CN114964137A - Airplane control plane deflection angle testing system and method based on binocular image acquisition - Google Patents
Airplane control plane deflection angle testing system and method based on binocular image acquisition Download PDFInfo
- Publication number
- CN114964137A CN114964137A CN202210404213.5A CN202210404213A CN114964137A CN 114964137 A CN114964137 A CN 114964137A CN 202210404213 A CN202210404213 A CN 202210404213A CN 114964137 A CN114964137 A CN 114964137A
- Authority
- CN
- China
- Prior art keywords
- image acquisition
- camera
- camera housing
- deflection angle
- airplane
- 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
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
-
- 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
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Abstract
The invention provides a binocular image acquisition-based airplane control surface deflection angle test system and a test method. The adjustment of the angle and the position of the left and right image acquisition cameras in the horizontal direction and the vertical direction as a whole can be realized; the method for testing the deflection angle of the control surface of the airplane is designed with a shake removal correction algorithm and a dead pixel identification algorithm, so that the deflection angle testing process of the control surface of the airplane is accurate, efficient and safe, and the coating on the surface of the airplane body cannot be damaged.
Description
Technical Field
The application relates to a measurement technology, further relates to an image acquisition measurement technology, and particularly relates to a system and a method for testing a deflection angle of an airplane control surface based on binocular image acquisition.
Background
The airplane control surface refers to a wing surface which can be controlled by operation on wings and empennages, such as an elevator, an aileron, a rudder, a spoiler and the like, and the deflection of each control surface can realize the operation and control of the airplane state. The change of the tiny parameters on the control surface can affect the flight attitude, so the control surface is an important part related to the flight safety of the airplane. In the production process of the airplane, a certain accumulated installation error can be formed due to technological factors such as manufacturing, assembling and adjusting of the control surfaces, so that the non-contact type airplane control surface deflection angle inspection is necessary before the airplane coated with the special coating material is delivered for use.
In the prior art, chinese patent application No. 202010544171.6 (publication No. 111912381a) discloses an aircraft control surface angle measurement method based on a binocular vision principle, which includes obtaining space coordinates of feature points through a binocular vision camera, fitting a control surface pivot angle plane and a feature point track circular arc by using a least square method, and calculating a control surface pivot angle according to a vector included angle from the center of the track circular arc to each point on the circular arc; the method mainly discloses how to calculate the angle of the airplane control surface based on the binocular vision principle, does not describe the implementation scheme of measuring the angle of the airplane control surface based on the binocular vision principle, and does not consider the influence of the shake of an airplane body or an installation bench on the precision of a test result in the movement of the control surface.
The chinese patent application No. 201911037153.2 (publication No. 110778861B) discloses a binocular camera bracket capable of achieving multi-degree-of-freedom adjustment, which can achieve distance adjustment between left and right cameras in a binocular camera and adjustment of respective pitching and rotation angles; the invention can not ensure the synchronous adjustment precision of the pitching angles of the left camera and the right camera, and the camera calibration work is required after the relative pose of the left camera and the right camera is changed every time, thus the workload is large.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a system and a method for testing the deflection angle of an airplane control surface based on binocular image acquisition, which can adjust the angles and positions of a left image acquisition camera and a right image acquisition camera in the horizontal direction and the vertical direction as a whole after the relative positions of the left image acquisition camera and the right image acquisition camera are adjusted; due to the design of the debounce correction algorithm and the dead pixel identification algorithm, the test process is safe, efficient and accurate, and the coating on the surface of the machine body cannot be damaged.
The utility model provides an aircraft rudder surface declination test system, contains two mesh image acquisition structures, main control computer and measurement target, its characterized in that, two mesh image acquisition structures contain two mesh image acquisition subassemblies, adjust cloud platform and support, two mesh image acquisition subassemblies contain subassembly body and two same image acquisition cameras, the support on have a horizontal slide rail, adjust the cloud platform and inlay on the horizontal slide rail of support through the slider, the measurement target paste on the aircraft rudder surface, the image acquisition camera passes through the cable and is connected with the main control computer.
