CN108955722A - Unmanned plane target position indicator system and indicating means - Google Patents
Unmanned plane target position indicator system and indicating means Download PDFInfo
- Publication number
- CN108955722A CN108955722A CN201810497311.1A CN201810497311A CN108955722A CN 108955722 A CN108955722 A CN 108955722A CN 201810497311 A CN201810497311 A CN 201810497311A CN 108955722 A CN108955722 A CN 108955722A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- airborne
- target
- tan
- ground
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
- G01C23/005—Flight directors
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of unmanned plane target position indicator system, including airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and the onboard high-speed data radio station being equipped on above unmanned plane；Airborne camera is used for after receiving the instruction of mission computer, is taken pictures, compressed, stored on a surface target, while recording the temporal information at the moment, the picture taken pictures or video are real-time transmitted to ground monitoring station by onboard high-speed data radio station.Have the advantage that the comprehensive airborne laser rangefinder of configuration, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and onboard high-speed data radio station, the information such as integrated use battlefield surroundings, aeroplane performance, it carries out investigations, be accurately positioned to Operation Target, by indicating target, to guide body to carry out precision strike, unmanned plane is improved in the fight capability of the fields of military operations such as target reconnaissance, Target indication, tactics strike.
Description
Technical field
The invention belongs to airborne navigation to communicate field of locating technology, and in particular to a kind of unmanned plane target position indicator system
And indicating means.
Background technique
It is more and more important that modern military theory and the developing direction of war mode play the part of unmanned plane in future war
Role.Unmanned plane has played important function with its distinctive mode of operation and fighting efficiency in war.In following anti-air battle
In, unmanned plane will become a kind of important air-supported threat, bring stern challenge to air defense operation.
How to design a kind of unmanned plane target position indicator system, thus improve unmanned plane target reconnaissance, Target indication,
The fight capability of the fields of military operations such as tactics strike is thing in the urgent need to address at present.
Summary of the invention
In view of the defects existing in the prior art, the present invention provides a kind of unmanned plane target position indicator system and instruction side
Method can effectively solve the above problems.
The technical solution adopted by the invention is as follows:
The present invention provides a kind of unmanned plane target position indicator system, and the airborne laser including being equipped on above unmanned plane is surveyed
Distance meter, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and onboard high-speed data radio station；
The airborne laser rangefinder includes infrared transmitter and infrared remote receiver；The infrared transmitter is used for ground
Area Objects emit infrared beam；The infrared remote receiver is used for before the sending of next infrared light pulse, is received current infrared
Light beam is recorded the time of transmitting infrared beam and is received the time of light pulse by the reflected light pulse of ground target,
To measure unmanned plane to the distance of ground target, i.e. unmanned plane altitude data；
The Airborne camera is used for after receiving the instruction of mission computer, is taken pictures, compressed, deposited on a surface target
Storage, while the temporal information at the moment is recorded, it is by onboard high-speed data radio station that the picture taken pictures or video is real-time
Send ground monitoring station to；
The airborne High Accuracy Inertial is for measuring the current acceleration of unmanned plane, pitching and roll data；
The satellite direction-finding receiver is used for the multifrequency point satellite-signal by receiving two airborne antennas, to each satellite
The carrier-phase measurement of multifrequency point is combined, and solves the integer ambiguity of carrier phase, finally solves principal and subordinate's antenna
Between basic lineal vector after, to obtain the accurate course angle of aircraft and pitch angle；
The onboard high-speed data radio station, for by the airborne laser rangefinder, Airborne camera, described airborne
High Accuracy Inertial and the metrical information real time down of the satellite direction-finding receiver give ground monitoring station, by ground monitoring station logarithm
According to carrying out integration processing.
The present invention also provides a kind of indicating means according to unmanned plane target position indicator system, target detection process includes
Following steps:
Step 1, unmanned plane flies according to desired guiding trajectory to ground target region, and mission computer passes through clock synchronization system
Airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial and satellite direction-finding receiver synchronous working, measurement is triggered to obtain
The measurement data information at current time；Wherein, the measurement data information includes the high number of passes that airborne laser rangefinder measures
According to the picture or video data of the shooting of, Airborne camera, acceleration, pitching and the roll data of the output of airborne High Accuracy Inertial,
And the course angle and pitch angle data of current aircraft that satellite direction-finding receiver measures；
Step 2, measurement data information is handed down to ground monitoring station by onboard high-speed data radio station by unmanned plane；
Step 3, ground monitoring station carries out fusion treatment to it, to obtain ground according to the measurement data information received
The accurate position coordinates of appearance punctuate and image information.
