CN112558029A - Equipment and method for detecting accuracy of unmanned aerial vehicle detection system - Google Patents
Equipment and method for detecting accuracy of unmanned aerial vehicle detection system Download PDFInfo
- Publication number
- CN112558029A CN112558029A CN202110222532.XA CN202110222532A CN112558029A CN 112558029 A CN112558029 A CN 112558029A CN 202110222532 A CN202110222532 A CN 202110222532A CN 112558029 A CN112558029 A CN 112558029A
- Authority
- CN
- China
- Prior art keywords
- detection
- terminal
- data
- accuracy
- unmanned aerial
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
- G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
- G01S1/022—Means for monitoring or calibrating
-
- 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
- G01S3/023—Monitoring or calibrating
-
- 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 an unmanned aerial vehicle detection system accuracy inspection device, which comprises an airborne end carried on a test target aircraft, a server end used for receiving and processing data and a detection terminal, wherein the airborne end comprises a GPS module used for acquiring three-dimensional coordinate information of the test target aircraft, a LoRa data transmission module used for transmitting the three-dimensional coordinate information of the test target aircraft to the server end and a power supply management module, and the detection terminal comprises a detection module, a control module, a data processing module and a data uploading module. The method improves the accuracy of the accuracy inspection of the unmanned aerial vehicle detection system, reduces the labor intensity of manual detection, and provides a powerful basis for judging the performance of the unmanned aerial vehicle detection system.
Description
Technical Field
The invention belongs to the technical field of detection and measurement, relates to equipment for detecting the accuracy of an unmanned aerial vehicle detection system, and further relates to a method for detecting the accuracy of the unmanned aerial vehicle detection system.
Background
Along with the popularization and wide application of unmanned aerial vehicles, accidents caused by the irregular use of unmanned aerial vehicles are more and more, and even lawless persons use the unmanned aerial vehicles to engage in illegal criminal activities. At present, the unmanned aerial vehicle detection mode mainly adopts radar or radio detection technology. In a simple background, radar and photoelectric composite detection aiming at a single target is basically mature. Multi-target identification is still the current difficulty and basically depends on manual identification. After the radar detects the target, three-dimensional coordinates of the target are given, and radio detection technology can only give azimuth parameters of the target. At present, the accuracy of the data of the detection results is still judged by manual work, and the accuracy of the detection data is usually calculated by comparing target data returned by the drone with the detection results.
The method for manually extracting data and calculating wastes time and labor, the data extraction needs to be manually seen from a drone remote controller and a detection system display terminal, and the unmanned aerial vehicle has the advantages of high flying speed, low data acquisition efficiency, inaccurate detection result, certain human errors and limited extracted data amount, so that the method can only roughly judge the detection accuracy of the unmanned aerial vehicle detection system.
Disclosure of Invention
The invention aims to provide equipment for detecting the accuracy of an unmanned aerial vehicle detection system, which solves the problems that manual detection in the accuracy detection process of the unmanned aerial vehicle detection system in the prior art wastes time and labor, less sampling data and large error of a calculation result.
Another object of the present invention is to provide a method for accuracy verification of a drone detection system.
The technical scheme includes that the device for detecting the accuracy of the unmanned aerial vehicle detection system comprises an airborne terminal, a server and a detection terminal, wherein the airborne terminal is carried on a test target drone, the server is used for receiving and processing data, the airborne terminal comprises a GPS module used for acquiring three-dimensional coordinate information of the test target drone, a LoRa data transmission module and a power management module used for transmitting the three-dimensional coordinate information of the test target drone to the server, and the detection terminal comprises a detection module, a control module, a data processing module and a data uploading module.
The invention is also characterized in that:
the data transmission between the detection terminal and the server side is transmitted through a TCP/IP protocol; and the data transmission between the airborne terminal and the service terminal is transmitted through an NMEA protocol.
The invention adopts another technical scheme that a method for detecting the accuracy of an unmanned aerial vehicle detection system is implemented according to the following steps:
step 1, system timing, namely synchronously timing an airborne terminal, a server and a detection terminal;
step 2, detection preparation, debugging of the detection terminal, loading of the airborne terminal on the test target drone, and checking whether data transmission of the service terminal, the airborne terminal and the detection terminal is normal or not;
step 3, starting detection, wherein the test target drone starts flying, three-dimensional coordinate data of the test target drone are transmitted to the server through the LoRa data transmission module, meanwhile, the detection terminal transmits the detected three-dimensional coordinate data of the test target drone to the server, and the server caches the received data;
and 4, calculating the real-time deviation of the detection terminal by the server through a deviation algorithm, and analyzing the deviation of each moment in the detection process to provide a key index of accuracy detection.
