CN110132060A - A kind of method of the interception unmanned plane of view-based access control model navigation - Google Patents
A kind of method of the interception unmanned plane of view-based access control model navigation Download PDFInfo
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- CN110132060A CN110132060A CN201910341458.6A CN201910341458A CN110132060A CN 110132060 A CN110132060 A CN 110132060A CN 201910341458 A CN201910341458 A CN 201910341458A CN 110132060 A CN110132060 A CN 110132060A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
- F41H11/00—Defence installations; Defence devices
- F41H11/02—Anti-aircraft or anti-guided missile or anti-torpedo defence installations or systems
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/80—Analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration
Abstract
The invention discloses a kind of methods of the interception unmanned plane of view-based access control model navigation.When needing to intercept black winged unmanned plane, ground interdiction unmanned plane quickly goes up to the air, when causing ground staff that can not directly control interception unmanned plane due to factors such as communicating interrupts, method of the invention can use the imaging sensor acquisition image information for intercepting unmanned plane outfit and perform corresponding processing, interception unmanned plane is set to track UAV targets by vision guided navigation algorithm automatic identification, it is then slowly close to its, when close to UAV targets, catching net is launched, UAV targets are captured.Method of the invention does not need ground staff's manipulation, and corresponding interception movement, high degree of automation are independently completed by airborne system.For other hold-up interception methods, method of the invention is simply direct, and deployment is convenient, can reuse, and real-time is good, intercepts success rate height, can effectively avoid interfering, can intercept the unmanned plane target of all kinds of low-speed smalls.
Description
Technical field
The invention belongs to air vehicle technique fields, and in particular to a kind of method of the interception unmanned plane of view-based access control model navigation.
Background technique
With the reduction of unmanned air vehicle technique threshold, a large amount of consumer level unmanned planes pour in unmanned plane sparetime player market, nobody
The abuse of machine has become a big obstacle of low-latitude flying control, seriously threatens public safety.Black winged unmanned plane is exactly that those do not have
Having and obtain relevant clearance, does not abide by the unmanned plane of flight rule, it has brought many negative impacts, in order to
This phenomenon is coped with, the method for having expedited the emergence of various anti-unmanned planes.
Currently, the anti-unmanned air vehicle technique in various countries mainly sound wave interference, signal interference, hacking technique, laser gun, " it is anti-nobody
Machine " unmanned plane captures radio control etc., and feature and effect are had nothing in common with each other, but can be generally divided into three categories: first is that interference
The anti-UAV system of class is blocked, corresponding electromagnetic signal is emitted by electromagnetic gun, the flight control of unmanned plane is interfered, promoted
Keep unmanned plane out of hand, it is automatic to land, although this method is simple, with the development of unmanned air vehicle technique, most of nothings
The man-machine method that vision guided navigation can be taken based on after being interfered continues to fly, and is unable to satisfy in special circumstances to black winged nothing
Man-machine interception task；Second is that directly destroying the anti-UAV system of class, black winged unmanned plane is directly shot down using weapon is injured, it is this
Method, which can generate, largely injures fragment, threatens masses'safety, can not use in public；Third is that monitoring control class instead nobody
Machine system, such methods invade unmanned aerial vehicle control system generally by computer technology, kidnap unmanned aerial vehicle radio control, into
And unmanned plane is captured, technical difficulty is relatively high, does not have general applicability.The popular method of the one kind occurred now is logical
Cross that unmanned plane is point-to-point to carry out interception capture to black winged unmanned plane, but due to drone flying height apart from ground farther out, ground
Dough figurine person can not direct estimation release catching net device opportune moment, unmanned plane intercept success rate it is not high, this method is also
It may make to intercept unmanned plane and black winged unmanned plane collides, seriously threaten the safety of ground staff's equipment, intercept nobody sometimes
The communication on machine and ground can even be interrupted completely, and ground staff directly loses the control to unmanned plane is intercepted, and make entirely to intercept dynamic
Work fails, therefore also needs to carry out the requirement that corresponding technological improvement is just able to satisfy actual use.
