CN113485460A - Calibration method and device of launch canister and flight equipment - Google Patents
Calibration method and device of launch canister and flight equipment Download PDFInfo
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- CN113485460A CN113485460A CN202110713246.3A CN202110713246A CN113485460A CN 113485460 A CN113485460 A CN 113485460A CN 202110713246 A CN202110713246 A CN 202110713246A CN 113485460 A CN113485460 A CN 113485460A
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- preset
- distance
- calibration
- central point
- target position
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41F—APPARATUS FOR LAUNCHING PROJECTILES OR MISSILES FROM BARRELS, e.g. CANNONS; LAUNCHERS FOR ROCKETS OR TORPEDOES; HARPOON GUNS
- F41F1/00—Launching apparatus for projecting projectiles or missiles from barrels, e.g. cannons; Harpoon guns
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G1/00—Sighting devices
- F41G1/46—Sighting devices for particular applications
Abstract
The invention discloses a calibration method and a device of a launch canister and flight equipment, and particularly relates to the technical field of observation and aiming, wherein the calibration method comprises the following steps: projecting a target position of the launch canister and a central position of the aiming device on the calibration surface; acquiring a horizontal distance and a vertical distance from a preset launch canister to aiming equipment; determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position; and moving the target position to be within a preset error allowable range to finish the calibration of the launching tube. Acquiring a horizontal distance and a vertical distance between a preset launch barrel and aiming equipment by projecting a target position of the launch barrel and a central position of the aiming equipment on a calibration surface; determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position; therefore, the target position is moved to the preset error allowable range, the installation error between the launching tube and the aiming device is improved, and the accuracy of aiming the target object is further improved.
Description
Technical Field
The invention relates to the technical field of observing and aiming, in particular to a calibration method and device of a launching tube and flight equipment.
Background
In the prior art, because the launch canister and the aiming device cannot be arranged at the same position, when the launch canister launches the target object to the target position through the aiming device, the launching accuracy of the target object launched by the launch canister is reduced by the deviation error allowable range of the target object due to the pitch included angle or the yaw included angle between the launch canister and the aiming device, and the target object cannot be hit.
For example: install emitter and sighting device on unmanned aerial vehicle, wherein, because emitter's launching tube and sighting device's camera have certain installation error when the design, have fixed displacement and when the installation, make to have pitch contained angle or driftage contained angle between its camera and the launching tube, and cause the target that emitter sent through the launching tube to deviate from the allowable error range, make its target can't hit the target location.
Disclosure of Invention
In view of this, embodiments of the present invention provide a calibration method and apparatus for a launch canister, and a flight device, so as to solve the problem that a mounting error exists between the launch canister and a sighting device, which causes the launch precision of a target object launched by the launch canister to decrease the target object deviating from an error allowable range, and thus the target object cannot be hit.
According to a first aspect, an embodiment of the present invention provides a calibration method for a launch canister, including: projecting a target position of the launcher and a central position of the aiming device on the calibration plane, wherein the target position is an actual target position of the launcher projected on the calibration plane, and the central position is a position of a central point of an aiming camera in the actual aiming device, which corresponds to the calibration plane; acquiring a horizontal distance and a vertical distance from a preset launch canister to aiming equipment; determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position; and moving the target position to the preset error allowable range to finish the calibration of the launching tube.
According to the method provided by the embodiment of the application, the horizontal distance and the vertical distance between the preset launch canister and the aiming equipment are obtained by projecting the target position of the launch canister and the central position of the aiming equipment on the calibration surface; determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position; therefore, the target position is moved to the preset error allowable range, the installation error between the launching tube and the aiming device is improved, and the accuracy of aiming the target object is further improved.
With reference to the first aspect, in a first implementation manner of the first aspect, the determining a preset error allowable range according to the horizontal distance, the vertical distance, and the center position includes: measuring and drawing the horizontal distance and the vertical distance from the central position to a preset launching tube by using a surveying and mapping tool; setting a preset central point according to the horizontal distance and the vertical distance from the central position to a preset launching tube; presetting an error allowable radius based on the preset central point; and drawing the error allowable range by using the error allowable radius.
According to the method provided by the embodiment of the application, the error allowable range is drawn by setting the error allowable radius, so that the accuracy of aiming at the target is further improved.
With reference to the first aspect or the first implementation manner of the first aspect, in a second implementation manner of the first aspect, the moving the target position to be within the preset allowable error range further includes: acquiring a preset central point, a central point of a target position moving in real time, a calibration distance of a preset calibration plane and an actual distance when a launching tube launches; measuring a horizontal distance and a vertical distance between the preset central point and the central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position; calculating to obtain an error adjustment distance according to the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position, the calibration distance of a preset calibration plane and the actual distance when the launching tube launches; and adjusting the error of the launching tube based on the error adjusting distance to enable the center point of the target position moved in real time to coincide with a preset central point, and completing the calibration of the launching tube.
