CN114545790A - Optical guidance control semi-physical simulation system and method - Google Patents
Optical guidance control semi-physical simulation system and method Download PDFInfo
- Publication number
- CN114545790A CN114545790A CN202210003344.2A CN202210003344A CN114545790A CN 114545790 A CN114545790 A CN 114545790A CN 202210003344 A CN202210003344 A CN 202210003344A CN 114545790 A CN114545790 A CN 114545790A
- Authority
- CN
- China
- Prior art keywords
- infrared target
- infrared
- simulation
- image
- digital image
- 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
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
Abstract
One embodiment of the invention discloses a semi-physical simulation system and a method for optical guidance control, wherein the system comprises the following steps: the device comprises a tested device, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein the tested device comprises a seeker and is arranged on the three-axis turntable; the simulation host is used for sending the calculated projectile body attitude data to the three-axis turntable, and sending the projectile eye distance and the projectile eye relative line-of-sight angle data to the image computer; the image computer provides a dynamic infrared target digital image for the infrared target simulator, and the simulation host calculates a refreshing initial pixel value of the infrared target digital image and sends the refreshing initial pixel value to the infrared target simulator; the infrared target simulator is fixedly connected with the seeker, and when an exposure signal of the seeker is received, the infrared target digital image is intercepted and converted into a physical infrared thermal image, and the physical infrared thermal image is amplified, collimated and registered and then projected to the entrance pupil of the device to be tested; the three-axis rotary table is used for completing simulation of projectile attitude motion according to received projectile attitude data.
Description
Technical Field
The invention relates to the field of semi-physical simulation. And more particularly, to an optical guidance control semi-physical simulation system and method.
Background
The infrared imaging guided missile needs to verify the performance of a detection system and a control system, the dynamic matching of hardware products and the correctness and adaptability of a control method by adopting a great amount of semi-physical simulation means. The semi-physical simulation system establishes simulation environments such as an infrared target environment scene, a missile attitude, relative movement of a missile target and the like required by the infrared imaging guided weapon, connects a hardware physical object of the guidance control system into the simulation system and forms a real-time simulation loop, verifies the performance and product characteristics of the control loop, can obviously reduce flight test risks, saves development cost, and has important significance for developing the infrared imaging guided weapon.
A traditional optical guidance control semi-physical simulation system is in a five-axis turntable mode, a target simulator is installed on two outer shafts (namely a target frame), and simulation of relative line-of-sight angular motion of an optical target is achieved through pitching and yawing motion of a target shaft. The method has the advantages of high system integration level and large field motion range, but has the defects that the projection optical system of the target simulator needs to be designed in a customized mode according to different guide heads, the generalization degree among the different guide heads is low, the general exit pupil distance is long, the whole size and the weight of the optical system are large, and the development cost is high.
Disclosure of Invention
The invention aims to provide an optical guidance control semi-physical simulation system and method, which greatly reduce the exit pupil distance and the field angle of an optical projection system of an infrared target simulator, thereby greatly reducing the volume weight and the development cost of the optical system of the infrared target simulator and enhancing the universality of the infrared target simulator.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention provides an optical guidance control semi-physical simulation system in a first aspect, which comprises: the device to be tested, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein,
the device to be tested comprises a guide head and is arranged on the three-axis rotary table;
the simulation host is used for resolving a mathematical model of projectile dynamics, kinematics and projectile relative motion in a simulation test process, sending calculated projectile attitude data to the three-axis turntable, and sending projectile distance and projectile relative line-of-sight angle data to the image computer;
the image computer completes three-dimensional solid modeling, infrared radiation characteristic modeling and infrared sight glass real-time dynamic simulation of a target according to the projectile distance and the projectile relative line-of-sight angle data, a dynamic infrared target digital image is provided for the infrared target simulator according to real-time simulation data in a simulation test process, and the simulation host calculates an infrared target digital image refreshing starting pixel value according to the projectile relative line-of-sight angle and sends the infrared target digital image refreshing starting pixel value to the infrared target simulator;
the infrared target simulator is fixedly connected with the seeker, and when an exposure signal of the seeker is received, the infrared target digital image is intercepted according to an infrared target digital image refreshing initial pixel value and a detection system pixel value and then converted into a physical infrared thermal image, and the physical infrared thermal image is amplified, collimated and registered and then projected to the entrance pupil of the tested equipment;
and the three-axis turntable is used for completing the simulation of the posture motion of the projectile body according to the received posture data of the projectile body.
In one specific example, the infrared target digital image is sent to an infrared target simulator image receiving module through an image transmission interface to be stored.