The binocular image acquisition assembly comprises a left camera shell, a right camera shell and a rotary junction box, wherein the left camera shell and the right camera shell are fixed at the top of the rotary junction box in parallel, a butt joint hole connected with an adjusting pan-tilt is formed in the bottom of the rotary junction box, transverse strip-shaped slotted holes are formed in the bottoms of the left camera shell and the right camera shell respectively, an image acquisition camera is embedded in a camera cover, and the camera cover is fixed on the transverse strip-shaped slotted holes in the bottom of the camera shell through fasteners.
The image acquisition camera is connected with the camera cover through the arc-shaped slide way and the pin, so that the image acquisition camera can deflect left and right relative to the camera cover.
And a damping block is arranged between the sliding block and the adjusting holder, and a light supplement lamp is also connected to the damping block.
The method for testing the deflection angle of the control surface of the airplane comprises a fixed airfoil surface and a movable airfoil surface, and is characterized by comprising the following steps of: 1) the airplane control plane deflection angle testing system is adopted; 2) when the airplane stops, a first measuring target is pasted on the fixed wing surface of the airplane, which is close to the movable wing surface, and a second measuring target is pasted on the movable wing surface, which is close to the fixed wing surface; 3) the binocular image acquisition structure is arranged on one side of the airplane control surface, so that the image acquisition camera can simultaneously acquire target images on the adjacent airplane control surfaces; 4) the binocular image acquisition structure is connected with the main control computer, target images on adjacent airplane control surfaces are shot through the binocular image acquisition assembly, the target images are transmitted to the main control computer, and the deflection angle between the adjacent airplane control surfaces is calculated through the main control computer.
In the step 4), when the movable wing surface is at the neutral position, shooting a first measurement target image and a second measurement target image through a binocular image acquisition assembly, calculating zero position information of the first measurement target and the second measurement target through a main control computer, shooting the first measurement target image and the second measurement target image again through the binocular image acquisition assembly when the movable wing surface is at the position to be measured, and calculating deflection information of the first measurement target and the second measurement target through the main control computer; and solving the jitter correction quantity through the deflection information and the zero position information of the first measuring target, and solving the actual deflection angle of the movable airfoil through the deflection information, the zero position information and the jitter correction quantity of the second measuring target.
This application still provides a two mesh image acquisition structures, its characterized in that contains two mesh image acquisition subassemblies, adjusts cloud platform and support, two mesh image acquisition subassemblies contain subassembly body and two same image acquisition cameras, the support on have a horizontal slide rail, adjust the cloud platform and inlay on the horizontal slide rail of support through the slider.
The binocular image acquisition assembly comprises a left camera shell, a right camera shell and a rotary junction box, wherein the left camera shell and the right camera shell are fixed at the top of the rotary junction box in parallel, a butt joint hole connected with an adjusting pan-tilt is formed in the bottom of the rotary junction box, transverse strip-shaped slotted holes are formed in the bottoms of the left camera shell and the right camera shell respectively, an image acquisition camera is embedded in a camera cover, and the camera cover is fixed on the transverse strip-shaped slotted holes in the bottom of the camera shell through fasteners.
The image acquisition camera is connected with the camera cover through the arc-shaped slide way and the pin, so that the image acquisition camera can deflect left and right relative to the camera cover.
And a damping block is arranged between the sliding block and the adjusting holder, and a light supplement lamp is also connected to the damping block.
The beneficial effect of this application lies in: 1) the binocular image acquisition structure provided by the invention comprises a binocular image acquisition assembly, an adjusting holder and a support which are combined, the measurement work can be carried out after the relative positions of the left image acquisition camera and the right image acquisition camera are adjusted and fixed, and then the angles and the positions of the left image acquisition camera and the right image acquisition camera in the horizontal direction and the vertical direction are adjusted as a whole, so that the calibration work of camera parameters is not required to be carried out again, the test efficiency is improved, and a larger shooting range is obtained. The integrated form design of light filling lamp, adaptable in the less strong environment of light intensity for two mesh image acquisition structures are compacter, simple structure, and easy to maintain dismantles.
2) The system for testing the deflection angle of the airplane control surface provided by the invention can carry out non-contact measurement on the deflection angle of the large-size control surface of the airplane based on the special binocular image acquisition structure, the main control computer and the measurement target, so that the test is not limited by the size of the area of the control surface, the defect that a single measurement point cannot accurately reflect the motion characteristic of the control surface is overcome, and the movable equipment support and the holder are designed, so that the system can quickly meet the test requirements of different airplanes and different types of wing surfaces.