Summary of the invention
It is an object of the invention to propose a kind of method of the interception unmanned plane of view-based access control model navigation, by being led using vision
Boat, which automatically controls, intercepts unmanned plane during flying to best position release interception catching net, is greatly improved and blocks to UAV targets
It is cut into power.
Above-mentioned purpose of the invention is achieved through the following technical solutions:
A kind of method of the interception unmanned plane of view-based access control model navigation, comprising the following steps:
Step 1: the unmanned machine testing identification model of training；
Step 2: the position P of UAV targets is solvedt；UAV targets are collected in the vision facilities for intercepting unmanned plane
Image when, it is slowly close to UAV targets to intercept unmanned plane, while controlling the rotation of servo console, keeps UAV targets
In image middle, specifically include:
By the coordinate position of UAV targets in image and the rotation situation solving target unmanned plane position appearance of servo console
The coordinate system being related to during state includes: inertial coodinate system, body coordinate system and camera coordinate system, according to target nobody
Machine, the relative positional relationship for intercepting unmanned plane and video camera, position P of the UAV targets under inertial coodinate systemtIt indicates are as follows:
Pt=P1+P2+P3 (1)
Wherein, P1It indicates to intercept position of the unmanned plane under inertial coodinate system；P2Indicate to intercept unmanned plane mass center to video camera
Distance vector of the optical center under inertial coodinate system, it is calculated by following formula:
Wherein PγIndicate position of the video camera under body coordinate system,Matrix indicates that intercepting unmanned plane body coordinate system arrives
The spin matrix of inertial coodinate system, by the attitude angle of interception unmanned planeIt determines:
WhereinIndicate that the roll angle of interception unmanned plane, θ indicate to intercept the pitch angle of unmanned plane, ψ indicates to intercept unmanned plane
Yaw angle；
P3It indicates distance vector of the video camera to UAV targets under inertial coodinate system, meets following relationship:
WhereinFor position of the UAV targets under camera coordinate system, coordinate representation isCamera coordinate system is indicated to the spin matrix of body coordinate system, it is by holder
The feathering angle α and pitch angle β of video camera determine that they can be by the code-disc information acquisition on holder, and expression is as follows:
Arrange UAV targets position:
If imaging position of the central point of UAV targets in the plane of delineation is (ui,vi), it is indicated using pin-hole model
Are as follows:
Wherein M is the Intrinsic Matrix of video camera, is indicated are as follows:
Wherein [μ0,v0]TFor the center of phase plane,Dx, dy indicate each pixel in x-axis y-axis
Physical size on direction can be acquired, imaging position (u by the calibration of camerai,vi) be image in UAV targets position
Coordinate can be obtained by monocular image-forming principle:
Wherein, OP1 is the distance of UAV targets center and picture centre, can be obtained by image processing section, and f is camera shooting
The focal length of machine.O0Distance of the optical center P to UAV targets, the line and optical axis of γ expression UAV targets and optical center
Between angle；
According to formula (9), (10) can be found outIt can be obtained again by formula (7)To
Solve position P of the UAV targets under inertial coodinate systemt；
Step 3: unmanned plane is intercepted using machine vision navigation to best intercepting position；
After intercepting unmanned machine testing and identifying UAV targets, unmanned plane is intercepted according to the seat of UAV targets in image
Cursor position and the rotation situation of servo console, which calculate UAV targets' position coordinates and form winding control instruction, to be adjusted block in real time
Unmanned plane during flying posture is cut, it is slowly close to UAV targets.When intercepting unmanned plane close to UAV targets, unmanned plane is intercepted
Entrained range laser radar is scanned to UAV targets and is measured at a distance from it, when intercept unmanned plane target nobody
When the lower position of machine, in the case where keeping safe distance, unmanned plane is intercepted according to the situation of movement of target in image, slowly
It climbs and keeps same motion state to the top position 2-3m of UAV targets and UAV targets；
Step 4: release intercepts catching net；After intercepting unmanned plane adjustment good position, catching net of dishing out, the one of catching net
End is wrapped on UAV targets, and UAV targets is promoted to stop flight, when the pulling force that catching net is subject to is greater than certain value, is caught
It catching net and is separated with unmanned plane is intercepted, catching net and UAV targets fall together, meanwhile, it intercepts unmanned plane pop-up catching net and slows down
Landing-gear and UAV targets land slowly together.
