CN112130124A - Rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport - Google Patents
Rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport Download PDFInfo
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/40—Means for monitoring or calibrating
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/021—Calibration, monitoring or correction
Abstract
The invention discloses a rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport, relates to the technical field of unmanned aerial vehicle management, and provides a rapid calibration and error processing method for a high-precision unmanned aerial vehicle. The invention comprises the following steps: the first step is as follows: performing off-site calibration, namely performing equipment calibration on a simulation site according to airport defense requirements, and performing real flight calibration by using an unmanned aerial vehicle automatic cruise mode and navigation records and flight track information in a flight log and additionally installing a navigation positioning module on the unmanned aerial vehicle; the second step is that: calibrating the upper graph; the third step: calibrating in a simulated source field; the invention provides a three-step calibration method adopting off-site calibration, on-map calibration and simulated source intra-site calibration, which can effectively improve the actual use precision and efficiency of the unmanned aerial vehicle management and control equipment.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle management and control, in particular to a rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport.
Background
At present because unmanned aerial vehicle's convenience, unmanned aerial vehicle's use is also more and more now, but unmanned aerial vehicle also has improper use problem when bringing convenient service for people, and "black flying" phenomenon is frequent, "disturbs the navigation", "exploder", "candid photograph" etc. has become the new public safety threat of city low latitude, and unmanned aerial vehicle becomes to hover at city low latitude "regularly bomb". What is more, the usage of unmanned aerial vehicles is far beyond the category of "consumer grade" because of their good quality. In particular, in countries where local conflicts exist in syria, sauter, etc., in general, the main threats of drones to urban security are as follows:
(1) threatens the safety of civil aviation. (2) Threatens the national political personal safety. (3) And the low altitude safety of the prisons is threatened. (4) Threatens the safety of energy facilities. (5) And the privacy security of the people is threatened.
Since 2017, the domestic civil aviation airports successively start to test and purchase unmanned aerial vehicle defense equipment and service, and the characteristics that the unmanned aerial vehicle cannot be adopted for true flight calibration and the unmanned aerial vehicle targets of the civil aviation airports have large defense and wide terrain and the like when the unmanned aerial vehicle management and control equipment including radar, photoelectric tracking and radio detection equipment is installed in the civil aviation airport flight area or at the periphery close to the civil aviation airport flight area are considered.
According to the general technical requirements of civil airport unmanned aerial vehicle piloting aircraft detection and countercheck systems issued in 2019, in order to ensure the low-altitude safety of the civil airport, equipment such as radio direction finding, photoelectric tracking, radar and the like needs to be adopted and linked. In order to realize that the equipment can automatically discover and track the target of the unmanned aerial vehicle, the equipment needs to be calibrated. However, the calibration process needs to use an unmanned aerial vehicle and carry out multiple flight operations. The method is characterized in that the method only adopts a manual rough calibration method, wastes time and labor, and simultaneously reduces the tracking precision of the equipment.
Disclosure of Invention
The invention aims to: the invention provides a rapid calibration and error processing method for unmanned aerial vehicle control equipment in a civil aviation airport, which has high tracking precision and high actual use efficiency.
The invention specifically adopts the following technical scheme for realizing the purpose:
a rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport comprises the following steps:
the first step is as follows: off-site calibration
According to the airport defense requirement, at the simulation place, carry out equipment mark school, utilize navigation record and track information in unmanned aerial vehicle automatic cruise mode and the flight log, through installing navigation orientation module additional on unmanned aerial vehicle simultaneously, carry out true flight mark school, progressively gain following parameter:
(1) and under different detection distances and different flight heights, radar detection results such as the height, speed, flight path and other information of the unmanned aerial vehicle are obtained.
(2) Under different detection distances and flight heights, videos of the unmanned aerial vehicle shot in the photoelectric tracking equipment are captured, the unmanned aerial vehicle accounts for the pixel range and the direction of the whole video picture under different distances and heights.