Preferably, step 3 specifically:
Assuming that the altitude data that airborne laser rangefinder measures is h；The current aircraft that satellite direction-finding receiver measures
Deflection is a, pitch angle b, inclination angle c；
Then unmanned plane is at position (0,0, h), then unmanned plane is (h*tan (b) * cos in the coordinate of the subpoint on ground
(a)+h*tan (c) * sin (a) ,-h*tan (b) * sin (a)+h*tan (c) * cos (a), 0) formula 1
If unmanned plane takes a photo at (0,0, h), the deflection of unmanned plane is a, pitch angle b, inclination angle
For c；The size of photo is the length and width values that x1*x2, x1 and x2 are respectively photo；It is assumed that unmanned plane pitching and inclines when measuring
Oblique maximum angle is x degree, then the representative value of unmanned plane measurement point are as follows:
(h*tan(x/180*π),h*tan(x/180*π),0)
Because
D (tan (x))/dx=1/cos (x) ^2,
So
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is smaller, cos (x) ≈ 1, it is believed that tan (x+dx) ≈ tan (x)+dx,
Corresponding formula 1, h*tan (b), then measurement error is then h* △ b when angular error is △ b, it only need to be by angle
In a certain range, the accordingly precise position data of millet cake in this direction can be obtained in control errors.
Preferably, after step 3, further includes:
Step 4, unmanned plane flies according to desired guiding trajectory to ground target region, and it is accurate to obtain target point by investigation mode
Position coordinates and image information after, keep airborne laser rangefinder open, to target carry out prolonged exposure, have las er-guidance
The body of head, according to the optical information that unmanned plane laser irradiation device returns, guides body to fly to target when flying to target point
Point realizes precision strike.
Unmanned plane target position indicator system and indicating means provided by the invention have the advantage that
Configure comprehensive airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and machine
High-speed digital transmission radio station is carried, the information such as integrated use battlefield surroundings, aeroplane performance carry out investigations to Operation Target, are accurately positioned, and lead to
It crosses and target is indicated, so that body be guided to carry out precision strike, improve unmanned plane in target reconnaissance, Target indication, tactics
The fight capability of the fields of military operations such as strike.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned plane target position indicator system provided by the invention.
Specific embodiment
In order to which the technical problems, technical solutions and beneficial effects solved by the present invention is more clearly understood, below in conjunction with
Accompanying drawings and embodiments, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein only to
It explains the present invention, is not intended to limit the present invention.
The present invention provides a kind of unmanned plane target position indicator system, comprehensively by Satellite Navigation Technique, wireless communication technique,
Laser ranging technique and imaging technique are applied on unmanned plane, and the effect for playing unmanned plane in war is more and more comprehensive, nothing
The man-machine advantage in fields of military operations such as target reconnaissance, Target indication, tactics strikes is more and more obvious.The present invention realizes a kind of nothing
Man-machine target position indicator system, it is intended to the information such as integrated use battlefield surroundings, aeroplane performance, carry out investigations to Operation Target,
It is accurately positioned, by indicating target, so that body be guided to carry out precision strike.