With reference to the second implementation manner of the first aspect, in a third implementation manner of the first aspect, the error adjustment distance includes: a vertical error adjustment distance and a horizontal error adjustment distance.
According to a second aspect, an embodiment of the present invention provides a projection module, configured to project, on a calibration plane, a target position of a launch barrel and a central position of a sighting device, where the target position is an actual target position of the launch barrel projected on the calibration plane, and the central position is a position where a central point of a sighting camera in the actual sighting device corresponds to the calibration plane; the first acquisition module is used for acquiring the horizontal distance and the vertical distance from a preset launch barrel to the aiming equipment; the determining module is used for determining a preset error allowable range according to the horizontal distance, the vertical distance and the center position; and the first adjusting module is used for moving the target position to the preset error allowable range to finish the calibration of the launching tube.
With reference to the second aspect, in a first implementation manner of the second aspect, the adjusting module further includes:
the surveying and mapping module is used for drawing the horizontal distance and the vertical distance from the central position to a preset launching tube by using a surveying and mapping tool; the setting module is used for setting a preset central point according to the horizontal distance and the vertical distance from the central position to a preset launching tube; the first presetting module is used for presetting an error allowable radius based on the preset central point; and the error drawing module is used for drawing the error allowable range by using the error allowable radius.
With reference to the second aspect, in a second embodiment of the second aspect, the method includes: the second acquisition module is used for acquiring a preset central point, a central point of a target position moving in real time, a calibration distance of a preset calibration plane and an actual distance when the launching tube launches; the measuring module is used for measuring the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position; the moving module is used for calculating to obtain an error adjusting distance according to the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position, the calibration distance of a preset calibration plane and the actual distance of the launching tube during launching; and the second adjusting module is used for adjusting the error of the launching tube based on the error adjusting distance, so that the center point of the target position moved in real time is coincided with the preset central point, and the calibration of the launching tube is completed.
According to a third aspect, an embodiment of the present invention provides a calibration apparatus adapted to calibrate a launch canister in a launch device, including: a memory and a processor, the memory and the processor being communicatively connected to each other, the memory having stored therein computer instructions, and the processor executing the computer instructions to perform the method of calibrating a launch canister of the first aspect or any one of the embodiments of the first aspect.
According to a fourth aspect, embodiments of the present invention provide a flying apparatus comprising: the aiming device is used for observing the target object and determining the position information of the target object; the transmitting device is used for transmitting the target object according to the position information determined by the aiming device; the calibration device is used for executing the calibration method of the launch canister in the first aspect or any one of the embodiments of the first aspect to the launch canister in the launch device before the takeoff of the flight equipment.
According to a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to perform the method for calibrating a transmitter barrel of the first aspect or any one of the embodiments of the first aspect.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and not to be construed as limiting the invention in any way, and in which:
FIG. 1 is a flow chart of a method of calibrating a launch canister according to an embodiment of the invention;
FIG. 2 is a schematic view of a circle of a barrel cover of a launch barrel launched onto a wall in a calibration method of the launch barrel according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a circle Y as an allowable launch angle range in a calibration method of a launch canister according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a calibration completion state in a calibration method for a launch canister according to an embodiment of the present invention;
FIG. 5 is a flowchart illustrating a step S13 of a method for calibrating a launch canister according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating steps S14 to S17 of a method for calibrating a launch canister according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a calibration complete status in a calibration method for a launch canister according to an alternative embodiment of the present invention;
FIG. 8 is a block diagram illustrating a calibration apparatus for a launch canister according to an embodiment of the present invention;
FIG. 9 is a block diagram of a flight device according to an embodiment of the present invention;
fig. 10 is a block diagram of a calibration apparatus according to an embodiment of the present invention.
Reference numerals
10-a projection module; 11-a first acquisition module; 12-a determination module; 13-a first adjustment module;
20-a targeting device; 21-a transmitting device; 22-a calibration device; 30-a processor; 31-memory.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in the embodiments of the present application, the overall emission accuracy is improved by laser assistance. When camera and launch canister are installed usually, because there is certain error in the installation, lead to camera and launch canister to have pitch contained angle and driftage contained angle to can lead to the fire extinguishing bomb to aim emission precision and reduce. For example: the allowable error between the landing point and the aiming point of the fire extinguishing bomb is 20 cm, and the included angle of the allowable error between the launching tube and the camera is 0.74 degrees when the launching distance is about 15 meters. Specifically, as shown in fig. 1, the calibration method for the launch canister provided by the embodiment of the present application includes:
and S10, projecting the target position of the launch canister and the central position of the aiming device on the calibration plane, wherein the target position is the actual target position of the launch canister projected on the calibration plane, and the central position is the position of the aiming camera central point in the actual aiming device corresponding to the calibration plane.