3) According to the method for testing the deflection angle of the control surface of the airplane, the shake removal correction is added in the deflection angle calculation process of the control surface, so that the whole testing process is safe, efficient and accurate, the automation degree is high, and the universality is good.
The present application is described in further detail below with reference to the accompanying drawings of embodiments.
Drawings
Fig. 1 is a schematic structural diagram of a binocular image acquisition structure.
Fig. 2 is a schematic structural diagram of a binocular image acquisition assembly.
Fig. 3 is a schematic view of an image capture camera.
FIG. 4 is a schematic diagram of an implementation of a method for measuring the deflection angle of the control surface of the airplane.
The numbering in the figures illustrates: 1 binocular image acquisition structure, 2 main control computers, 3 binocular image acquisition components, 4 adjusting pan heads, 5 supports, 6 component bodies, 7 image acquisition cameras, 8 horizontal sliding rails, 9 sliding blocks, 10 left camera shells, 11 right camera shells, 12 rotating junction boxes, 13 butt-joint holes, 14 slotted holes, 15 camera covers, 16 fasteners, 17 arc-shaped slideways, 18 pins, 19 shock absorption blocks, 20 light supplement lamps, 21 fixed wing surfaces, 22 movable wing surfaces, 23 first measurement targets, 24 second measurement targets, 24 movable wing surfaces,
Detailed Description
Referring to the drawings, the binocular image acquisition structure 1 provided by the application comprises a binocular image acquisition assembly 3, an adjusting pan-tilt 4 and a bracket 5, as shown in fig. 1. The binocular image capturing assembly 3 comprises an assembly body 6 and two identical image capturing cameras 7. The binocular image acquisition subassembly 3 subassembly body 6 contain left camera shell 10, right camera shell 11 and change terminal box 12, left camera shell 10, right camera shell 11 fix side by side at the top of changeing terminal box 12, the bottom of patch cord box 12 is equipped with the butt joint hole 13 of being connected with regulation cloud platform 4, the bottom of left camera shell 10 and right camera shell 11 be equipped with horizontal slotted hole 14 respectively, image acquisition camera 7 inlay in camera hood 15, camera hood 15 passes through fastener 16 to be fixed on the horizontal slotted hole 14 of camera shell bottom. The image acquisition camera 7 is connected with the camera cover 15 through an arc-shaped slide way 17 and a pin 18, so that the image acquisition camera 7 can deflect left and right relative to the camera cover 15. As shown in fig. 2 and 3.
The binocular image acquisition assembly 3 is connected to the bracket 5 through the adjusting cloud deck 4; the support 5 is provided with a horizontal sliding rail 8, and the adjusting holder 4 is embedded on the horizontal sliding rail 8 of the support 5 through a sliding block 9.
The binocular image acquisition structure can adjust the height of the image acquisition camera 7, the distance between the two image acquisition cameras 7 and the included angle between the two image acquisition cameras 7 according to requirements.
When the distance between the two image acquisition cameras 7 is adjusted, the fastening piece 16 between the camera cover 15 and the bottom of the camera shell is loosened, so that the camera cover 15 moves transversely along the slotted hole 14 to adjust the distance between the two image acquisition cameras 7, and the fastening piece 16 is screwed after the adjustment is finished.
When adjusting contained angle between two image acquisition cameras 7, after distance between two image acquisition cameras 7 has adjusted, through make the relative camera cover of image acquisition camera can control through arc slide 17 between image acquisition camera 7 and the camera cover 15 and deflect, realize adjusting the contained angle between two image acquisition cameras 7.
The angle of the binocular image acquisition assembly 3 can be adjusted in the horizontal direction and the vertical direction around the fixed shaft by adjusting the cloud deck 4. The slide block 9 moves linearly on the horizontal slide rail 8, and the shooting range of the binocular image acquisition assembly 3 can be adjusted in the horizontal direction. The adjustment of the height of the bracket 5 can adjust the overall height of the binocular image acquisition assembly 3.
In order to ensure the stability in the measuring process, in the embodiment, a damping block 19 is arranged between the sliding block 9 at the top of the bracket and the adjusting holder 4, and a light supplement lamp 20 is further connected to the damping block 19 and used for supplementing the illumination light of the measuring environment.