With reference to Fig. 1, unmanned plane target position indicator system, including be equipped on airborne laser rangefinder above unmanned plane,
Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and onboard high-speed data radio station；
The airborne laser rangefinder includes infrared transmitter and infrared remote receiver；The infrared transmitter is used for ground
Area Objects emit infrared beam；The infrared remote receiver is used for before the sending of next infrared light pulse, is received current infrared
Light beam is recorded the time of transmitting infrared beam and is received the time of light pulse by the reflected light pulse of ground target,
To measure unmanned plane to the distance of ground target, i.e. unmanned plane altitude data；
The Airborne camera is used for after receiving the instruction of mission computer, is taken pictures, compressed, deposited on a surface target
Storage, while the temporal information at the moment is recorded, it is by onboard high-speed data radio station that the picture taken pictures or video is real-time
Send ground monitoring station to；
The airborne High Accuracy Inertial is for measuring the current acceleration of unmanned plane, pitching and roll data；
The satellite direction-finding receiver is used for the multifrequency point satellite-signal by receiving two airborne antennas, to each satellite
The carrier-phase measurement of multifrequency point is combined, and solves the integer ambiguity of carrier phase, finally solves principal and subordinate's antenna
Between basic lineal vector after, to obtain the accurate course angle of aircraft and pitch angle；
The onboard high-speed data radio station, for by the airborne laser rangefinder, Airborne camera, described airborne
High Accuracy Inertial and the metrical information real time down of the satellite direction-finding receiver give ground monitoring station, by ground monitoring station logarithm
According to carrying out integration processing.
The present invention also provides a kind of indicating means according to unmanned plane target position indicator system, main application scenarios can divide
For two classes: target detection and Target indication.
Target detection process is as follows:
Step 1, unmanned plane flies according to desired guiding trajectory to ground target region, and mission computer passes through clock synchronization system
Airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial and satellite direction-finding receiver synchronous working, measurement is triggered to obtain
The measurement data information at current time；Wherein, the measurement data information includes the high number of passes that airborne laser rangefinder measures
According to the picture or video data of the shooting of, Airborne camera, acceleration, pitching and the roll data of the output of airborne High Accuracy Inertial,
And the course angle and pitch angle data of current aircraft that satellite direction-finding receiver measures；
Step 2, measurement data information is handed down to ground monitoring station by onboard high-speed data radio station by unmanned plane；
Step 3, ground monitoring station carries out fusion treatment to it, to obtain ground according to the measurement data information received
The accurate position coordinates of appearance punctuate and image information.
Step 3 specifically:
Assuming that the altitude data that airborne laser rangefinder measures is h；The current aircraft that satellite direction-finding receiver measures
Deflection is a, pitch angle b, inclination angle c；
Then unmanned plane is at position (0,0, h), then unmanned plane is (h*tan (b) * cos in the coordinate of the subpoint on ground
(a)+h*tan (c) * sin (a) ,-h*tan (b) * sin (a)+h*tan (c) * cos (a), 0) formula 1
If unmanned plane takes a photo at (0,0, h), the deflection of unmanned plane is a, pitch angle b, inclination angle
For c；The size of photo is the length and width values that x1*x2, x1 and x2 are respectively photo；It is assumed that unmanned plane pitching and inclines when measuring
Oblique maximum angle is x degree, then the representative value of unmanned plane measurement point are as follows:
(h*tan(x/180*π),h*tan(x/180*π),0)
Because
D (tan (x))/dx=1/cos (x) ^2,
So
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is smaller, cos (x) ≈ 1, it is believed that tan (x+dx) ≈ tan (x)+dx,
Corresponding formula 1, h*tan (b), then measurement error is then h* △ b when angular error is △ b, it only need to be by angle
In a certain range, the accordingly precise position data of millet cake in this direction can be obtained in control errors.
Target indication process is as follows:
Unmanned plane flies according to desired guiding trajectory to ground target region, obtains the accurate position of target point by investigation mode
After coordinate and image information, airborne laser rangefinder is kept to open, prolonged exposure is carried out to target, has the bullet of laser seeker
Body, according to the optical information that unmanned plane laser irradiation device returns, guides body to fly to target point, realizes when flying to target point
Precision strike.
Unmanned plane target position indicator system and indicating means provided by the invention have the advantage that
Configure comprehensive airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and machine
High-speed digital transmission radio station is carried, the information such as integrated use battlefield surroundings, aeroplane performance carry out investigations to Operation Target, are accurately positioned, and lead to
It crosses and target is indicated, so that body be guided to carry out precision strike, improve unmanned plane in target reconnaissance, Target indication, tactics
The fight capability of the fields of military operations such as strike.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
Depending on protection scope of the present invention.