The invention is also characterized in that:
in the step 1, the time error between the airborne terminal, the server and the detection terminal is less than 80 ms.
Calculating the real-time deviation of the detection terminal through a deviation algorithm in the step 4, specifically, setting the three-dimensional coordinates of a point A of the real position of the drone aircraft reported by the airborne terminal at a certain moment as (LonA, LatA and AltA), and setting the three-dimensional coordinates of a point A 'of the drone aircraft position detected by the detection terminal as (LonA', LatA 'and AltA'), wherein Lon is longitude and the unit is degree; lat is latitude, and the unit is degree; alt is height, absolute height, in m;
converting the three-dimensional coordinate angle representation of the point a into an arc representation (MLonA, MLatA, AltA), wherein:
converting the three-dimensional coordinate angle representation of the A 'point into radian representations (MLon A', MLat A ', Alt A'), wherein:
a, A' projection of the two points on the ground forms an angle with respect to the center of the earth:
A. the horizontal distance between the projections of the two points A' on the ground is as follows:
A. the three-dimensional slant distance of the two points A' in the space is as follows:
and R is the real-time deviation of the detection system at the moment.
The key indexes of the accuracy test in the step 4 comprise effective detection data, average detection accuracy and farthest detection distance.
The valid probe data is: when the deviation detected at a certain moment in the flight process of the test drone is smaller than or equal to F, the detection data at the moment are effective detection data, the parameters for evaluating the effective detection data are effective detection rate, and the effective detection rate Q in the T time period is calculated as follows:
the average detection precision is the root mean square value of the effective detection data deviation in the T time period, and specifically comprises the following steps:
where N is the total number of valid probe data.
The farthest detection distance is the distance from the test target drone to the detection terminal when effective detection data appears when the test target drone is farthest from the detection terminal in the T time period.
The invention has the beneficial effects that: the invention improves the precision of the precision inspection of the unmanned aerial vehicle detection system, lightens the labor intensity of manual detection and provides a powerful basis for judging the performance of the unmanned aerial vehicle detection system.
Drawings
Fig. 1 is a block diagram of an apparatus for accuracy verification of an unmanned aerial vehicle detection system according to the present invention;
fig. 2 is a flow chart of a method for accuracy verification of an unmanned aerial vehicle detection system according to the present invention.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.
The invention relates to equipment for detecting the accuracy of an unmanned aerial vehicle detection system, which comprises an airborne terminal, a server and a detection terminal, wherein the airborne terminal is arranged on the server;
the onboard end is carried on a test target drone, is used for collecting and sending position data of the target drone and giving real position information of a target, and consists of a GPS (global positioning system) module, a LoRa (global positioning system) data transmission module, a power management module and a polymer lithium battery, wherein the GPS module receives GNSS positioning signals to calculate the three-dimensional coordinate information of the current target drone, and transmits the position information data to a server through the LoRa data transmission module;
the GPS module adopts a u-blox NEO-M9N module, the module supports GNSS positioning signals such as Beidou, Galileo, GLONASS and GPS, and has the characteristics of low power consumption and high positioning precision, the LoRa data transmission module adopts an F8L10D module, the working frequency range of the module is 433MHz, the maximum communication distance is 11km, the serial port transmission data bandwidth is 32kbps, the GPS module and the LoRa data transmission module are communicated through a UART serial port, the power supply management module is used for power supply management of the GPS module and the LoRa data transmission module and charge and discharge management of a polymer lithium battery, and the polymer lithium battery adopts a 4000mAh battery and is used as a power supply of each module at an airborne end;
the server is a PC for receiving and processing data, and the hardware is configured to: an Inter I79700 processor, a 16GB DDR4 memory, a 1T solid state disk, a GTX1660 display card, a windows7 operating system, a server PC connected with an F8L10GW-L outdoor waterproof LoRa data transmission gateway through an RJ45 network port and a receiver carries terminal data, and a data acquisition module, a deviation algorithm and data analysis are all software function modules;
the detection terminal comprises a detection module, a control module, a data processing module and a data uploading module; the detection module is an unmanned aerial vehicle detection radar or an unmanned aerial vehicle detection frequency spectrum device, the control module is used for controlling the control and parameter adjustment of the detection module, the data processing module is used for processing data reported by the detection module, and the data uploading module is used for reporting a detection result of the detection terminal to the server;