An airplane control plane deflection angle testing system can be constructed by using the binocular image acquisition structure 1, the main control computer 2 and the measuring target. In the embodiment, as shown in the figure, the measurement target is pasted on the control surface of the airplane, and the image acquisition camera 7 is connected with the main control computer 2 through a cable.
The aircraft control surface comprises a fixed airfoil surface 21 and a movable airfoil surface 22, and when the deflection angle of the aircraft control surface is tested: when the airplane is in a stop state, a first measuring target 23 is adhered to the fixed wing surface of the airplane close to the movable wing surface, and a second measuring target 24 is adhered to the movable wing surface close to the fixed wing surface; the binocular image acquisition structure 1 is arranged on one side of the airplane control surface, so that the image acquisition camera 7 can simultaneously acquire target images on the adjacent airplane control surfaces; the binocular image acquisition structure 1 is connected with the main control computer 2, target images on adjacent airplane control surfaces are shot through the binocular image acquisition assembly 3, the target images are transmitted to the main control computer 2, and deflection angles between the adjacent airplane control surfaces are calculated through the main control computer 2.
In the measurement and calculation process, in order to prevent the influence of the jitter of the movable wings on the measurement result in the movement process, a jitter removal correction algorithm is added in the control plane deflection angle calculation process, and the method specifically comprises the following steps: when the movable wing surface is at a neutral position, shooting images of a first measuring target 23 and a second measuring target 24 through a binocular image acquisition component 3, calculating zero position information of the first measuring target 23 and the second measuring target 24 through a main control computer 2, shooting images of the first measuring target 23 and the second measuring target 24 again through the binocular image acquisition component 3 when the movable wing surface is at a position to be measured, and calculating deflection information of the first measuring target 23 and the second measuring target 24 through the main control computer 3; and the deflection information of the first measuring target 23 and the zero position information are used for calculating the jitter correction, and the deflection information of the second measuring target 24 and the zero position information and the jitter correction are used for calculating the actual deflection angle of the movable airfoil surface.
It is worth to be noted that if the information of a certain target exceeds the threshold of the information of other targets, the information is identified as a dead pixel, and the dead pixel information is removed during calculation of the shake correction amount and calculation of the control surface angle.
Claims (10)
1. The utility model provides an aircraft rudder surface declination test system, contains two mesh image acquisition structures, main control computer and measurement target, its characterized in that, two mesh image acquisition structures contain two mesh image acquisition subassemblies, adjust cloud platform and support, two mesh image acquisition subassemblies contain subassembly body and two same image acquisition cameras, the support on have a horizontal slide rail, adjust the cloud platform and inlay on the horizontal slide rail of support through the slider, the measurement target paste on the aircraft rudder surface, the image acquisition camera passes through the cable and is connected with the main control computer.
2. The aircraft control surface deflection angle testing system of claim 1, wherein the assembly body of the binocular image acquisition assembly comprises a left camera housing, a right camera housing and a rotating junction box, the left camera housing and the right camera housing are fixed on the top of the rotating junction box in parallel, the bottom of the junction box is provided with a butt joint hole connected with the adjusting pan-tilt, the bottoms of the left camera housing and the right camera housing are respectively provided with a transverse strip-shaped slot hole, the image acquisition camera is embedded in a camera cover, and the camera cover is fixed on the transverse strip-shaped slot hole at the bottom of the camera housing through a fastener.
3. The aircraft control surface deflection angle testing system of claim 2, wherein the image capturing camera is connected with the camera housing through an arc-shaped slideway and a pin, so that the image capturing camera can deflect left and right relative to the camera housing.
4. An aircraft control surface deflection angle testing system according to claim 1, 2 or 3, wherein a shock absorption block is arranged between the sliding block and the adjusting pan-tilt head, and a light supplement lamp is further connected to the shock absorption block.
5. The utility model provides an aircraft control surface declination test method, aircraft control surface contains fixed airfoil and activity airfoil, its characterized in that contains following content: 1) adopting the aircraft control surface deflection angle testing system according to claim 1, 2, 3 or 4; 2) when the airplane stops, a first measuring target is pasted on the fixed wing surface of the airplane, which is close to the movable wing surface, and a second measuring target is pasted on the movable wing surface, which is close to the fixed wing surface; 3) the binocular image acquisition structure is arranged on one side of the airplane control surface, so that the image acquisition camera can simultaneously acquire target images on the adjacent airplane control surfaces; 4) the binocular image acquisition structure is connected with a main control computer, target images on the control surfaces of adjacent airplanes are shot through a binocular image acquisition assembly, the target images are transmitted to the main control computer, and deflection angles between the control surfaces of the adjacent airplanes are calculated through the main control computer.