Claims (4)
1. a kind of unmanned plane target position indicator system, which is characterized in that the airborne laser including being equipped on above unmanned plane is surveyed
Distance meter, Airborne camera, airborne High Accuracy Inertial, satellite direction-finding receiver and onboard high-speed data radio station；
The airborne laser rangefinder includes infrared transmitter and infrared remote receiver；The infrared transmitter is for mesh to the ground
Mark transmitting infrared beam；The infrared remote receiver is used for before the sending of next infrared light pulse, receives current infrared beam
By the reflected light pulse of ground target, and records the time of transmitting infrared beam and receive the time of light pulse, thus
Unmanned plane is measured to the distance of ground target, i.e. unmanned plane altitude data；
The Airborne camera is used for after receiving the instruction of mission computer, is taken pictures, compressed, stored on a surface target,
The temporal information at the moment is recorded simultaneously, by onboard high-speed data radio station by the picture taken pictures or video real-time transmission
Give ground monitoring station；
The airborne High Accuracy Inertial is for measuring the current acceleration of unmanned plane, pitching and roll data；
The satellite direction-finding receiver is used for the multifrequency point satellite-signal by receiving two airborne antennas, to each satellite multifrequency
The carrier-phase measurement of point is combined, and is solved the integer ambiguity of carrier phase, is finally solved between principal and subordinate's antenna
Basic lineal vector after, to obtain the accurate course angle of aircraft and pitch angle；
The onboard high-speed data radio station, for by the airborne laser rangefinder, Airborne camera, described airborne high-precision
Degree inertial navigation and the metrical information real time down of the satellite direction-finding receiver give ground monitoring station, by ground monitoring station to data into
Row integration processing.
2. a kind of indicating means of unmanned plane target position indicator system according to claim 1, which is characterized in that target
Investigation process the following steps are included:
Step 1, unmanned plane flies according to desired guiding trajectory to ground target region, and mission computer is triggered by clock synchronization system
Airborne laser rangefinder, Airborne camera, airborne High Accuracy Inertial and satellite direction-finding receiver synchronous working, measurement obtain current
The measurement data information at moment；Wherein, the measurement data information includes altitude data, the machine that airborne laser rangefinder measures
Carry the picture of video camera shooting or acceleration, pitching and the roll data of video data, the output of airborne High Accuracy Inertial, Yi Jiwei
The course angle and pitch angle data for the current aircraft that star direction-finding receiver measures；
Step 2, measurement data information is handed down to ground monitoring station by onboard high-speed data radio station by unmanned plane；
Step 3, ground monitoring station carries out fusion treatment to it according to the measurement data information received, to obtain ground appearance
The accurate position coordinates of punctuate and image information.
3. the indicating means according to claim 2 according to unmanned plane target position indicator system, which is characterized in that step
3 specifically:
Assuming that the altitude data that airborne laser rangefinder measures is h；The direction for the current aircraft that satellite direction-finding receiver measures
Angle is a, pitch angle b, inclination angle c；
Then unmanned plane is at position (0,0, h), then unmanned plane be in the coordinate of the subpoint on ground (h*tan (b) * cos (a)+
H*tan (c) * sin (a) ,-h*tan (b) * sin (a)+h*tan (c) * cos (a), 0) formula 1
If unmanned plane takes a photo at (0,0, h), the deflection of unmanned plane is a, pitch angle b, inclination angle c；
The size of photo is the length and width values that x1*x2, x1 and x2 are respectively photo；It is assumed that pitching and inclined when unmanned plane measures
Maximum angle is x degree, then the representative value of unmanned plane measurement point are as follows:
(h*tan(x/180*π),h*tan(x/180*π),0)
Because
D (tan (x))/dx=1/cos (x) ^2,
So
tan(x+dx)≈tan(x)+1/cos(x)^2*dx；
When x is smaller, cos (x) ≈ 1, it is believed that tan (x+dx) ≈ tan (x)+dx, corresponding formula 1, h*tan
(b), then measurement error is then h* △ b when angular error is △ b, angular error need to only be controlled in a certain range,
The accordingly precise position data of millet cake in this direction can be obtained.