the data acquisition module of the server is responsible for acquiring detection result data reported by the detection terminal, the detection result data is transmitted through a TCP/IP protocol, and the reporting parameters are as follows:
| parameter name | Type (B) | Means of | Remarks for note |
| ID | string | Numbering of detection systems | The server end designates the detection time |
| Longitude | float | Longitude (G) | East meridian is positive, west meridian is negative, unit: degree of rotation |
| Latitude | float | Latitude | North latitude is positive, south latitude is negative, unit: degree of rotation |
| Altitude | float | Height | Altitude, unit: m is |
| Speed | float | Speed of flight | Unit: m/s |
| Direction | float | Course of course | North is zero degrees, increasing clockwise, unit: degree of rotation |
| Timestamp | int | Time stamp | Starting from GMT/UTC time "1970-01-01T 00:00: 00", the number of seconds to a particular time, leap seconds are not considered. |
The server receives data reported by the airborne terminal LoRa data transmission module through the LoRa gateway, the data reported by the airborne terminal adopts an NMEA protocol, and the data is analyzed by the server and then used as a real position reference for deviation calculation;
the deviation algorithm is used for calculating the deviation between the detection position and the real position, the three-dimensional coordinates of a point A of the real position of the drone aircraft reported by the airborne terminal at a certain moment are set to be (LonA, LatA and AltA), the three-dimensional coordinates of a point A 'of the drone aircraft detected by the detection terminal are set to be (LonA', LatA 'and AltA'), wherein Lon is longitude, and the unit: degree; lat is latitude, unit: degree; alt is height, absolute height, unit: m;
converting the three-dimensional coordinate angle representation of the point a into an arc representation (MLonA, MLatA, AltA), wherein:
converting the three-dimensional coordinate angle representation of the A 'point into radian representations (MLon A', MLat A ', Alt A'), wherein:
a, A' projection of the two points on the ground forms an included angle with respect to the center of the earth:
A. the horizontal distance between the projections of the two points A' on the ground is as follows:
wherein 6371004 is the radius of the earth, and the unit is m;
A. the three-dimensional slant distance of the two points A' in the space is as follows:
calculating by a deviation algorithm, wherein the real-time deviation of the detection system at the moment is R;
the data analysis analyzes the detection deviation at each moment in the whole detection process and provides key indexes of detection results; the main indicators of the analysis are:
valid detection data: when the detected deviation at a certain moment in the flight process of the target drone is less than or equal to F, F is a fixed value given during the accuracy test of the detection system, and the detection data at the moment are effective detection data; the parameters for evaluating the index are effective detection rate, and the effective detection rate of the detection terminal in the T time period is Q:
average detection accuracy: effectively detecting the root mean square value of the data deviation in the T time period;
maximum detection distance: and in the T period, when effective detection data appear when the distance of the target drone from the detection terminal is farthest, the distance of the target drone from the detection terminal is tested.
The invention discloses a method for detecting the accuracy of an unmanned aerial vehicle detection system, which is implemented according to the following steps as shown in figure 2:
step 1, system timing, namely, synchronously timing three parties including an airborne terminal, a service terminal and a detection terminal, wherein the time error between every two parties is less than 80ms, the system timing takes UTC time in GNSS signals received by an airborne terminal GPS module as reference time, the service terminal receives the time information through an LoRa data transmission module and stores the time information to the local, timing service is provided for the airborne terminal and the detection terminal, and all subsequent detection deviation calculation is determined based on a timestamp;
step 2, detection preparation, debugging of the detection terminal, loading of the airborne terminal on the test drone, checking whether data transmission of the service terminal, the airborne terminal and the detection terminal is normal or not, and performing three-dimensional coordinate calibration, north correction and leveling debugging of the unmanned aerial vehicle detection terminal to ensure that the unmanned aerial vehicle detection terminal works normally;
step 3, starting detection, wherein the test target drone starts flying, three-dimensional coordinate data of the test target drone are transmitted to the server through the LoRa data transmission module, meanwhile, the detection terminal transmits the detected three-dimensional coordinate data of the test target drone to the server, and the server caches the received data;
and 4, calculating the real-time deviation of the detection terminal by the server through a deviation algorithm, and analyzing the deviation of each moment in the detection process to provide a key index of accuracy detection.
