CN209480012U - A kind of oblique photograph measuring system based on composite wing unmanned plane - Google Patents
A kind of oblique photograph measuring system based on composite wing unmanned plane Download PDFInfo
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- CN209480012U CN209480012U CN201821469419.1U CN201821469419U CN209480012U CN 209480012 U CN209480012 U CN 209480012U CN 201821469419 U CN201821469419 U CN 201821469419U CN 209480012 U CN209480012 U CN 209480012U
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Abstract
The utility model relates to a kind of oblique photograph measuring systems based on composite wing unmanned plane comprising fuselage, left side horn, right side horn and multi-angle of view aerial surveying camera；The tail portion of fuselage has horizontal tail, and fuselage two sides are respectively arranged with left side wing and right side wing；Left side horn is arranged on the wing of left side, and has the first rotor unit on the horn of left side；Right side horn is arranged on the wing of right side, and has the second rotor unit on the horn of right side；Multi-angle of view aerial surveying camera is arranged on fuselage.The utility model uses the composite wing distribution form of fixed-wing combination rotor, has both fixed-wing unmanned plane endurance length, speed height, the function apart from remote feature and rotor wing unmanned aerial vehicle VTOL.Solve the problems, such as that rotor wing unmanned aerial vehicle endurance is short, speed is low, voyage is close, collecting efficiency is low.Multi-angle of view aerial surveying camera is carried, composite wing unmanned plane is used in the acquisition of outdoor scene 3-dimensional image, the application of composite wing unmanned plane has been expanded, realizes the highly effective and safe acquisition of oblique photograph measurement data.
Description
Technical field
The utility model relates to a kind of unmanned planes, and in particular to a kind of oblique photograph measurement system based on composite wing unmanned plane
System.
Background technique
Referred to as " unmanned plane ", it is using radio robot and the presetting apparatus provided for oneself behaviour to UAV
Vertical not manned aircraft fully or intermittently can also automatically be operated by car-mounted computer.Compared to manned
Aircraft, unmanned plane is often low in cost, the operation being suitble in hazardous environment.
Oblique photograph technology is the new and high technology that international Mapping remote sensing technology field developed recently gets up, by flying same
More sensors are carried on row platform, while from different angle acquisition images such as vertical, inclinations, it is more true to obtain ground object
The information of real complete and accurate.
The birth of unmanned plane oblique photograph technology, has overturned the operation mode of traditional mapping, as shown in Figure 1, the technology is logical
It crosses the photography of unmanned plane low latitude multidigit camera lens and obtains high-definition three-dimensional image data, automatically generate three-dimensional geographic information model, quickly
The acquisition for realizing geography information has the characteristics that high-efficient, at low cost, data are accurate, flexible operation, side-information can be used, full
The different demands of foot mapping geography information industry.
Unmanned plane oblique photograph is mainly based on fixed-wing, rotor.As shown in Fig. 2, giving fixed-wing, rotor type
The characteristics of unmanned plane.Rotor wing unmanned aerial vehicle carries light-duty inclined camera, and endurance is short, speed is low, voyage is close, and collecting efficiency is low.It is fixed
Wing UAV flight's inclined camera, landing is difficult, at high cost.
Utility model content
The main purpose of the utility model is to provide a kind of composite wing distribution form using fixed-wing combination rotor, with letter
Single reliable way solves the problems, such as fixed-wing unmanned plane VTOL, have both fixed-wing unmanned plane endurance is long, speed is high, away from
Function from remote feature and rotor wing unmanned aerial vehicle VTOL.
In order to complete above-mentioned purpose, the utility model provides a kind of oblique photograph measurement system based on composite wing unmanned plane
System comprising fuselage, left side horn, right side horn and multi-angle of view aerial surveying camera；The tail portion of fuselage has horizontal tail, and fuselage two sides point
It is not provided with left side wing and right side wing；Left side horn is arranged on the wing of left side, and has the first rotor on the horn of left side
Unit；Right side horn is arranged on the wing of right side, and has the second rotor unit on the horn of right side；The setting of multi-angle of view aerial surveying camera exists
On fuselage.