And S11, acquiring the horizontal distance and the vertical distance from the preset launch canister to the aiming device.
And S12, determining a preset error allowable range according to the horizontal distance, the vertical distance and the center position.
And S13, moving the target position to be within a preset error allowable range, and finishing the calibration of the launching tube.
In the embodiment of steps S10 to S13, the drone is placed on the wall and 5 meters away from the wall, a laser pen is inserted into the center of the barrel cover of the launch barrel, and laser light is simultaneously emitted from the periphery of the barrel cover to irradiate the wall, as shown in fig. 2, the barrel cover of the launch barrel is launched into a circle on the wall, the center point X of the camera of the aiming device is marked on the wall, the horizontal distance a meter and the vertical distance b meter from the center of the launch barrel to the camera at the moment are measured by a tool, a circle with a radius of 128mm (the outer radius of the launch barrel is 54mm, the angle error at 5 meters is 64mm, wherein 10mm is the overlap distance) is drawn on the wall by taking the center of the X point, and as shown in fig. 3, the circle Y is the range of the allowable launch angle. And adjusting the angle of the launching tube until the center of a circle of the emitted rays is Y and the radius of the circle is 128mm, namely the launching tube and the camera are within an allowable error range at the moment. As shown in fig. 4, is shown in the calibration complete state.
According to the calibration method of the launch canister provided by the embodiment, the horizontal distance and the vertical distance between the preset launch canister and the aiming equipment are acquired by projecting the target position of the launch canister and the central position of the aiming equipment on the calibration surface; determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position; therefore, the target position is moved to the preset error allowable range, the installation error between the launching tube and the aiming device is improved, and the accuracy of aiming the target object is further improved.
Optionally, the actual distance of whole unmanned aerial vehicle from the wall can be obtained from host computer software through the laser ranging on aiming the camera.
Optionally, the horizontal distance can be measured by the unmanned aerial vehicle design drawing to obtain the actual distance between the launch canister and the camera.
Optionally, as shown in fig. 5, in the calibration method of a launch canister provided in the embodiment of the present application, step S13 further includes:
s131, measuring and drawing the horizontal distance and the vertical distance from the central position to the preset launching tube by using a surveying and mapping tool.
And S132, setting a preset central point according to the horizontal distance and the vertical distance from the central position to the preset launching tube.
S133, the error allowable radius is preset based on the preset central point.
And S134, drawing an error allowable range by using the error allowable radius.
Optionally, as shown in fig. 6, in the calibration method for a launch canister provided in the embodiment of the present application, the method may further include:
s14, acquiring a preset central point, a central point of a real-time moving target position, a calibration distance of a preset calibration plane and an actual distance when the launching canister launches;
s15, measuring the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position;
s16, calculating to obtain an error adjustment distance according to the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position, the calibration distance of a preset calibration plane and the actual distance when the launching tube launches;
and S17, carrying out error adjustment on the launching tube based on the error adjustment distance, and enabling the center point of the target position moved in real time to coincide with the preset central point to finish the calibration of the launching tube.
In the embodiment of steps S14 to S17, to improve the accuracy again, the distance between the launch canister and the camera within the allowable error is obtained by calculation, as shown in fig. 7, as follows: the horizontal distance L1 meters and the vertical distance L2 meters of YZ two points can be actually measured, the wall surface where the unmanned aerial vehicle is placed is 5 meters, if the distance during real launching can be measured as L3 meters, by combining the calibration analysis, under the condition that gravity error is not considered, according to the installation position of a specific launching tube, after a camera is aimed at the center of a window during launching, the unmanned aerial vehicle needs to horizontally move (a + (L1 × L3)/5) meters and vertically move (b + (L2 × L3)/5) meters for launching.
In the launcher calibration method provided by the embodiment, the angular error between the launcher and the camera is adjusted by a simple tool, and the precision calibration is performed again within the allowable error range, so that the aiming launching precision is greatly improved.
Optionally, the error adjustment distance includes: a vertical error adjustment distance and a horizontal error adjustment distance.