Examples
In the detection process of a certain time, the deployment position of the detection terminal is 34.07927 degrees in north latitude, 108.988848 degrees in east longitude, the data rate of the detection terminal and the airborne terminal reported to the service terminal is 1 s/time, and the data reported in 60s and the real-time deviation obtained by calculating through a deviation algorithm are as follows:
the effective detection data judgment threshold value F =20 m in the detection process in 60s, and the detection terminal totally reports 60 groups of data through analysis and calculation, wherein the effective detection data 51 group is the effective detection data of the detection terminalRate of measurement
(ii) a Average detection accuracy R of 51 groups of effective detection dataRMS=12.15 m; the farthest detection distance of the detection terminal occurs at UTC time 1596523813 seconds (Beijing time 2020-08-0414: 50: 13), and the target drone (northern latitude 34.070101 and east longitude 108.995922) is at a distance 1209.95 meters from the detection terminal (northern latitude 34.07927 degrees and east longitude 108.988848 degrees).
The unmanned aerial vehicle detection terminal precision detection method combines a terminal data acquisition technology, a LoRa data transmission technology and a data processing technology, and solves the problems that manual detection is time-consuming and labor-consuming in the existing unmanned aerial vehicle detection terminal precision detection process, sampling data is less, and calculation result errors are large.
The invention can effectively reduce the workload of personnel in the accuracy inspection process of the existing unmanned aerial vehicle detection terminal, the reported data rate can reach 0.5 s/time, and the invention is more suitable for the detection working condition of the real unmanned aerial vehicle during flying.
The invention integrates, processes and judges the detection result of each group of data in the whole detection process, and automatically gives a detection report which contains key data in the field of unmanned aerial vehicle detection.
Claims (9)
1. The utility model provides an unmanned aerial vehicle detection system accuracy inspection's equipment which characterized in that, including carrying on the airborne end on the test target drone, the server side and the detection terminal that are used for receiving and handle data, the airborne end is including the GPS module that is used for acquireing test target drone three-dimensional coordinate information, is used for giving the loRa data transmission module and the power management module of server side with test target drone three-dimensional coordinate information transmission, detection terminal is including detecting module, control module, data processing module, data upload module.
2. The device for checking the accuracy of the unmanned aerial vehicle detection system according to claim 1, wherein the data transmission between the detection terminal and the server is transmitted through a TCP/IP protocol; and the data transmission between the airborne terminal and the server terminal is transmitted through an NMEA protocol.
3. A method for testing the accuracy of an unmanned aerial vehicle detection system, wherein the apparatus for testing the accuracy of an unmanned aerial vehicle detection system according to claim 1 or 2 is implemented by the following steps:
step 1, system timing, namely synchronously timing an airborne terminal, a server and a detection terminal;
step 2, detection preparation, debugging of the detection terminal, loading of the airborne terminal on the test target drone, and checking whether data transmission of the service terminal, the airborne terminal and the detection terminal is normal or not;
step 3, starting detection, wherein the test target drone starts flying, three-dimensional coordinate data of the test target drone are transmitted to the server through the LoRa data transmission module, meanwhile, the detection terminal transmits the detected three-dimensional coordinate data of the test target drone to the server, and the server caches the received data;
and 4, calculating the real-time deviation of the detection terminal by the server through a deviation algorithm, and analyzing the deviation of each moment in the detection process to provide a key index of accuracy detection.
4. The method for testing the accuracy of the unmanned aerial vehicle detection system according to claim 3, wherein the time error between the airborne terminal, the server terminal and the detection terminal in step 1 is less than 80 ms.