One Preferable scheme is that, the length extending direction of left side wing and the length extending direction of fuselage are vertical, meanwhile,
The length extending direction of right side wing and the length extending direction of fuselage are vertical；The length extending direction and left side machine of left side horn
The length extending direction of the wing is vertical, and the length extending direction of right side horn is vertical with the length extending direction of right side wing；The
One rotor unit includes the first sub- rotor and the second sub- rotor, and the first sub- rotor and the second sub- rotor are separately positioned on left side horn
Both ends；Second rotor unit includes the sub- rotor of third and the 4th sub- rotor, and the sub- rotor of third and the 4th sub- rotor are respectively set
The both ends of horn on right side.
One Preferable scheme is that, multi-angle of view aerial surveying camera includes rack, and at least five image capturing lists are provided in rack
Member has multiple installation plate bodys in rack, and installing has through-hole on plate body, installation plate body is for being fixed on multi-angle of view aerial surveying camera
On fuselage.
One Preferable scheme is that, piggyback pod, task device cabin, Aerial Electronic Equipment cabin, magnetic compass are respectively arranged on fuselage
With differential GPS antenna.
The utility model has the following beneficial effects: the oblique photograph measuring system based on composite wing unmanned plane of the application, is adopted
With the composite wing distribution form of fixed-wing combination rotor, solves fixed-wing unmanned plane VTOL in a simple and reliable way
Problem has both fixed-wing unmanned plane endurance length, speed height, the function apart from remote feature and rotor wing unmanned aerial vehicle VTOL.Together
When, solve the problems, such as that rotor wing unmanned aerial vehicle endurance is short, speed is low, voyage is close, collecting efficiency is low.Also, it carries multi-angle of view boat to take the photograph
Composite wing unmanned plane is used in the acquisition of outdoor scene 3-dimensional image by instrument, has expanded the application of composite wing unmanned plane, realizes that inclination is taken the photograph
The highly effective and safe of shadow measurement data acquires.
Detailed description of the invention
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the schematic diagram that existing aircraft carries out image collection.
Fig. 2 is the comparison schematic diagram of several aircraft.
Fig. 3 is the structural representation of oblique photograph measuring system first embodiment of the utility model based on composite wing unmanned plane
Figure.
Fig. 4 is the explosive view of oblique photograph measuring system first embodiment of the utility model based on composite wing unmanned plane.
Fig. 5 is the multi-angle of view boat of oblique photograph measuring system first embodiment of the utility model based on composite wing unmanned plane
Take the photograph the structural schematic diagram of instrument.
Fig. 6 is the fuselage sections of oblique photograph measuring system second embodiment of the utility model based on composite wing unmanned plane
The structural schematic diagram of component.
Fig. 7 is the technology of the unmanned plane of oblique photograph measuring system embodiment of the utility model based on composite wing unmanned plane
The tabular drawing of parameter.
Fig. 8 is the composition of the unmanned plane of oblique photograph measuring system embodiment of the utility model based on composite wing unmanned plane
Tabular drawing.
Fig. 9 is that the utility model illustrates to illustrate based on the mating of oblique photograph measuring system embodiment of composite wing unmanned plane
Figure.
Description of symbols
10, fuselage；11, tail portion；12, horizontal tail；13, left side wing；14, right side wing；20, left side horn；21, the first son
Rotor；22, the second sub- rotor；23, the sub- rotor of third；24, the 4th sub- rotor；30, right side horn；40, multi-angle of view aerial surveying camera；
41, first camera；42, second camera；43, third camera；44, the 4th camera；45, the 5th camera；46, rack；47, mounting plate
Body；48, through-hole.
Specific embodiment
Below with reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by.Many details are explained in the following description in order to fully understand the utility model, but originally
Utility model can also be implemented using other than the one described here other way, and those skilled in the art can not disobey
Similar popularization is done in the case where back the utility model connotation, therefore the utility model is not by the limit of following public specific embodiment
System.