The beneficial effects of the present invention are: (1) blocking apparatus economy is cheap, easy to use, equipment is smaller, is convenient for carrying, energy
Meet the anti-unmanned plane task under different situations；(2) different number variety classes unmanned plane can also be met and intercept work；(3)
By adding vision guided navigation module to interception unmanned plane, even if intercepting unmanned plane in the case where completely not by the control on ground,
Also the interception work to UAV targets can be completed, for certain special circumstances that UAV targets must be intercepted, originally
The invention hold-up interception method is with the obvious advantage, has wide commercial application prospect.
Other than objects, features and advantages described above, there are also other objects, features and advantages by the present invention.
Below with reference to figure, the present invention is described in further detail.
Detailed description of the invention
Fig. 1 is the method entire flow figure of the interception unmanned plane the present invention is based on vision guided navigation.
Fig. 2 is the flow chart of unmanned plane relies on vision guided navigation in the present invention imaging, identification and tracking.
Fig. 3 is each coordinate system transition diagram of UAV system.
Fig. 4 is UAV targets' imaging schematic diagram.
Fig. 5 is to intercept unmanned plane in the schematic diagram of best intercepting position.
Fig. 6 is to intercept unmanned plane to throw the schematic diagram that net captures UAV targets.
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
The unmanned plane image processing module correctly identifies that the specific requirement of UAV targets includes the following:
The imaging sensor that unmanned plane carries must satisfy the acquisition that can be completed under the conditions of day and night to image, when
When imaging sensor acquired image is passed to unmanned plane image processing module, needing to carry out image pretreatment could be completed
Identification to UAV targets.In order to meet the ultimate attainment requirement in the method for the present invention to detection recognition speed, in image procossing mould
Block has used NVIDIA Jetson TX2 external member, and Jetson TX2 is a artificial intelligence supercomputer module, although using
The small and exquisite size of energy conservation, but has the efficiency of supercomputing, is suitable for the intelligent terminals such as robot, unmanned plane, intelligent camera
Device.In order to avoid aerial bird, interference of the UFO such as kite and hydrogen balloon to picture recognition module is improved to unmanned plane
Recognition accuracy, the present invention in use the detection recognizer based on deep learning.
Heretofore described is to realize image using YOLO algorithm frame based on the detection recognition method of deep learning
The detection identification function of processing module.YOLO algorithm frame is the training for directly selecting picture in its entirety and carrying out implementation model, such
Words, the differentiation of target object and background are more easier, and the speed of detection is also improved significantly.The key step of YOLO detection
Include:
1, the picture of input is zoomed to the size of 448*448；
2, CNN is run；
3, testing result is realized by the way of non-maximum restraining and is optimized.
In conjunction with Fig. 1-2, the step of realizing heretofore described method:
Step 1: the unmanned machine testing identification model of training.
It (1) is the preparation for identifying data set first, it is winged under all kinds of scenes from unmanned plane is collected on network or in test
Row video sequence or picture, the photograph collection including each visual angle of unmanned plane under the complex backgrounds such as city overhead；
(2) data of collection are screened according to normal scene, ambiguous photo inside removal data set is protected
Demonstrate,prove the quality of training data；
(3) mark of training dataset, the present invention in we only need to can recognize that unmanned plane, use annotation tool
Unmanned plane in picture every in data set is marked out to come, then trains the data of all marks.Unmanned machine testing is obtained to know
Other model；
(4) the detection recognition effect of test model, detects speed and recognition accuracy meets the requirement of real-time.
Step 2: the position P of UAV targets is solvedt。
(1) when the vision facilities for intercepting unmanned plane collects the image of UAV targets, intercepting unmanned plane will be to target
Unmanned plane is slowly close, while controlling the rotation of servo console, and holding UAV targets as far as possible intercept nobody in image middle
Machine calculates UAV targets' position coordinates according to the coordinate position of UAV targets in image and the rotation situation of servo console
Adjustment in real time intercepts unmanned plane during flying posture, slowly close to UAV targets.Guarantee intercept unmanned plane pull up to target nobody
Machine is simultaneously intercepted.