Accordingly, referring to fig. 8, an embodiment of the present invention provides a calibration apparatus for a launch canister, including:
the projection module 10 is configured to project a target position of the launch canister and a central position of the aiming apparatus on the calibration plane, where the target position is an actual target position of the launch canister projected on the calibration plane, and the central position is a position of the aiming camera central point in the actual aiming apparatus corresponding to the calibration plane, and the details refer to step S10.
The first obtaining module 11 is configured to obtain a horizontal distance and a vertical distance from the target device to a predetermined launcher, and the details refer to step S11.
The determining module 12 is configured to determine a preset error allowable range according to the horizontal distance, the vertical distance, and the center position, and refer to step S12 for details.
The first adjusting module 13 is configured to move the target position to within a preset error tolerance range, and complete calibration of the launch barrel, the details of which refer to step S13.
Optionally, the first adjusting module 13 further includes:
the mapping module 131 is configured to utilize a mapping tool to map a horizontal distance and a vertical distance from the center position to a preset launch canister, and refer to step S131 for details.
A setting module 132, configured to set a preset center point according to the horizontal distance and the vertical distance between the center position and the preset launch canister, and refer to step S132 for details.
A first presetting module 133, configured to preset an error allowable radius based on a preset central point, and refer to step S133 for details.
An error rendering module 134, configured to render the error allowable range by using the error allowable radius, and refer to step S134 for details.
Optionally, the apparatus may further include:
the second obtaining module 14 is configured to obtain a preset central point, a central point of the target position moving in real time, a calibration distance of a preset calibration plane, and an actual distance when the launch canister launches, and refer to step S14 for details.
A measuring module 15, configured to measure a horizontal distance and a vertical distance between the preset central point and a central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position, and refer to step S15 for details.
The moving module 16 is configured to calculate an error adjustment distance according to a horizontal distance and a vertical distance between the preset central point and the central point of the real-time moving target position, a calibration distance of a preset calibration plane, and an actual distance when the launch canister launches, and refer to step S16 for details.
The second adjusting module 17 is configured to perform error adjustment on the launch canister based on the error adjustment distance, so that a center point of a target position where the launch canister moves in real time coincides with a preset center point, and complete the launch canister calibration, and refer to step S17 for details.
An embodiment of the present invention further provides a flight device, as shown in fig. 9, including: the aiming device 20 is used for observing the target object and determining the position information of the target object; the emitting device 21 is used for emitting the target object according to the position information determined by the aiming device; and the calibration device 22 is used for executing the launcher calibration method from the step S10 to the step S17 on the launcher in the launching device before the takeoff of the flight equipment.
An embodiment of the present invention further provides a calibration apparatus, which is suitable for calibrating a launch canister in a launch device, as shown in fig. 10, the calibration apparatus may include a processor 30 and a memory 31, where the processor 30 and the memory 31 may be connected by a bus or in another manner, and fig. 10 illustrates the connection by the bus.
The processor 30 may be a Central Processing Unit (CPU). The Processor 30 may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, or combinations thereof.
The memory 31, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the key shielding method of the in-vehicle display device in the embodiment of the present invention (for example, the projection module 10, the first obtaining module 11, the determination module 12, and the first adjusting module 13 shown in fig. 8). The processor 30 executes various functional applications and data processing of the processor by running non-transitory software programs, instructions and modules stored in the memory 31, namely, implements the calibration method of the launch canister in the above-described method embodiments.
The memory 31 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created by the processor 30, and the like. Further, the memory 31 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 31 may optionally include memory located remotely from processor 30, which may be connected to processor 30 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 31 and, when executed by the processor 30, perform a method of calibrating a launch canister as in the embodiment of FIGS. 1-3.
The specific details of the vehicle terminal may be understood by referring to the corresponding related descriptions and effects in the embodiments shown in fig. 1 to fig. 7, and are not described herein again.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic Disk, an optical Disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a Flash Memory (Flash Memory), a Hard Disk (Hard Disk Drive, abbreviated as HDD), a Solid State Drive (SSD), or the like; the storage medium may also comprise a combination of memories of the kind described above.
Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the invention, and such modifications and variations fall within the scope defined by the appended claims.
Claims (10)
1. A method of calibrating a launch canister, comprising:
projecting a target position of the launcher and a central position of the aiming device on the calibration plane, wherein the target position is an actual target position of the launcher projected on the calibration plane, and the central position is a position of a central point of an aiming camera in the actual aiming device, which corresponds to the calibration plane;
acquiring a horizontal distance and a vertical distance from a preset launch canister to aiming equipment;
determining a preset error allowable range according to the horizontal distance, the vertical distance and the central position;
and moving the target position to the preset error allowable range to finish the calibration of the launching tube.
