial target models are arranged in the camera system and the cloud server, the aerial target models are established by collecting information of existing aircrafts, and the information of the aircrafts comprises the size, the shape and the sound of the aircrafts; establishing a size information database between sensitive points on a target through an aerial target model;
the cloud server is used for receiving the information sent by the information acquisition terminal or the information display control terminal, and sending a processing result to the information acquisition terminal or the information display control terminal after processing; the cloud server receives information of the information acquisition terminal, wherein the information comprises model ID of a camera system, WGS-84 coordinate information, a pitch angle, an azimuth angle, an optical focal length and image information; the cloud server judges the attribute of the target according to the image information, then searches for sensitive points on the image, calculates the distance from the target to the camera system according to the positions of the sensitive points, the optical focal length value and the existing information of the database, and finally calculates the WGS-84 coordinate information of the aerial target by combining the distance information, the WGS-84 coordinate information of the camera system, the pitch angle and the azimuth angle information; the distance of the target from the camera system is calculated by the following formula:
1) let O be the observation point and A, D, B be three sensitive points on the target, and lie on a straight line, knowing ∠ AOD = θ1And ∠ BOD = θ2The distance between AD is a, the distance between BD is b, and the distance d is calculated according to equation (1) and equation (2):
because the target distance is far and the difference between the target distance and the target size is larger, the solution is carried out by the formula (3) and the formula (4):
2) when three sensitive points on the target are not located on a straight line, O is set as an observation point, P1, P2 and P3 are set as three sensitive points on the target, distance information between the three points and angle information between the three points and the observation point are known, and the distance information between the three points and the observation point is solved, a mathematical model is established as formula (5) or formula (6), and d12, d13 and d23 are calculated in an iterative solving mode:
the information display and control terminal is used for displaying the received data information and giving instruction information, and the instruction information is transmitted to the camera device or/and the remote control notebook computer equipment.
2. The ground-based airborne monitoring system of claim 1, wherein said information transmitted by said camera system to said remote control notebook device includes images, video, audio, latitude and longitude and altitude of said camera system, location information of said target, and command instructions from said information display and control terminal.
3. The ground-based airborne monitoring system of claim 2, wherein said remote control notebook device manipulates said camera system by transmitting control instructions to said camera system, said control instructions including direction of rotation, mode of operation.
4. The ground-based airborne monitoring system of any one of claims 1-3, wherein said cloud server calculates the distance between the target and said camera system by finding sensitive points on the target, obtaining distance information between the sensitive points.
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 CN108924494A (en) | 2018-11-30 |
| CN108924494B true 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) |
Families Citing this family (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 |
| CN113341787B (en) * | 2021-05-06 | 2022-11-08 | 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 (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101164656B1 (en) * | 2012-03-08 | 2012-07-11 | 주식회사 바로텍시너지 | Photographing apparatus for tracking object with high speed |
| 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 |
Family Cites Families (5)
| 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 |
| US9113154B2 (en) * | 2013-07-10 | 2015-08-18 | Faro Technologies, Inc. | Three-dimensional measurement device having three-dimensional overview camera |
| CN105931263B (en) * | 2016-03-31 | 2019-09-20 | 纳恩博（北京）科技有限公司 | A kind of method for tracking target and electronic equipment |
| CN106054931B (en) * | 2016-07-29 | 2019-11-05 | 北方工业大学 | A kind of unmanned plane fixed point flight control system of view-based access control model positioning |
-
2018
- 2018-07-13 CN CN201810766848.3A patent/CN108924494B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101164656B1 (en) * | 2012-03-08 | 2012-07-11 | 주식회사 바로텍시너지 | Photographing apparatus for tracking object with high speed |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108924494A (en) | 2018-11-30 |
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 | |
| CN108447075B (en) | Unmanned aerial vehicle monitoring system and monitoring method thereof | |
| KR101663669B1 (en) | Spatial predictive approximation and radial convolution | |
| CN109523471B (en) | Method, system and device for converting ground coordinates and wide-angle camera picture coordinates | |
| US20130135146A1 (en) | Method for directed antenna alignment through augmented reality | |
| CN110913331A (en) | Base station interference source positioning system and method | |
| CN109946729B (en) | Aerial target tracking method and device | |
| CN208798093U (en) | A kind of low altitude airspace aircraft monitors device | |
| RU2486594C2 (en) | Method to monitor forest fires and complex system for early detection of forest fires built on principle of heterosensor panoramic view of area with function of highly accurate detection of fire source | |
| CN110297234B (en) | Networked large-area passive air target intersection determination method and system | |
| CN208027170U (en) | A kind of power-line patrolling unmanned plane and system | |
| CN108572379A (en) | Communication base station siting investigation system and method based on unmanned plane | |
| CN108924494B (en) | Aerial monitoring system based on ground | |
| CN105548982A (en) | Radar alignment calibration method based on global satellite navigation system carrier wave phase difference technology | |
| CN111624592A (en) | Low-altitude target detection method and system based on multi-source detector | |
| CN113126126A (en) | All-time automatic target-scoring system and ammunition drop point positioning method thereof | |
| CN110989670B (en) | Unmanned aerial vehicle system for environmental water conservation monitoring of power transmission and transformation project and aerial photography method thereof | |
| RU113046U1 (en) | COMPREHENSIVE SYSTEM FOR EARLY DETECTION OF FOREST FIRES, BUILT ON THE PRINCIPLE OF A VARIETY SENSOR PANORAMIC SURVEY OF THE AREA WITH THE FUNCTION OF HIGH-PRECISION DETERMINATION OF THE FIRE OF THE FIRE | |
| CN115876197A (en) | Mooring lifting photoelectric imaging target positioning method | |
| US20190148813A1 (en) | Imaging system and method for accurately directing antennas | |
| CN115359048B (en) | Real-time dynamic alignment measurement method based on closed-loop tracking and aiming and tracking and aiming device | |
| CN114910919B (en) | Use and target positioning method and device of low-light night vision device | |
| CN214954109U (en) | Automatic target scoring system in all-time | |
| CN110969802B (en) | Positioning monitoring method based on mobile signal tower point and intelligent supervision platform |
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 |