As shown in Figure 3, described to be resolved by the coordinate position of UAV targets in image and the rotation situation of servo console
The coordinate system being related to during UAV targets' position coordinates includes: inertial coodinate system O1, body coordinate system O2And video camera
Coordinate system O3, according to UAV targets, the relative positional relationship of unmanned plane and video camera is intercepted, UAV targets are in inertial coordinate
Position vector P under systemtIt may be expressed as:
Pt=P1+P2+P3 (1)
Wherein, P1It indicates to intercept position vector of the unmanned plane under inertial coodinate system, it and the attitude angle of unmanned plane etc. are joined
Number can use accelerometer, and the sensor measurements such as gyroscope obtain；P2Indicate that intercept unmanned plane mass center exists to camera optical center
Distance vector under inertial coodinate system, it can be calculated by formula:
Wherein PγIt indicates position of the video camera under body coordinate system, can be obtained by calibration.Matrix indicates body
Coordinate system to inertial coodinate system spin matrix, by the attitude angle of interception unmanned plane(roll angle, pitch angle, yaw
Angle) it determines:
Wherein P3It indicates distance vector of the video camera to UAV targets under inertial coodinate system, meets following relationship:
WhereinFor position of the UAV targets under camera coordinate system,Indicate that camera coordinate system arrives
The spin matrix of body coordinate system, it determines that they can be by holder by the feathering angle α and pitch angle β of PTZ camera
Code-disc information acquisition, expression is as follows:
Arrange the position that can obtain moving target:
So solvingAfterwards, position of the UAV targets under inertial coodinate system can be solved
Pt, it is assumed that imaging position of the central point of UAV targets in the plane of delineation is (ui,vi), it may be expressed as: using pin-hole model
Wherein M is the Intrinsic Matrix of video camera, be may be expressed as:
Wherein [μ0,v0]TFor the center of phase plane,Dx, dy indicate each pixel in x-axis y-axis
Physical size on direction can be acquired by the calibration of camera.Imaging position (ui,vi) can be obtained in image processing module,
It it requires to obtain Pt, it is necessary to find out depth information of the target in camera coordinate system
As shown in figure 4, wherein O0It is optical center, O point is optical axis and the intersection point through plane, and P1 is UAV targets center
Point is in the projected position as plane.In the interception unmanned plane, it is in mirror that the installation site of laser range finder, which can be approximately considered,
At head center, so, intercept the distance between unmanned plane optical center and UAV targets O0P can be acquired by laser range finder,
It can be acquired by geometrical relationship
Wherein, OP1 is the distance of UAV targets center and picture centre, can be obtained by image processing section, and f is camera shooting
The focal length of machine, γ indicate the angle between UAV targets and the line and optical axis of optical center.
It can be acquired according to formula (7)The height for intercepting unmanned plane can be by flying height table
It measures, it is known that position of the unmanned plane under inertial coodinate system, and the position of known video camera in the body coordinate system are intercepted, thus
Solve position P of the UAV targets under inertial coodinate systemt, so far, the result of resolving can be converted into interception unmanned plane
Close to the control instruction of UAV targets；
Step 3: unmanned plane is intercepted using machine vision navigation to best intercepting position.
After intercepting unmanned machine testing and identifying UAV targets, unmanned plane is intercepted according to the seat of UAV targets in image
Cursor position and the rotation situation of servo console, which calculate UAV targets' position coordinates and form winding control instruction, to be adjusted block in real time
Unmanned plane during flying posture is cut, slowly close to UAV targets:
(1) unmanned plane is intercepted by vision guided navigation during the UAV targets, and rotary platform is needed to keep target
The central point of unmanned plane is entreated in the picture, when discovery intercepts unmanned plane and the opposite flight of UAV targets, i.e. UAV targets
Be always held at intercept unmanned plane acquisition image center, and distance it is more and more closer when, intercept unmanned plane should stop leaning on immediately
Closely, other directions are turned to, are first avoided slowly close to its again after UAV targets.