6. The aircraft control surface deflection angle testing method of claim 5, characterized in that in step 4), when the movable airfoil surface is at the neutral position, images of the first measurement target and the second measurement target are shot through a binocular image acquisition assembly, zero position information of the first measurement target and the second measurement target is calculated through a main control computer, when the movable airfoil surface is at the position to be tested, images of the first measurement target and the second measurement target are shot again through the binocular image acquisition assembly, and deflection information of the first measurement target and the second measurement target is calculated through the main control computer; and solving the jitter correction quantity through the deflection information and the zero position information of the first measuring target, and solving the actual deflection angle of the movable airfoil through the deflection information, the zero position information and the jitter correction quantity of the second measuring target.
7. The utility model provides a two mesh image acquisition structures, its characterized in that contains two mesh image acquisition subassemblies, adjusts cloud platform and support, two mesh image acquisition subassemblies contain subassembly body and two same image acquisition cameras, the support on have a horizontal slide rail, adjust the cloud platform and inlay on the horizontal slide rail of support through the slider.
8. The binocular image acquisition structure of claim 7, wherein the assembly body of the binocular image acquisition assembly comprises a left camera housing, a right camera housing and a junction box, the left camera housing and the right camera housing are fixed in parallel at the top of the junction box, the bottom of the junction box is provided with a butt hole connected with the adjusting pan-tilt, the bottoms of the left camera housing and the right camera housing are respectively provided with a transverse slotted hole, the image acquisition camera is embedded in a camera cover, and the camera cover is fixed on the transverse slotted hole at the bottom of the camera housing through a fastener.
9. The binocular image capturing arrangement of claim 8, wherein the image capturing camera is connected to the camera housing by arcuate slides and pins to allow the image capturing camera to deflect left and right relative to the camera housing.
10. An aircraft control surface deflection angle testing system according to claim 7, 8 or 9, wherein a shock absorption block is arranged between the sliding block and the adjusting pan-tilt head, and a light supplement lamp is connected to the shock absorption block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210404213.5A CN114964137A (en) | 2022-04-18 | 2022-04-18 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210404213.5A CN114964137A (en) | 2022-04-18 | 2022-04-18 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114964137A true CN114964137A (en) | 2022-08-30 |
Family
ID=82977016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210404213.5A Pending CN114964137A (en) | 2022-04-18 | 2022-04-18 | Airplane control plane deflection angle testing system and method based on binocular image acquisition |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114964137A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295126A (en) * | 2023-05-19 | 2023-06-23 | 天津海翼科技有限公司 | Rudder blade angle calibration system and calibration method of underwater glider |
| CN117232438A (en) * | 2023-11-13 | 2023-12-15 | 成都飞机工业（集团）有限责任公司 | Device for measuring deflection angle of movable airfoil surface of airplane, calibration device and calibration method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493318A (en) * | 2008-09-16 | 2009-07-29 | 北京航空航天大学 | Rudder deflection angle synchronization dynamic measurement system and implementing method thereof |
| CN101915563A (en) * | 2010-07-20 | 2010-12-15 | 中国航空工业集团公司西安飞机设计研究所 | Measurement method of aircraft rudder defelction angle |
| GB201214296D0 (en) * | 2011-08-09 | 2012-09-26 | Boeing Co | Image based position determination |
| WO2015143615A1 (en) * | 2014-03-24 | 2015-10-01 | 深圳市大疆创新科技有限公司 | Method and apparatus for correcting aircraft state in real time |
| CN110095089A (en) * | 2019-03-11 | 2019-08-06 | 新拓三维技术(深圳)有限公司 | A kind of measurement method and system of aircraft rotation angle |