(3) Under different detection distances and flight altitudes, detection results of not less than 50 groups of radio detection equipment, including signal frequency ranges, azimuth angles, signal strength and the like of the unmanned aerial vehicle, are recorded, and radio signals of a communication link diagram transmission and a remote control link of the unmanned aerial vehicle are recorded by using an unmanned aerial vehicle signal simulation device based on software radio.
(4) After various devices are respectively calibrated outside the field, the device parameters are calibrated in a mode of radar, photoelectric and radio detection linkage.
The second step is that: calibration on graph
(1) Through the survey and drawing means, utilize known GIS data or through carrying out the survey and drawing operation to unmanned aerial vehicle defense core region, carry out three-dimensional reconstruction to the defense area, acquire relevant survey and drawing data.
(2) Combining with public satellite maps and actually measured surveying and mapping data, utilizing the selected mounting points, after eliminating interferences such as air pipe radar supports in airports, building sheltering and the like to the maximum extent, performing azimuth calibration of the two-dimensional plane control equipment to determine approximate north-pointing positions of the equipment, initializing pitch angles and the interaction range of equipment linkage, determining the overlapping part of the detection range of the equipment, and calibrating the ranges of single-point positioning and multi-point positioning.
(3) The map coordinates are converted into spherical coordinates through longitude and latitude coordinates on the map, the distance between the devices, the relative angle and the like, and the distance between the two points is calculated by utilizing a Haversene formula.
Wherein
R is the radius of the earth, the average value is 6371.137 km,
and
indicates the latitude of two points, and Δ λ indicates the longitude difference between two points.
The angle in (3) in the second step is:
knowing the coordinates of two points on a map, solving the angle of a connecting line of the two points, converting the longitude and latitude coordinates into global positioning GPS coordinates, wherein the distance between the two points is more than 2 kilometers, the height does not exceed 50 meters, and the angle of the connecting line of the two points is represented by the formula:
(4) and calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, and after the management and control equipment is subjected to north-pointing calibration on the graph, estimating the corresponding relative positions of the calibration points in the detection range of each detection equipment and the absolute coordinates on the graph to form reference coordinate points for fitting prediction.
The third step: calibration in field using analog source
(1) Designing a scheme and a route for simulating actual measurement in the airport by using the reference coordinate points marked and corrected on the second step of drawing;
(2) selecting various different test point locations at 500m, 1km, 3km and 5km for each installation point, covering the point locations of 360 degrees, selecting a standard calibration simulation source stopping position according to the routine requirement of a positioning algorithm, wherein the point locations are not less than 3 points;
(3) the simulation source transmits an unmanned aerial vehicle simulation radar echo, an unmanned aerial vehicle simulation image transmission signal, an unmanned aerial vehicle simulation remote control signal and an unmanned aerial vehicle simulation optical signal to label various devices;
(4) after receiving the signals, various control devices record the position coordinates of the analog source;
(5) setting basic parameters of equipment by combining and constructing a calibration and positioning calculation model;
(6) finally, inputting actual coordinates of radar, photoelectric tracking and radio detection equipment in a data fusion system, wherein the coordinates comprise information such as longitude and latitude, equipment height, initial pitching angle and the like;
the analog source system consists of:
(1) the upper computer (display control terminal) is used for controlling the simulation module to work, controlling the directional antenna turntable, receiving azimuth information and supporting the map display function;
(2) a software radio module: a 2-channel processor is adopted and used for operating radar echo analog signals and unmanned aerial vehicle analog signals;
(3) the navigation positioning module: the system is used for providing longitude and latitude coordinates and height coordinates of the simulation source;
(4) an optical target simulation module: generally, the method is determined by the vehicle body mark where the calibration vehicle is located, or a striking marker with clear contrast between color and environmental color is added on the vehicle roof;
(5) the radar echo simulation signal generation method comprises the following steps: determining typical distance and angle signals generated by off-site calibration by a radar manufacturer;
(6) the method for generating the simulation signal of the unmanned aerial vehicle comprises the following steps: when the off-site calibration is carried out, the image transmission signals and the remote control signals of the unmanned aerial vehicle received in a typical distance range are recorded and replayed, and the signal generation requirements are that the analog signals of the unmanned aerial vehicle can be obviously displayed and identified on a spectrogram under the condition that an electromagnetic environment is relatively clean as much as possible.