4. the indicating means according to claim 2 according to unmanned plane target position indicator system, which is characterized in that step
After 3, further includes:
Step 4, unmanned plane flies according to desired guiding trajectory to ground target region, obtains the accurate position of target point by investigation mode
After setting coordinate and image information, airborne laser rangefinder is kept to open, prolonged exposure is carried out to target, has laser seeker
Body, according to the optical information that unmanned plane laser irradiation device returns, guides body to fly to target point when flying to target point, real
Existing precision strike.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497311.1A CN108955722B (en) | 2018-05-22 | 2018-05-22 | Unmanned aerial vehicle target positioning indicating system and indicating method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810497311.1A CN108955722B (en) | 2018-05-22 | 2018-05-22 | Unmanned aerial vehicle target positioning indicating system and indicating method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108955722A true CN108955722A (en) | 2018-12-07 |
| CN108955722B CN108955722B (en) | 2020-11-24 |
Family
ID=64499851
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810497311.1A Active CN108955722B (en) | 2018-05-22 | 2018-05-22 | Unmanned aerial vehicle target positioning indicating system and indicating method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108955722B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109885101A (en) * | 2019-01-04 | 2019-06-14 | 北京测威科技有限公司 | A kind of method and system using unmanned vehicle simulated missile terminal guidance |
| CN111781955A (en) * | 2020-06-15 | 2020-10-16 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| CN112882076A (en) * | 2021-01-21 | 2021-06-01 | 江苏云巅电子科技有限公司 | Intelligent construction site-oriented accurate personnel positioning system and positioning method |
| CN113093601A (en) * | 2021-03-30 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Close-range aviation firepower support system and method |
| RU2758285C1 (en) * | 2021-01-11 | 2021-10-28 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for group video navigation of aircraft |
| CN114942028A (en) * | 2022-05-24 | 2022-08-26 | 石家庄兵甲堂高科技有限公司 | Target positioning method, device, terminal equipment and system based on multi-dimensional signals |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102928861A (en) * | 2012-09-29 | 2013-02-13 | 凯迈（洛阳）测控有限公司 | Target positioning method and device for airborne equipment |
| CN103604427A (en) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle system and method for dynamically positioning ground moving target |
| WO2014049372A1 (en) * | 2012-09-28 | 2014-04-03 | Omg Plc | Determination of position from images and associated camera positions |
| CN104296598A (en) * | 2013-07-18 | 2015-01-21 | 贵州贵航飞机设计研究所 | Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle |
| CN104316949A (en) * | 2014-10-29 | 2015-01-28 | 上海大学 | Method for quickly locating search target of unmanned aerial vehicle |
| CN104501802A (en) * | 2015-01-09 | 2015-04-08 | 中国人民解放军63961部队 | Earth target capturing and identifying method used for high-speed aircraft |
| CN105242682A (en) * | 2015-11-04 | 2016-01-13 | 北京航天科颐技术有限公司 | Target characteristic measurement system for drone aircraft |
| CN106683097A (en) * | 2017-03-03 | 2017-05-17 | 广东工业大学 | Unmanned aerial vehicle positioning method and system |
| CN107121666A (en) * | 2017-04-17 | 2017-09-01 | 南京航空航天大学 | A kind of near space moving target localization method based on unmanned vehicle |
| CN107643759A (en) * | 2016-07-22 | 2018-01-30 | 鹦鹉无人机股份有限公司 | From the autonomous system with target following and positioning of unmanned plane shooting mobile image |
-
2018
- 2018-05-22 CN CN201810497311.1A patent/CN108955722B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2014049372A1 (en) * | 2012-09-28 | 2014-04-03 | Omg Plc | Determination of position from images and associated camera positions |
| CN102928861A (en) * | 2012-09-29 | 2013-02-13 | 凯迈（洛阳）测控有限公司 | Target positioning method and device for airborne equipment |
| CN104296598A (en) * | 2013-07-18 | 2015-01-21 | 贵州贵航飞机设计研究所 | Method for stably tracking irradiation target by means of airborne anti-smoke photoelectric sight-stabilizing system of unmanned aerial vehicle |
| CN103604427A (en) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | Unmanned aerial vehicle system and method for dynamically positioning ground moving target |
| CN104316949A (en) * | 2014-10-29 | 2015-01-28 | 上海大学 | Method for quickly locating search target of unmanned aerial vehicle |