| CN110778861A (en) * | 2019-10-29 | 2020-02-11 | 合肥工业大学 | Binocular camera support capable of achieving multi-degree-of-freedom adjustment |
| CN111932558A (en) * | 2020-08-20 | 2020-11-13 | 湖北职业技术学院 | High-temperature dangerous area positioning method |
-
2022
- 2022-04-18 CN CN202210404213.5A patent/CN114964137A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101493318A (en) * | 2008-09-16 | 2009-07-29 | 北京航空航天大学 | Rudder deflection angle synchronization dynamic measurement system and implementing method thereof |
| CN101915563A (en) * | 2010-07-20 | 2010-12-15 | 中国航空工业集团公司西安飞机设计研究所 | Measurement method of aircraft rudder defelction angle |
| GB201214296D0 (en) * | 2011-08-09 | 2012-09-26 | Boeing Co | Image based position determination |
| WO2015143615A1 (en) * | 2014-03-24 | 2015-10-01 | 深圳市大疆创新科技有限公司 | Method and apparatus for correcting aircraft state in real time |
| CN110095089A (en) * | 2019-03-11 | 2019-08-06 | 新拓三维技术(深圳)有限公司 | A kind of measurement method and system of aircraft rotation angle |
| CN110778861A (en) * | 2019-10-29 | 2020-02-11 | 合肥工业大学 | Binocular camera support capable of achieving multi-degree-of-freedom adjustment |
| CN111932558A (en) * | 2020-08-20 | 2020-11-13 | 湖北职业技术学院 | High-temperature dangerous area positioning method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116295126A (en) * | 2023-05-19 | 2023-06-23 | 天津海翼科技有限公司 | Rudder blade angle calibration system and calibration method of underwater glider |
| CN117232438A (en) * | 2023-11-13 | 2023-12-15 | 成都飞机工业（集团）有限责任公司 | Device for measuring deflection angle of movable airfoil surface of airplane, calibration device and calibration method |
| CN117232438B (en) * | 2023-11-13 | 2024-03-15 | 成都飞机工业（集团）有限责任公司 | Device for measuring deflection angle of movable airfoil surface of airplane, calibration device and calibration method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114964137A (en) | Airplane control plane deflection angle testing system and method based on binocular image acquisition | |
| US11188688B2 (en) | Advanced automated process for the wing-to-body join of an aircraft with predictive surface scanning | |
| RU2731042C2 (en) | Method for attaching a wing to a body (versions) | |
| JP6700055B2 (en) | Automated dynamic manufacturing system and related methods | |
| CN106864751B (en) | Unmanned plane during flying landing system and method based on image procossing | |
| CN109029299B (en) | Dual-camera measuring device and method for butt joint corner of cabin pin hole | |
| EP2952435B1 (en) | Method and apparatus for aligning segments | |
| CN110645921A (en) | Ice-shaped three-dimensional measurement method based on polarization imaging | |
| CN101776440A (en) | Method for assembling and locating web-type wing ribs on basis of laser measurement | |
| CN112224447A (en) | Device and method for measuring gravity center of unmanned aerial vehicle and matching thrust line | |
| CN105081719A (en) | Spacecraft cabin automatic assembly system based on visual measurement and assembly method thereof | |
| CN109591019A (en) | A kind of Space Precision Orientation Method of no certainty location feature object | |
| CN110001998A (en) | A kind of Large Aircraft Components frame structure docking guide device and method based on laser ranging | |
| CN113031462A (en) | Port machine inspection route planning system and method for unmanned aerial vehicle | |
| CN106475664B (en) | Stable accurate vision welding seam tracking system | |
| CN107462399B (en) | A kind of four-degree-of-freedom plain shaft parallelism calibration apparatus | |
| EP3812699B1 (en) | Scanning apparatus and method of scanning | |
| CN111429565B (en) | System and method for acquiring and managing three-dimensional data on surface of airframe of civil aircraft | |
| CN204202640U (en) | Dual radars and the monocular vision sensor fusion mechanism of barrier is kept away for unmanned plane | |
| Abrego et al. | Summary of full-scale blade displacement measurements of the UH-60A airloads rotor | |
| CN208420338U (en) | A kind of 3D camera automatic checkout equipment | |
| CN114252010B (en) | High-precision flexible coordination assembly method for functional components of carrier rocket cabin | |
| CN115383658A (en) | Cabin digital docking system and cabin docking method based on same | |
| CN112683306B (en) | Be used for unmanned aerial vehicle to inertial navigation position appearance precision adjustment installation device | |
| CN115790366A (en) | Visual positioning system and method for large array surface splicing mechanism |
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 |