(7) Directional antenna (with turntable): the radar echo simulation signal and the unmanned aerial vehicle simulation signal are transmitted to the direction of the control equipment.
The use flow of the analog source system is as follows:
(1) initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer (a display control terminal);
(2) according to the map display, after the calibration equipment (vehicle) reaches a designated calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the control equipment to be calibrated, the control equipment records coordinates after receiving the analog signal, and the result is uploaded back to a server;
(3) after traversing all simulation points (single-point multiple times and multiple points), the simulation source is linked with the control equipment to generate all calibration data;
(4) and (5) adopting a calibration algorithm by calibration data to give teaching suggestions of the equipment one by one.
Further, in the first step, error processing is performed on the acquired data by using a least square method, so that calibration accuracy can be better provided.
Further, the installation point comprises one or more of radar, photoelectric and radio detection.
The invention has the following beneficial effects:
1. the problem that the control equipment of the unmanned aerial vehicle is calibrated by adopting the method of flying the unmanned aerial vehicle in the flight area of the airport and the periphery close to the flight area, which possibly has the problem that the control equipment of the unmanned aerial vehicle cannot operate in the no-fly area and threatens the implementation of the flight operation of the airport is solved, the three-step calibration method adopting off-site calibration, on-map calibration and simulation source on-site calibration is provided, and the actual use precision and efficiency of the control equipment of the unmanned aerial vehicle can be effectively improved.
Detailed description of the preferred embodiments
In order that those skilled in the art will better understand the present invention, the following examples are provided to illustrate the present invention in further detail.
Example 1
A rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport comprises the following steps:
the first step is as follows: off-site calibration
According to the airport defense requirement, at professional flight test field, carry out equipment calibration, adopt and utilize navigation record and track information in unmanned aerial vehicle automatic cruise mode and the flight log, through installing navigation orientation module additional on unmanned aerial vehicle simultaneously, carry out true flight calibration, progressively gain following parameter:
(1) and under different detection distances and different flight heights, radar detection results such as the height, speed, flight path and other information of the unmanned aerial vehicle are obtained.
(2) Under different detection distances and flight heights, videos of the unmanned aerial vehicle shot in the photoelectric tracking equipment are captured, the unmanned aerial vehicle accounts for the pixel range and the direction of the whole video picture under different distances and heights.
(3) Under different detection distances and flight altitudes, detection results of not less than 50 groups of radio detection equipment, including signal frequency ranges, azimuth angles, signal strength and the like of the unmanned aerial vehicle, are recorded, and radio signals of a communication link diagram transmission and a remote control link of the unmanned aerial vehicle are recorded by using an unmanned aerial vehicle signal simulation device based on software radio.
(4) After various devices are respectively calibrated outside the field, the device parameters are calibrated in a mode of radar, photoelectric and radio detection linkage.
(5) For the collected data, error processing is carried out by adopting a least square method
The second step is that: calibration on graph
(1) Through surveying and mapping means, known GIS data or unmanned aerial vehicle aerial survey which is specially approved by surveying and mapping for unmanned aerial vehicle defense core areas is utilized to carry out three-dimensional reconstruction on defense areas and acquire related surveying and mapping data.
(2) Combining with public satellite maps and actually measured surveying and mapping data, utilizing the selected mounting points, after eliminating interferences such as air pipe radar supports in airports, building sheltering and the like to the maximum extent, performing azimuth calibration of the two-dimensional plane control equipment to determine approximate north-pointing positions of the equipment, initializing pitch angles and the interaction range of equipment linkage, determining the overlapping part of the detection range of the equipment, and calibrating the ranges of single-point positioning and multi-point positioning.