| CN104501802A (en) * | 2015-01-09 | 2015-04-08 | 中国人民解放军63961部队 | Earth target capturing and identifying method used for high-speed aircraft |
| CN105242682A (en) * | 2015-11-04 | 2016-01-13 | 北京航天科颐技术有限公司 | Target characteristic measurement system for drone aircraft |
| CN107643759A (en) * | 2016-07-22 | 2018-01-30 | 鹦鹉无人机股份有限公司 | From the autonomous system with target following and positioning of unmanned plane shooting mobile image |
| CN106683097A (en) * | 2017-03-03 | 2017-05-17 | 广东工业大学 | Unmanned aerial vehicle positioning method and system |
| CN107121666A (en) * | 2017-04-17 | 2017-09-01 | 南京航空航天大学 | A kind of near space moving target localization method based on unmanned vehicle |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109885101A (en) * | 2019-01-04 | 2019-06-14 | 北京测威科技有限公司 | A kind of method and system using unmanned vehicle simulated missile terminal guidance |
| CN111781955A (en) * | 2020-06-15 | 2020-10-16 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| CN111781955B (en) * | 2020-06-15 | 2022-02-15 | 北京理工大学 | Aircraft laser guidance control system and method provided with piloting helicopter |
| RU2758285C1 (en) * | 2021-01-11 | 2021-10-28 | Федеральное государственное казенное военное образовательное учреждение высшего образования "Военный учебно-научный центр Военно-воздушных сил "Военно-воздушная академия имени профессора Н.Е. Жуковского и Ю.А. Гагарина" (г. Воронеж) Министерства обороны Российской Федерации | Method for group video navigation of aircraft |
| CN112882076A (en) * | 2021-01-21 | 2021-06-01 | 江苏云巅电子科技有限公司 | Intelligent construction site-oriented accurate personnel positioning system and positioning method |
| CN113093601A (en) * | 2021-03-30 | 2021-07-09 | 中琪华安(北京)科技有限公司 | Close-range aviation firepower support system and method |
| CN114942028A (en) * | 2022-05-24 | 2022-08-26 | 石家庄兵甲堂高科技有限公司 | Target positioning method, device, terminal equipment and system based on multi-dimensional signals |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108955722B (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108955722A (en) | Unmanned plane target position indicator system and indicating means | |
| US20210385386A1 (en) | Aerial video based point, distance, and velocity real-time measurement system | |
| CN107885223A (en) | Unmanned plane recovery guiding system based on laser | |
| CN102749659B (en) | Multifunctional photoelectric detection instrument and target position observing and determining method implemented by same | |
| CN106526551A (en) | Radar antenna dynamic performance testing system and method | |
| JPH0124275B2 (en) | ||
| CN109254594A (en) | A kind of full strapdown terminal guidance method for unmanned plane | |
| CN114502465B (en) | Determination of attitude by pulsed beacons and low cost inertial measurement units | |
| CN105182319A (en) | Target positioning system and target positioning method based on radio frequency and binocular vision | |
| CN105487550A (en) | Autonomous landing system of flight device and method | |
| GB2479437A (en) | Remote target coordinates calculated from aircraft position, inertial and laser targeting system data | |
| WO2021254276A1 (en) | Aircraft laser guidance control system and method using ground laser indicator | |
| CN109428648A (en) | Realize the method and device of wireless optical sending and receiving end alignment | |
| CN110006296A (en) | Hail-suppression rocket bullet of increasing rain artificially sows job trace monitoring and trajectory deviation-rectifying system | |
| CN111158010A (en) | Laser active tracking system and tracking method | |
| CN109597432A (en) | A kind of unmanned plane landing monitoring method and system based on vehicle-mounted pick-up unit | |
| CN114964209B (en) | Autonomous navigation method and system for long-endurance unmanned aerial vehicle based on infrared array imaging | |
| CN102501979B (en) | Airborne navigation nacelle | |
| US20220013020A1 (en) | Drone optical guidance system | |
| CN104251994B (en) | Long baselines laser ranging is realized without control point satellite Precise Position System and method | |
| CN201615948U (en) | Single-point distance measurement system | |
| CN112461059B (en) | Image homing guided missile ground launching method | |
| CN114935339A (en) | Unmanned aerial vehicle operation navigation positioning system and method | |
| CN114660588A (en) | Distributed photoelectric target tracking system for anti-unmanned aerial vehicle | |
| CN106802670A (en) | The flight control method of unmanned plane |
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 |