(2) when intercepting unmanned plane close to UAV targets, since each interception situation is different, it may appear that various
Relative position situation typical two phases up and down are considered in the present invention in order to be adjusted to optimal catching net placement position
To position, when intercepting unmanned plane close to UAV targets, the scanning of range laser radar entrained by unmanned plane is intercepted to target
Unmanned plane simultaneously measures distance therebetween.When intercepting lower position of the unmanned plane in UAV targets, safe distance is being kept
In the case where, unmanned plane is intercepted according to the situation of movement of target in image, is slowly climbed to the top (2-3m) of UAV targets
Position and UAV targets keep same motion state.As shown in figure 5, reaching UAV targets top position intercepting unmanned plane
Afterwards, the conical area in the case where intercepting unmanned plane in certain angle is all effective interception region.Wherein, H indicates safe distance (2m).
Step 4: release intercepts catching net.As shown in fig. 6, after intercepting unmanned plane adjustment good position, catching net of dishing out,
One end of catching net is connected with unmanned plane is intercepted, and the other end is downward, after catching net release, will touch UAV targets, and fast
Speed is wrapped on the rotor of UAV targets, and UAV targets' rotor is promoted to stop operating, and is caught after net is wound into UAV targets,
UAV targets fall rapidly due to losing lift, when catching net is reached certain value by the pulling force of UAV targets, release automatically
The other end for putting catching net, with the separation of catching net and interception unmanned plane, the speed reduction in landing device that the other end has will be released
It releases, UAV targets and catching net is made slowly to land together, any security threat will not be caused to the personnel on ground.
Step 5: unmanned plane is intercepted after completing interception movement, is maked a return voyage automatically by itself default mode.
It should be noted that intercepting unmanned plane can independently chase after when being detached from ground staff's control in methods herein
Track interception target unmanned plane, but when communicating between ground staff and interception unmanned plane, i.e., ground handling operator needs
When control intercepts unmanned plane, ground handling operator has highest priority to the control instruction for intercepting unmanned plane, blocks
Cut the operational order on unmanned plane meeting preferential answering ground.Meanwhile intercepting unmanned plane to be automatically performed corresponding interception movement is this hair
The big advantage of bright one also greatly improves the degree of automation of intercepting system while improving and intercepting success rate.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (5)
1. a kind of method of the interception unmanned plane of view-based access control model navigation, it is characterised in that the following steps are included:
Step 1: the unmanned machine testing identification model of training；
Step 2: the position P of UAV targets is solvedt；The image of UAV targets is collected in the vision facilities for intercepting unmanned plane
When, it is slowly close to UAV targets to intercept unmanned plane, while controlling the rotation of servo console, keeps UAV targets in image
Middle specifically includes:
By the rotation situation solving target unmanned plane position and attitude of the coordinate position and servo console of UAV targets in image
Coordinate system involved in process includes: inertial coodinate system, body coordinate system and camera coordinate system, according to UAV targets, is blocked
Cut the relative positional relationship of unmanned plane and video camera, position P of the UAV targets under inertial coodinate systemtIt indicates are as follows:
Pt=P1+P2+P3 (1)
Wherein, P1It indicates to intercept position of the unmanned plane under inertial coodinate system；P2Indicate to intercept unmanned plane mass center to camera optical center
Distance vector under inertial coodinate system, it is calculated by following formula:
Wherein PγIndicate position of the video camera under body coordinate system,Matrix indicates the rotation of body coordinate system to inertial coodinate system
Torque battle array, by the attitude angle of interception unmanned planeIt determines:
WhereinIndicate that the roll angle of interception unmanned plane, θ indicate to intercept the pitch angle of unmanned plane, ψ indicates to intercept the yaw of unmanned plane
Angle；