(3) The map coordinates are converted into spherical coordinates through longitude and latitude coordinates on the map, the distance between the devices, the relative angle and the like, and the distance between the two points is calculated by utilizing a Haversene formula.
Wherein
R is the radius of the earth, the average value is 6371.137 km,
and
indicates the latitude of two points, and Δ λ indicates the longitude difference between two points.
The angle in (3) in the second step is:
knowing coordinates of two points on a map, solving the angle of a connecting line of the two points, and converting longitude and latitude coordinates into global positioning GPS coordinates: the distance between the two points is more than 2 kilometers, the height is ignored when the height does not exceed 50 meters, and the angle of a connecting line of the two points is represented by the following formula:
(4) and calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, and after the north-pointing calibration of each control device on the graph is given, the corresponding relative positions of the calibration points in the detection range of each detection device and the absolute coordinates on the graph are estimated. And forming reference coordinate points for fitting prediction.
The third step: calibration in field using analog source
(1) Designing a scheme and a route for simulating actual measurement in the airport by using the reference coordinate points marked and corrected on the second step of drawing;
(2) selecting various different test point positions at 500m, 1km, 3km and 5km, which can cover 360-degree point positions, selecting a standard calibration simulation source stopping position according to the routine requirement of a positioning algorithm, wherein the standard calibration simulation source stopping position is not less than 3 points;
(3) the method comprises the following steps that an analog source transmits an unmanned aerial vehicle analog radar echo, an unmanned aerial vehicle analog image transmission signal, an unmanned aerial vehicle analog remote control signal and an unmanned aerial vehicle analog optical signal to be marked on various devices, the unmanned aerial vehicle analog optical signal can mainly be a vehicle-mounted reference object where the analog source is located and is limited to a field, ground targets can only be calibrated in and around the field, and the height targets are adjusted by referring to first-step off-field calibration data;
(4) after receiving the signals, various control devices record the position coordinates of the analog source;
(5) constructing a calibration and positioning calculation model by combining a least square method, and basically setting basic parameters of equipment;
(6) and finally, inputting actual coordinates of radar, photoelectric tracking and radio detection equipment in a data fusion system, wherein the coordinates comprise information such as longitude and latitude, equipment height, initial pitch angle and the like.
The analog source system consists of:
(1) the upper computer (display control terminal) is used for controlling the simulation module to work, controlling the directional antenna turntable, receiving azimuth information and supporting the map display function;
(2) a software radio module: a 2-channel processor is adopted and used for operating radar echo analog signals and unmanned aerial vehicle analog signals;
(3) the navigation positioning module: the system is used for providing longitude and latitude coordinates and height coordinates of the simulation source;
(4) an optical target simulation module: generally, the method is determined by the body mark where the calibration vehicle is located, or a striking marker with bright color such as yellow and red compared with the environmental color is added on the roof;
(5) the radar echo simulation signal generation method comprises the following steps: determining typical distance and angle signals generated by off-site calibration by a radar manufacturer;
(6) the method for generating the simulation signal of the unmanned aerial vehicle comprises the following steps: during off-site calibration, the image transmission signals and the remote control signals of the unmanned aerial vehicle received within a typical distance range are recorded and replayed, and the signal generation requires that the analog signals of the unmanned aerial vehicle can be obviously displayed and identified on a spectrogram under the condition that the electromagnetic environment is relatively clean as much as possible;
(7) directional antenna (with turntable): the radar echo simulation signal and the unmanned aerial vehicle simulation signal are transmitted to the direction of the control equipment.
The use flow of the analog source system is as follows:
(1) initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer (a display control terminal);
(2) according to the map display, after the calibration equipment (vehicle) reaches a designated calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the control equipment to be calibrated, the control equipment records coordinates after receiving the analog signal, and the result is uploaded back to a server;
(3) after traversing all simulation points (single-point multiple times and multiple points), the simulation source is linked with the control equipment to generate all calibration data;
(4) and (5) adopting a calibration algorithm by calibration data to give teaching suggestions of the equipment one by one.