In one specific example, the infrared target digital image refresh start pixel value is sent to the infrared target simulator over a serial interface.
In a specific example, the simulation host is further configured to complete interface communication with the reference physical object and the simulation device, and at the same time, complete human-computer interaction, data monitoring and simulation test data recording during the simulation test process.
In one specific example, the three-axis turntable is used to simulate projectile motion in three degrees of freedom, missile pitch, roll and yaw.
In a specific example, the infrared target simulator receives the infrared target digital image through a video data interface, decodes the infrared target digital image through a decoding chip, stores the infrared target digital image in three caches in a ping-pong storage manner, performs image trigger control with an external trigger signal as a reference, acquires the latest infrared target digital image data from the three caches under the control of a delay control module, cuts the infrared target digital image data according to a cutting requirement, stores the cut infrared target digital image data in a cutting cache, and a driving module extracts the infrared target digital image data from the cutting cache to drive a DMD to complete image conversion and display.
In one specific example, the clipping requirement is clipping (x)0,y0) To (x)0+xProbe,y0+yProbe) The image data of (a), wherein,
(x0,y0) Refreshing starting pixel values for infrared target digital images, (x)0+xProbe,y0+yProbe) And refreshing the sum of the initial pixel value and the pixel value of the detection system for the infrared target digital image.
In one specific example, the clipping time requirement is within 1 ms.
A second aspect of the present invention provides a method for performing semi-physical simulation using the system of the first aspect of the present invention, comprising the steps of:
in each simulation cycle, the simulation host sends the missile eye distance and the missile eye relative line-of-sight angle data to the image computer, the image computer completes the three-dimensional solid modeling, the infrared radiation characteristic modeling and the infrared mirror real-time dynamic simulation of the missile visual angle target, and generates an infrared target digital image in real time according to 2 times of the display resolution of the infrared target simulator, the generated infrared target digital image is output to the target simulator image receiving module through the image transmission interface for storage, and meanwhile, the simulation host calculates the infrared target digital image refreshing starting pixel value (x) according to the missile eye relative line-of-sight angle position0,y0) And sending the infrared target image to an infrared target simulator through a serial interface, and intercepting (x) the received infrared target digital image when the infrared target simulator receives a seeker exposure signal0,y0) To (x)0+xProbe,y0+yProbe) The image data of (2) is refreshed and displayed.
The invention has the following beneficial effects:
the optical projection system of the infrared target simulator can greatly reduce the exit pupil distance and the field angle, thereby greatly reducing the volume weight and the development cost of the optical projection system of the infrared target simulator and simultaneously enhancing the universality of the infrared target simulator.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 shows a schematic diagram of a conventional semi-physical simulation system for optical guidance control.
Fig. 2 is a schematic diagram of an optical guidance control semi-physical simulation system according to an embodiment of the invention.
Fig. 3 shows a schematic diagram of a conventional commercial DMD scheme.
Fig. 4 shows a schematic diagram of a conventional synchronous triple-buffer DMD scheme.
Fig. 5 shows a schematic diagram of a conventional synchronous triple-buffer DMD scheme.
FIG. 6 is a schematic diagram illustrating conversion of a digital image of an infrared target simulator into an optical image according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
The traditional optical guidance control semi-physical simulation system 1 is in a five-axis turntable mode, as shown in fig. 1, the five-axis turntable is composed of an inner three-axis 12 and an outer two-axis 13, tested equipment 11 (including a seeker, a missile loader, an inertia measuring device and the like) is installed on the inner three-axis, three axes respectively simulate missile body motion with three degrees of freedom of missile pitching, rolling and yawing, a target simulator 14 is installed on the outer two-axis (namely a target axis), simulation of relative line-of-sight angular motion of an optical target is realized through pitching and yawing motion of the target axis, in each simulation cycle, a simulation host 15 sends missile postures to a three-axis platform 12, missile eye distance information to an image computer 16 and missile eye relative line-of-sight angles to two-axis platforms; the missile attitude is simulated through the three-axis platform, the relative movement of the missile eyes is simulated through the two-axis platform, and the image is generated in real time through the image computer according to the distance between the missile eyes and the resolution of the target simulator, so that the closed-loop simulation of the missile guidance control is realized. The method has the disadvantages that the projection optical system of the target simulator needs to be designed in a customized mode according to different guide heads, the generalization degree among the different guide heads is low, the general exit pupil distance is long, the overall size and the weight of the optical system are large, and the development cost is high.