2. The calibration method according to claim 1, wherein the determining a preset error tolerance range according to the horizontal distance, the vertical distance and the center position comprises:
measuring and drawing the horizontal distance and the vertical distance from the central position to a preset launching tube by using a surveying and mapping tool;
setting a preset central point according to the horizontal distance and the vertical distance from the central position to a preset launching tube;
presetting an error allowable radius based on the preset central point;
and drawing the error allowable range by using the error allowable radius.
3. The calibration method according to claim 1 or 2, wherein the moving the target position to be within the preset error allowable range further comprises:
acquiring a preset central point, a central point of a target position moving in real time, a calibration distance of a preset calibration plane and an actual distance when a launching tube launches;
measuring a horizontal distance and a vertical distance between the preset central point and the central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position;
calculating to obtain an error adjustment distance according to the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position, the calibration distance of a preset calibration plane and the actual distance when the launching tube launches;
and adjusting the error of the launching tube based on the error adjusting distance to enable the center point of the target position moved in real time to coincide with a preset central point, and completing the calibration of the launching tube.
4. The calibration method of claim 3, wherein the error adjustment distance comprises: a vertical error adjustment distance and a horizontal error adjustment distance.
5. A calibration device for a launch canister, comprising:
the device comprises a projection module, a calibration plane and a control module, wherein the projection module is used for projecting a target position of a launch tube and a central position of the aiming equipment on the calibration plane, the target position is an actual target position of the launch tube projected on the calibration plane, and the central position is a position of a central point of an aiming camera in the actual aiming equipment, which corresponds to the calibration plane;
the first acquisition module is used for acquiring the horizontal distance and the vertical distance from a preset launch barrel to the aiming equipment;
the determining module is used for determining a preset error allowable range according to the horizontal distance, the vertical distance and the center position;
and the first adjusting module is used for moving the target position to the preset error allowable range to finish the calibration of the launching tube.
6. The apparatus of claim 5, wherein the adjustment module further comprises:
the surveying and mapping module is used for drawing the horizontal distance and the vertical distance from the central position to a preset launching tube by using a surveying and mapping tool;
the setting module is used for setting a preset central point according to the horizontal distance and the vertical distance from the central position to a preset launching tube;
the first presetting module is used for presetting an error allowable radius based on the preset central point;
and the error drawing module is used for drawing the error allowable range by using the error allowable radius.
7. The calibration device of claim 5, comprising:
the second acquisition module is used for acquiring a preset central point, a central point of a target position moving in real time, a calibration distance of a preset calibration plane and an actual distance when the launching tube launches;
the measuring module is used for measuring the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position based on the preset central point and the central point of the real-time moving target position;
the moving module is used for calculating to obtain an error adjusting distance according to the horizontal distance and the vertical distance between the preset central point and the central point of the real-time moving target position, the calibration distance of a preset calibration plane and the actual distance of the launching tube during launching;
and the second adjusting module is used for adjusting the error of the launching tube based on the error adjusting distance, so that the center point of the target position moved in real time is coincided with the preset central point, and the calibration of the launching tube is completed.
8. A calibration apparatus adapted to calibrate a launch canister in a launch device, comprising:
a memory and a processor communicatively coupled to each other, the memory having stored therein computer instructions, the processor executing the computer instructions to perform the method of calibrating a launch canister of any of claims 1-4.
9. A flying apparatus, comprising:
the aiming device is used for observing the target object and determining the position information of the target object;
the transmitting device is used for transmitting the target object according to the position information determined by the aiming device;
calibration device for carrying out the launch canister calibration method of any one of claims 1 to 4 on a launch canister in a launch device before takeoff of a flying apparatus.
10. A computer-readable storage medium storing computer instructions for causing a computer to perform the method of calibrating a launch canister of any of claims 1-4.
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| CN202110713246.3A CN113485460A (en) | 2021-06-25 | 2021-06-25 | Calibration method and device of launch canister and flight equipment |
| PCT/CN2022/078564 WO2022267519A1 (en) | 2021-06-25 | 2022-03-01 | Calibration method and apparatus for launch canister, and flight device |
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| CN202110713246.3A CN113485460A (en) | 2021-06-25 | 2021-06-25 | Calibration method and device of launch canister and flight equipment |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022267519A1 (en) * | 2021-06-25 | 2022-12-29 | 航天科工仿真技术有限责任公司 | Calibration method and apparatus for launch canister, and flight device |
| CN116468797A (en) * | 2023-03-09 | 2023-07-21 | 北京航天众信科技有限公司 | Aiming method and device for rail-mounted robot and computer equipment |
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| WO2022267519A1 (en) | 2022-12-29 |
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