5. The method for detecting the accuracy of the unmanned aerial vehicle detection system according to claim 3, wherein the real-time deviation of the detection terminal is calculated through a deviation algorithm in the step 4, specifically, the three-dimensional coordinates of the real target drone position A reported by the airborne terminal at a certain moment are set as (LonA, LatA, AltA), and the three-dimensional coordinates of the target drone position A 'detected by the detection terminal are set as (LonA', LatA ', AltA'), wherein Lon is longitude and the unit is degree; lat is latitude, and the unit is degree; alt is height, absolute height, in m;
converting the three-dimensional coordinate angle representation of the point a into an arc representation (MLonA, MLatA, AltA), wherein:
converting the three-dimensional coordinate angle representation of the A 'point into radian representations (MLon A', MLat A ', Alt A'), wherein:
a, A' projection of the two points on the ground forms an angle with respect to the center of the earth:
A. the three-dimensional slant distance of the two points A' in the space is as follows:
and R is the real-time deviation of the detection system at the moment.
6. The method for accuracy verification of the unmanned aerial vehicle detection system of claim 3, wherein the key indicators of the accuracy verification in the step 4 comprise valid detection data, average detection accuracy and farthest detection distance.
7. The method of claim 6, wherein the valid detection data is: when the deviation detected at a certain moment in the flight process of the test drone is smaller than or equal to F, the detection data at the moment are effective detection data, the parameters for evaluating the effective detection data are effective detection rate, and the effective detection rate Q in the T time period is calculated as follows:
8. the method of claim 6, wherein the average detection accuracy is a root mean square value of a deviation of valid detection data within a period T, and specifically comprises:
where N is the total number of valid probe data.
9. The method of claim 6, wherein the farthest detection distance is a distance between the test target drone and the detection terminal when valid detection data occurs when the test target drone is farthest from the detection terminal in the T period.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110222532.XA CN112558029A (en) | 2021-03-01 | 2021-03-01 | Equipment and method for detecting accuracy of unmanned aerial vehicle detection system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110222532.XA CN112558029A (en) | 2021-03-01 | 2021-03-01 | Equipment and method for detecting accuracy of unmanned aerial vehicle detection system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112558029A true CN112558029A (en) | 2021-03-26 |
Family
ID=75034850
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110222532.XA Pending CN112558029A (en) | 2021-03-01 | 2021-03-01 | Equipment and method for detecting accuracy of unmanned aerial vehicle detection system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112558029A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114705192A (en) * | 2022-04-03 | 2022-07-05 | 国网江苏省电力有限公司无锡供电分公司 | Autonomous navigation method and system for rotor unmanned aerial vehicle in tunnel environment |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445729A (en) * | 2015-11-06 | 2016-03-30 | 天津航天中为数据系统科技有限公司 | Unmanned plane three-dimensional flight track precision detection method and system |
| US20180172821A1 (en) * | 2016-12-16 | 2018-06-21 | The Government Of The United States Of America, As Represented By The Secretary Of The Navy | Millimeter-Wave Terrain Aided Navigation System |
| CN109087475A (en) * | 2018-10-19 | 2018-12-25 | 河南汇纳科技有限公司 | A kind of forest fireproofing early warning system based on LoRa wireless network |
| CN210428556U (en) * | 2019-10-28 | 2020-04-28 | 上海应用技术大学 | Multipurpose electronic security inspection system based on unmanned aerial vehicle technology |
| CN111238477A (en) * | 2019-03-25 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Method and device for positioning unmanned aerial vehicle in chimney |
| CN211292820U (en) * | 2019-12-27 | 2020-08-18 | 仲恺农业工程学院 | Be used for air quality monitoring unmanned aerial vehicle |
| CN112130124A (en) * | 2020-09-18 | 2020-12-25 | 北京北斗天巡科技有限公司 | Rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport |
| CN112278278A (en) * | 2020-11-18 | 2021-01-29 | 中国人民解放军空军军医大学 | Remote unmanned wounded person detection method and system |
| CN112304162A (en) * | 2020-10-30 | 2021-02-02 | 北京新风航天装备有限公司 | Defense system and defense method for anti-low-slow small aircraft |
| CN112367639A (en) * | 2020-10-09 | 2021-02-12 | 武汉大学 | Unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service |