The above description is only a preferred embodiment of the present invention, and not intended to limit the present invention, and the scope of the present invention is defined by the appended claims, and all changes that come within the meaning and range of equivalency of the specification are therefore intended to be embraced therein.
Claims (8)
1. A rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in a civil aviation airport is characterized by comprising the following steps:
the first step is as follows: off-site calibration
According to the airport defense requirement, at the simulation place, carry out equipment mark school, utilize navigation record and track information in unmanned aerial vehicle automatic cruise mode and the flight log, through installing navigation orientation module additional on unmanned aerial vehicle simultaneously, carry out true flight mark school, progressively gain following parameter:
(1) radar detection results at different flight altitudes, such as the altitude, speed and track of the unmanned aerial vehicle, at different detection distances;
(2) capturing videos of the unmanned aerial vehicle shot in the photoelectric tracking equipment under different detection distances and flight heights, and calibrating the unmanned aerial vehicle to occupy the pixel range and the direction of the whole video picture under different distances and heights;
(3) under different detection distances and flight altitudes, recording detection results of not less than 50 groups of radio detection equipment, including signal frequency ranges, azimuth angles and signal strengths of the unmanned aerial vehicle, and recording radio signals of a communication link map transmission and a remote control link of the unmanned aerial vehicle by using an unmanned aerial vehicle signal simulation device based on software radio;
(4) after various devices are respectively calibrated outside the field, calibrating device parameters in a radar, photoelectric and radio detection linkage mode;
the second step is that: calibration on graph
(1) Performing three-dimensional reconstruction on the defense area by using known GIS data or performing surveying and mapping operation on the defense core area of the unmanned aerial vehicle through a surveying and mapping means to obtain related surveying and mapping data;
(2) combining a public satellite map and actually measured surveying and mapping data, utilizing a selected mounting point, after eliminating interferences such as air pipe radar supports, building sheltering and the like in an airport to the maximum extent, performing azimuth calibration on a two-dimensional plane control device to determine an approximate north-pointing position of the device, initializing a pitch angle and an interaction range of device linkage interaction, determining an overlapping part of a device detection range, and calibrating ranges of single-point positioning and multi-point positioning;
(3) calculating the distance and the relative angle between the devices through the longitude and latitude coordinates on the graph;
(4) calibrating a plurality of calibration points on the graph, wherein the number of the calibration points is not less than 3, estimating corresponding relative positions of the calibration points in the detection range of each detection device and absolute coordinates on the graph after each control device is calibrated by pointing north on the graph, and forming reference coordinate points for fitting prediction;
the third step: calibration in field using analog source
(1) Designing a scheme and a route for simulating actual measurement in the airport by using the reference coordinate points marked and corrected on the second step of drawing;
(2) selecting various different test point locations at 500m, 1km, 3km and 5km for each installation point, covering 360-degree point locations, selecting a standard calibration simulation source stopping position according to the routine requirement of a positioning algorithm, wherein the point locations are not less than 3 points;
(3) the simulation source transmits an unmanned aerial vehicle simulation radar echo, an unmanned aerial vehicle simulation image transmission signal, an unmanned aerial vehicle simulation remote control signal and an unmanned aerial vehicle simulation optical signal to label various devices;
(4) after receiving the signals, various control devices record the position coordinates of the analog source;
(5) setting basic parameters of equipment by combining and constructing a calibration and positioning calculation model;
(6) and finally, inputting the actual coordinates of the radar, the photoelectric tracking and the radio detection equipment in a data fusion system, wherein the actual coordinates comprise longitude and latitude, equipment height and initial pitch angle.
2. The method for rapidly calibrating and processing the errors of the unmanned aerial vehicle management and control equipment in the civil aviation airport according to claim 1, wherein the error processing is performed on the acquired data by a least square method in the first step.
3. The method for rapid calibration and error handling of unmanned aerial vehicle management and control equipment in a civil aviation airport according to claim 1, wherein the installation site comprises one or more of radar, photoelectric and radio detection.