The first embodiment of the invention provides an optical guidance control semi-physical simulation system 2, as shown in fig. 2, a two-axis turntable and a target simulator in the traditional method are combined into a whole, the target simulator is physically and fixedly connected with a seeker of equipment to be tested, the view field of the target simulator is only slightly larger than that of the seeker, the simulation of target scene information and relative line-of-sight angular motion is simultaneously realized by utilizing a virtual reality technology through image scene transformation, and a new technical approach is provided for the optical guidance control semi-physical simulation.
Specifically, as shown in fig. 2, the system 2 includes: a device under test 21, a three-axis turntable 22, an infrared target simulator 23, a simulation mainframe 24, and an image computer 25, wherein,
the device to be tested comprises a guide head and is arranged on the three-axis rotary table;
the simulation host is used for resolving a mathematical model of projectile dynamics, kinematics and projectile relative motion in a simulation test process, sending calculated projectile attitude data to the three-axis turntable, and sending projectile distance and projectile relative line-of-sight angle data to the image computer;
the image computer completes three-dimensional solid modeling, infrared radiation characteristic modeling and infrared sight glass real-time dynamic simulation of a target according to the projectile distance and the projectile relative line-of-sight angle data, a dynamic infrared target digital image is provided for the infrared target simulator according to real-time simulation data in a simulation test process, and the simulation host calculates an infrared target digital image refreshing starting pixel value according to the projectile relative line-of-sight angle and sends the infrared target digital image refreshing starting pixel value to the infrared target simulator so as to meet the requirement of infrared imaging seeker simulation test.
The infrared target simulator is fixedly connected with the seeker, when an exposure signal of the seeker is received, the infrared target digital image is intercepted according to an updated initial pixel value of the infrared target digital image and a pixel value of a detection system and then converted into a physical infrared thermal image, the physical infrared thermal image is amplified, collimated and registered and then projected to the entrance pupil of the tested equipment, so that the tested equipment sees a relatively long-distance cleaned infrared thermal image, and an infrared environment is provided for research and system test of technologies such as infrared imaging detection, tracking, guidance and infrared interference;
and the three-axis turntable is used for completing the simulation of the posture motion of the projectile body according to the received posture data of the projectile body.
In a specific embodiment, the infrared target digital image is sent to an infrared target simulator image receiving module through an image transmission interface for storage.
In one embodiment, the infrared target digital image refresh start pixel value is sent to the infrared target simulator via a serial interface.
In a specific embodiment, the simulation host is further configured to complete interface communication with the reference physical object and the simulation device, and at the same time, complete human-computer interaction, data monitoring and simulation test data recording in the simulation test process.
In one specific embodiment, the three-axis turntable is used for simulating missile body movement with three degrees of freedom including missile pitch, missile roll and missile yaw.
In a specific embodiment, as shown in fig. 3, in the existing commercial DMD scheme, video data is received through a video interface such as HDMI, decoded by a decoding chip and stored in a dual buffer according to a ping-pong storage manner, and then a driving module extracts data from the buffer and drives the DMD to complete conversion from a digital image to an optical image. This scheme suffers from temporal mismatch for high frame rate, short exposure optical detection systems, resulting in gray scale distortion.
As shown in fig. 4 and 5, for a conventional synchronous triple-buffer DMD scheme, when a detection device needs to be exposed in an order of 1ms, the DMD synchronously starts optical image conversion, and the conversion duration matches the exposure time. Meanwhile, since the external trigger is asynchronous with the video data, in order to ensure the integrity of the image frame, three buffers are required to buffer the data, and the driving module always extracts the latest updated data from the three buffers to drive the DMD.
As shown in fig. 6, on the basis of the synchronous three-buffer scheme, the embodiment of the present invention adds a clipping module and a clipping buffer, and changes the resolution in the EDID information to a higher resolution, where the change of the EDID resolution information is to obtain video data with a higher resolution from a video signal sending end, and store the video data in the three-buffer structure after decoding the video data. The infrared target simulator receives the infrared target digital image through a video data interface, decodes the infrared target digital image through a decoding chip, stores the infrared target digital image in three caches in a ping-pong storage mode, performs image trigger control by taking an external trigger signal as a reference, acquires the latest infrared target digital image data from the three caches under the control of a delay control module, cuts the infrared target digital image data according to a cutting requirement, stores the infrared target digital image data into a cutting cache, and extracts the infrared target digital image data from the cutting cache by a driving module to drive a DMD (digital mirror device) to complete image conversion and display.