-
2021
- 2021-03-01 CN CN202110222532.XA patent/CN112558029A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105445729A (en) * | 2015-11-06 | 2016-03-30 | 天津航天中为数据系统科技有限公司 | Unmanned plane three-dimensional flight track precision detection method and system |
| US20180172821A1 (en) * | 2016-12-16 | 2018-06-21 | The Government Of The United States Of America, As Represented By The Secretary Of The Navy | Millimeter-Wave Terrain Aided Navigation System |
| CN109087475A (en) * | 2018-10-19 | 2018-12-25 | 河南汇纳科技有限公司 | A kind of forest fireproofing early warning system based on LoRa wireless network |
| CN111238477A (en) * | 2019-03-25 | 2020-06-05 | 武汉珈鹰智能科技有限公司 | Method and device for positioning unmanned aerial vehicle in chimney |
| CN210428556U (en) * | 2019-10-28 | 2020-04-28 | 上海应用技术大学 | Multipurpose electronic security inspection system based on unmanned aerial vehicle technology |
| CN211292820U (en) * | 2019-12-27 | 2020-08-18 | 仲恺农业工程学院 | Be used for air quality monitoring unmanned aerial vehicle |
| CN112130124A (en) * | 2020-09-18 | 2020-12-25 | 北京北斗天巡科技有限公司 | Rapid calibration and error processing method for unmanned aerial vehicle management and control equipment in civil aviation airport |
| CN112367639A (en) * | 2020-10-09 | 2021-02-12 | 武汉大学 | Unmanned aerial vehicle cluster ad hoc network communication method and system based on Beidou satellite time service |
| CN112304162A (en) * | 2020-10-30 | 2021-02-02 | 北京新风航天装备有限公司 | Defense system and defense method for anti-low-slow small aircraft |
| CN112278278A (en) * | 2020-11-18 | 2021-01-29 | 中国人民解放军空军军医大学 | Remote unmanned wounded person detection method and system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114705192A (en) * | 2022-04-03 | 2022-07-05 | 国网江苏省电力有限公司无锡供电分公司 | Autonomous navigation method and system for rotor unmanned aerial vehicle in tunnel environment |
| CN114705192B (en) * | 2022-04-03 | 2023-12-05 | 国网江苏省电力有限公司无锡供电分公司 | Autonomous navigation method and system of rotor unmanned aerial vehicle in tunnel environment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111065046B (en) | LoRa-based outdoor unmanned aerial vehicle positioning method and system | |
| CN102509886B (en) | System for automatically monitoring state of base station antennae | |
| US20190304313A1 (en) | Estimating aircraft operations at airports using transponder data | |
| CN104849702B (en) | Radar system error combined estimation method is filtered using the GM EPHD of ADS B datas | |
| CN110798256A (en) | Beidou foundation enhancement system covering Yangtze river trunk line and construction method | |
| CN108226852A (en) | Unmanned operators' alignment system and method based on on-air radio pyroelectric monitor platform | |
| CN108318868A (en) | Radar tactical performance based on ADS-B data sources tests appraisal procedure | |
| CN107329151B (en) | GPS deception detection method of power inspection unmanned aerial vehicle | |
| CN110990505B (en) | Loran-C ASF correction method based on neural network | |
| CN106935079B (en) | ADS-B signal acquisition and reliability verification method based on software radio platform | |
| CN109164214B (en) | Boundary pollution source fast mapping positioning and intensity inversion system and method | |
| CN114200387B (en) | Flight verification and evaluation method for TACAN space signal field pattern | |
| CN110673643A (en) | Intelligent environment-friendly monitoring system and method for unmanned aerial vehicle | |
| CN109269527B (en) | Airborne DAR data-based instrument landing system space signal quality analysis method and system | |
| CN110726850A (en) | Railway crosswind early warning system based on wind direction decomposition and crosswind strength calculation method | |
| CN113311460B (en) | Beidou-based early warning method and system | |
| CN112558029A (en) | Equipment and method for detecting accuracy of unmanned aerial vehicle detection system | |
| CN107968686A (en) | 300MHz-800MHz simulated television stations transmission power radiates test method | |
| CN103837866A (en) | Method and system for evaluating automatic extraction capacity of coast-to-sea radar | |
| CN114814888B (en) | Handheld terminal equipment based on big dipper No. three | |
| CN111007541B (en) | Simulation performance evaluation method for satellite navigation foundation enhancement system | |
| CN109975753A (en) | A kind of mine ranging movable target error determines and accurate positioning method | |
| CN114153225A (en) | Unmanned aerial vehicle high-precision landing control system and method based on RTK and RFID technology | |
| CN214540040U (en) | Flight check differential play device | |
| CN209399971U (en) | A kind of antenna attitude information collecting device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210326 |