4. The method for rapidly calibrating and processing the errors of the unmanned aerial vehicle management and control equipment in the civil aviation airport according to claim 1, wherein the simulation source system comprises the following components:
(1) the upper computer (display control terminal) is used for controlling the simulation module to work, controlling the directional antenna turntable, receiving azimuth information and supporting the map display function;
(2) a software radio module: a 2-channel processor is adopted and used for operating radar echo analog signals and unmanned aerial vehicle analog signals;
(3) the navigation positioning module: the system is used for providing longitude and latitude coordinates and height coordinates of the simulation source;
(4) an optical target simulation module: generally, the method is determined by the vehicle body mark where the calibration vehicle is located, or a striking marker with clear contrast between color and environmental color is added on the vehicle roof;
(5) directional antenna (with turntable): the radar echo simulation signal and the unmanned aerial vehicle simulation signal are transmitted to the direction of the control equipment.
5. The method for rapidly calibrating and processing the errors of the unmanned aerial vehicle management and control equipment in the civil aviation airport according to claim 1, wherein the method comprises the following steps: the use flow of the analog source system is as follows:
(1) initializing equipment, and starting a navigation positioning module and a software radio module by an upper computer (a display control terminal);
(2) according to the map display, after the calibration equipment (vehicle) reaches a designated calibration point, the direction of a directional antenna is adjusted, an analog signal is transmitted to the control equipment to be calibrated, the control equipment records coordinates after receiving the analog signal, and the result is uploaded back to a server;
(3) after traversing all simulation points (single-point multiple times and multiple points), the simulation source is linked with the control equipment to generate all calibration data;
(4) and (5) adopting a calibration algorithm by calibration data to give teaching suggestions of the equipment one by one.
6. The method for rapid calibration and error processing of unmanned aerial vehicle management and control equipment in civil aviation airports according to claim 5, wherein the calibration algorithm comprises:
(1) the radar echo simulation signal generation method comprises the following steps: determining typical distance and angle signals generated by off-site calibration by a radar manufacturer;
(2) the method for generating the simulation signal of the unmanned aerial vehicle comprises the following steps: when the off-site calibration is carried out, the image transmission signals and the remote control signals of the unmanned aerial vehicle received in a typical distance range are recorded and replayed, and the signal generation requirements are that the analog signals of the unmanned aerial vehicle can be obviously displayed and identified on a spectrogram under the condition that an electromagnetic environment is relatively clean as much as possible.
7. The method for rapidly calibrating and processing the errors of the unmanned aerial vehicle management and control equipment in the civil aviation airport according to claim 1, wherein the distance between the computing devices in the second step (3) is as follows:
and converting the map coordinates into spherical coordinates, and calculating the distance between the two points by using a Haversine formula.
Wherein
R is the radius of the earth, the average value is 6371.137 km,
and
indicates the latitude of two points, and Δ λ indicates the longitude difference between two points.
8. The method for rapidly calibrating and processing the errors of the unmanned aerial vehicle management and control equipment in the civil aviation airport according to claim 1, wherein the angle in the second step (3) is as follows:
knowing the coordinates of two points on a map, solving the angle of a connecting line of the two points, converting the longitude and latitude coordinates into global positioning GPS coordinates, wherein the distance between the two points is more than 2 kilometers, the height does not exceed 50 meters, and the angle of the connecting line of the two points is represented by the formula:
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| CN113419517A (en) * | 2021-07-12 | 2021-09-21 | 海丰通航科技有限公司 | Test method and device of aircraft prevention and control system, storage medium and computing equipment |
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| CN114963879A (en) * | 2022-05-20 | 2022-08-30 | 中国电子科技集团公司电子科学研究院 | Unmanned aerial vehicle comprehensive countering system and comprehensive countering method |
| CN114963879B (en) * | 2022-05-20 | 2023-11-17 | 中国电子科技集团公司电子科学研究院 | Comprehensive control system and method for unmanned aerial vehicle |
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