P3It indicates distance vector of the video camera to UAV targets under inertial coodinate system, meets following relationship:
WhereinFor position of the UAV targets under camera coordinate system, coordinate representation is Indicate camera coordinate system arrive body coordinate system spin matrix, it by PTZ camera feathering angle α with
Pitch angle β determines that expression is as follows:
Arrange UAV targets position:
If imaging position of the central point of UAV targets in the plane of delineation is (ui, vi), it is indicated using pin-hole model are as follows:
Wherein M is the Intrinsic Matrix of video camera, is indicated are as follows:
Wherein [μ0, v0]TFor the center of phase plane,Dx, dy indicate each pixel in x-axis y-axis direction
On physical size, acquired by the calibration of camera, imaging position (ui, vi) be image in UAV targets position coordinates, by list
Mesh image-forming principle can obtain:
Wherein, OP1 is the distance of UAV targets center and picture centre, and f is the focal length of video camera, O0P is optical center to mesh
The distance of unmanned plane is marked, γ indicates the angle between UAV targets and the line and optical axis of optical center,
It can be found out according to formula (9), (10)It can be acquired by formula (7) againTo solve mesh
Mark position P of the unmanned plane under inertial coodinate systemt；
Step 3: unmanned plane is intercepted using machine vision navigation to best intercepting position；
After intercepting unmanned machine testing and identifying UAV targets, unmanned plane is intercepted according to the coordinate bit of UAV targets in image
Set with the rotation situation of servo console calculate UAV targets' position coordinates formed winding control instruction in real time adjust interception nothing
Man-machine flight attitude, it is slowly close to UAV targets, when intercepting unmanned plane close to UAV targets, intercepts unmanned plane and taken
The range laser radar of band is scanned to UAV targets and is measured at a distance from it, when interception unmanned plane is UAV targets'
When lower position, in the case where keeping safe distance, unmanned plane is intercepted according to the situation of movement of target in image, is slowly climbed
To the top position 2-3m of UAV targets, same motion state then is kept with UAV targets；
Step 4: release intercepts catching net；After intercepting unmanned plane adjustment good position, one end of catching net of dishing out, catching net is twined
It is wound on UAV targets, UAV targets is promoted to stop flight, when the pulling force that catching net is subject to is greater than certain value, catching net
It being separated with unmanned plane is intercepted, catching net and UAV targets fall together, meanwhile, it intercepts unmanned plane and pops up catching net fall-retarding
Device and UAV targets land slowly together.
2. the method for the interception unmanned plane of view-based access control model navigation according to claim 1, which is characterized in that further include step
Five: intercepting unmanned plane after completing interception movement, make a return voyage automatically by itself default mode.
3. the method for the interception unmanned plane of view-based access control model navigation according to claim 1 or 2, which is characterized in that the phase
Machine is the CCD camera with infrared imaging function.
4. the method for the interception unmanned plane of view-based access control model navigation according to claim 1 or 2, which is characterized in that described to catch
Catching net is nylon wire.
5. the method for the interception unmanned plane of view-based access control model navigation according to claim 1 or 2, which is characterized in that described to subtract
Prompt drop dropping control device is parachute.
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| CN110850897A (en) * | 2019-11-13 | 2020-02-28 | 中国人民解放军空军工程大学 | Small unmanned aerial vehicle pose data acquisition method facing deep neural network |
| CN110850897B (en) * | 2019-11-13 | 2023-06-13 | 中国人民解放军空军工程大学 | Deep neural network-oriented small unmanned aerial vehicle pose data acquisition method |
| CN111399534A (en) * | 2020-02-25 | 2020-07-10 | 清华大学 | Method and system for capturing aerial medium-high speed moving targets by multiple unmanned aerial vehicles |
| CN111399534B (en) * | 2020-02-25 | 2021-09-17 | 清华大学 | Method and system for capturing aerial medium-high speed moving targets by multiple unmanned aerial vehicles |
| CN111272019A (en) * | 2020-03-27 | 2020-06-12 | 牛三库 | Intelligent elastic net |
| CN113075937A (en) * | 2021-03-17 | 2021-07-06 | 北京理工大学 | Control method for capturing target by unmanned aerial vehicle based on target acceleration estimation |
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