In one embodiment, the clipping requirement is clipping (x)0,y0) To (x)0+xProbe,y0+yProbe) The image data of (1), wherein,
(x0,y0) Refreshing a starting pixel value for an infrared target digital image, (x)0+xProbe,y0+yProbe) And refreshing the sum of the initial pixel value and the pixel value of the detection system for the infrared target digital image.
In one embodiment, the clipping time requirement is within 1 ms.
A second embodiment of the present invention provides a method for performing semi-physical simulation using the system according to the first embodiment of the present invention, including the steps of:
in each simulation cycle, the simulation host sends the data of the projectile distance and the projectile relative line-of-sight angle to an image computer, the image computer completes three-dimensional solid modeling, infrared radiation characteristic modeling and infrared mirror real-time dynamic simulation of a missile visual angle target, an infrared target digital image is generated in real time according to 2 times of the display resolution of an infrared target simulator, the generated infrared target digital image is output to a target simulator image receiving module through an image transmission interface to be stored, meanwhile, the simulation host calculates the infrared target digital image refreshing starting pixel values (x0, y0) according to the projectile relative line-of-sight angle position and sends the infrared target digital image to the infrared target simulator through a serial interface, when the infrared target simulator receives a seeker exposure signal, the received infrared target digital image is intercepted from (x0, y0) to (x0+ x probe, y0+ y probe), thereby realizing the same simulation result as the traditional method, but the invention greatly reduces the exit pupil distance and the field angle of the optical projection system of the infrared target simulator, thereby greatly reducing the volume weight and the development cost of the optical system of the infrared target simulator, and simultaneously enhancing the universality of the infrared target simulator.
It should be understood that the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention, and it will be obvious to those skilled in the art that other variations or modifications may be made on the basis of the above description, and all embodiments may not be exhaustive, and all obvious variations or modifications may be included within the scope of the present invention.
Claims (9)
1. An optical guidance control semi-physical simulation system, comprising: tested equipment, a three-axis turntable, an infrared target simulator, a simulation host and an image computer, wherein,
the device to be tested comprises a guide head and is arranged on the three-axis rotary table;
the simulation host is used for resolving a mathematical model of projectile dynamics, kinematics and projectile relative motion in a simulation test process, sending calculated projectile attitude data to the three-axis turntable, and sending projectile distance and projectile relative line-of-sight angle data to the image computer;
the image computer completes three-dimensional solid modeling, infrared radiation characteristic modeling and infrared sight glass real-time dynamic simulation of a target according to the projectile distance and the projectile relative line-of-sight angle data, a dynamic infrared target digital image is provided for the infrared target simulator according to real-time simulation data in a simulation test process, and the simulation host calculates an infrared target digital image refreshing starting pixel value according to the projectile relative line-of-sight angle and sends the infrared target digital image refreshing starting pixel value to the infrared target simulator;
the infrared target simulator is fixedly connected with the seeker, and when an exposure signal of the seeker is received, the infrared target digital image is intercepted according to an infrared target digital image refreshing initial pixel value and a detection system pixel value and then converted into a physical infrared thermal image, and the physical infrared thermal image is amplified, collimated and registered and then projected to the entrance pupil of the tested equipment;
and the three-axis turntable is used for completing the simulation of the posture motion of the projectile body according to the received posture data of the projectile body.
2. The system of claim 1, wherein the infrared target digital image is transmitted to an infrared target simulator image receiving module for storage through an image transmission interface.
3. The system of claim 1, wherein the infrared target digital image refresh start pixel value is sent to the infrared target simulator via a serial interface.
4. The system of claim 1, wherein the simulation host is further configured to perform interface communication with the test object and the simulation device, and perform human-machine interaction, data monitoring, and simulation test data recording during the simulation test.
5. The system of claim 1, wherein the three-axis turret is configured to simulate projectile motion in three degrees of freedom, missile pitch, roll, and yaw.
6. The system of claim 1, wherein the infrared target simulator receives the infrared target digital image through a video data interface, the infrared target digital image is decoded by a decoding chip and then stored in a three-buffer memory according to a ping-pong storage mode, image trigger control is performed with an external trigger signal as a reference, the latest infrared target digital image data is fetched from the three-buffer memory under the control of a delay control module, the infrared target digital image data is cut according to a cutting requirement and then stored in a cutting buffer memory, and the driving module fetches the infrared target digital image data from the cutting buffer memory to drive the DMD to complete image conversion and display.
7. The system of claim 6, wherein the clipping requirement is to clip (x)0,y0) To (x)0+xProbe,y0+yProbe) The image data of (a), wherein,
(x0,y0) Refreshing starting pixel values for infrared target digital images, (x)0+xProbe,y0+yProbe) And refreshing the sum of the initial pixel value and the pixel value of the detection system for the infrared target digital image.
8. The system of claim 6, wherein the cropping time requirement is within 1 ms.
9. A method for semi-physical simulation using the system of any one of claims 1-8, comprising the steps of:
in each simulation cycle, the simulation host sends the data of the distance and the relative sight angle of the missile to the image computer, and the image computer completes the three-dimensional solid modeling, the infrared radiation characteristic modeling and the real-time dynamic simulation of the visual angle target of the missile and the real-time dynamic simulation of the infrared sight glass according to the infrared targetThe simulator generates an infrared target digital image in real time at 2 times of the display resolution, the generated infrared target digital image is output to a target simulator image receiving module through an image transmission interface for storage, and meanwhile, a simulation host calculates the refresh starting pixel value (x) of the infrared target digital image according to the relative visual angle position of the bullet and the bullet0,y0) And sending the infrared target image to an infrared target simulator through a serial interface, and intercepting (x) the received infrared target digital image when the infrared target simulator receives a seeker exposure signal0,y0) To (x)0+xProbe,y0+yProbe) The image data of (2) is refreshed and displayed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210003344.2A CN114545790A (en) | 2022-01-04 | 2022-01-04 | Optical guidance control semi-physical simulation system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210003344.2A CN114545790A (en) | 2022-01-04 | 2022-01-04 | Optical guidance control semi-physical simulation system and method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114545790A true CN114545790A (en) | 2022-05-27 |
Family
ID=81669075
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210003344.2A Pending CN114545790A (en) | 2022-01-04 | 2022-01-04 | Optical guidance control semi-physical simulation system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114545790A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116661334A (en) * | 2023-06-21 | 2023-08-29 | 哈尔滨工业大学 | Missile tracking target semi-physical simulation platform verification method based on CCD camera |
-
2022
- 2022-01-04 CN CN202210003344.2A patent/CN114545790A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116661334A (en) * | 2023-06-21 | 2023-08-29 | 哈尔滨工业大学 | Missile tracking target semi-physical simulation platform verification method based on CCD camera |
| CN116661334B (en) * | 2023-06-21 | 2024-03-08 | 哈尔滨工业大学 | Missile tracking target semi-physical simulation platform verification method based on CCD camera |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20230161157A1 (en) | Image generation apparatus and image generation method | |
| CN110650354B (en) | Live broadcast method, system, equipment and storage medium for virtual cartoon character | |
| EP3051525B1 (en) | Display | |
| CN111459046B (en) | Real-time dynamic generation system and method for target and scene for image seeker | |
| EP3000020B1 (en) | Hologram anchoring and dynamic positioning | |
| CN107390545B (en) | Unmanned aerial vehicle and simulation training system of load thereof | |
| US20110183301A1 (en) | Method and system for single-pass rendering for off-axis view | |
| EP4105766A1 (en) | Image display method and apparatus, and computer device and storage medium | |
| CN104932535B (en) | Utilize method of the analogue system to Air-borne Forward-looking Infra-Red Search Set closed loop test | |
| US9581819B1 (en) | See-through augmented reality system | |
| CN114545790A (en) | Optical guidance control semi-physical simulation system and method | |
| CN103517061A (en) | Method and device for display control of terminal device | |
| US9646417B1 (en) | Augmented reality system for field training | |
| CN115525152A (en) | Image processing method, system, device, electronic equipment and storage medium | |
| CN114139370A (en) | Synchronous simulation method and system for optical engine and electromagnetic imaging dual-mode moving target | |
| CN116661334B (en) | Missile tracking target semi-physical simulation platform verification method based on CCD camera | |
| CN112764021A (en) | Infrared/millimeter wave/laser multimode composite simulation system | |
| CN113720202A (en) | Immersive 3D image shooting training target range software system and method | |
| CN114593725B (en) | Tracking precision testing device and method for photoelectric tracker | |
| CN115938178A (en) | Automobile part assembly teaching method and system based on mixed reality technology | |
| US11200741B1 (en) | Generating high fidelity spatial maps and pose evolutions | |
| Walko | Integration of augmented-reality-glasses into a helicopter simulator with front projection | |
| CN112902986B (en) | Device and method for measuring angular error of photoelectric tracking equipment based on attitude feedback | |
| CN115291536A (en) | Vision-based verification method for ground target tracking semi-physical simulation platform of unmanned aerial vehicle | |
| CN108261761B (en) | Space positioning method and device and computer readable storage medium |
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 |