First embodiment:
As shown in Figures 3 to 5, the oblique photograph measuring system based on composite wing unmanned plane of the present embodiment comprising machine
Body 10, left side horn 20, right side horn 30 and multi-angle of view aerial surveying camera 40.
The tail portion 11 of fuselage 10 has horizontal tail 12, and 10 two sides of fuselage are respectively arranged with left side wing 13 and right side wing
14。
Left side horn 20 is arranged on left side wing 13, and has the first rotor unit on left side horn 20.Right side horn
30 are arranged on right side wing 14, and have the second rotor unit on right side horn 30.Multi-angle of view aerial surveying camera 40 is arranged in fuselage
On 10.Wherein, the first rotor unit includes the first sub- rotor 21 and the second sub- rotor 22, the first sub- rotor 21 and the second sub- rotor
22 are separately positioned on the both ends of left side horn 20.Second rotor unit includes the sub- rotor 23 of third and the 4th sub- rotor 24, third
Sub- rotor 23 and the 4th sub- rotor 24 are separately positioned on the both ends of right side horn 30.
13 length extending directions of left side wing are vertical with the length extending direction of fuselage 10, meanwhile, right side wing 14
Length extending direction is vertical with the length extending direction of fuselage 10.The length extending direction of left side horn 20 and left side wing 13
Length extending direction is vertical, and the length extending direction of right side horn 30 is vertical with the length extending direction of right side wing 14.
As shown in figure 5, multi-angle of view aerial surveying camera 40 includes rack 46, at least five image capturing lists are provided in rack 46
Member, respectively first camera 41, second camera 42, third camera 43, the 4th camera 44 and the 5th camera 45 have in rack 46
Multiple installation plate bodys 47, installing has through-hole 48 on plate body 47, and installation plate body 47 is used to multi-angle of view aerial surveying camera 40 be fixed on machine
On body 10.Preferably, multi-angle of view aerial surveying camera 40 can be mounted on the bottom of fuselage 10, specific installation site does not limit,
Such as multi-angle of view aerial surveying camera 40 is fixed on fuselage 10 by fastener such as bolt.
One of the usage scenario of the oblique photograph measuring system based on composite wing unmanned plane of the present embodiment are as follows: traditional side
When method carries out three-dimensional modeling to the building on ground, the video generation DOM of single vertical direction is usually utilized, in conjunction with artificial
Ground acquisition building texture, forms finally by the mode of manual textures, it is clear that this working efficiency is lower.The present embodiment
Oblique photograph measuring system based on composite wing unmanned plane passes through while vertical and four inclined directions a more views of setting
Angle high resolution camera, measures simultaneously on a surface target, by the later period to the full automatic treatment of data, can directly generate ground
The threedimensional model of Area Objects.Also, the unmanned plane uses the composite wing distribution form of fixed-wing combination rotor, with simple and reliable
Mode solves the problems, such as fixed-wing unmanned plane VTOL, has both long fixed-wing unmanned plane endurance, speed height, apart from remote spy
The function of point and rotor wing unmanned aerial vehicle VTOL.Meanwhile solve rotor wing unmanned aerial vehicle endurance is short, speed is low, voyage is close, acquisition effect
The low problem of rate.
Second embodiment:
As shown in fig. 6, being respectively arranged with piggyback pod 15, task device cabin 16, Aerial Electronic Equipment cabin 17, magnetic compass on fuselage 10
18 and differential GPS antenna 19.
As a preferred option, in other embodiments, composite wing unmanned air vehicle technique index and composition are such as Fig. 7 and Fig. 8 institute
Show.Wherein, the technical parameter of unmanned plane is as shown in Figure 7.Unmanned plane constitutes as shown in Figure 8.
In addition, the composition of (1) CW-20G flying platform is as follows:
One frame of CW-20G body, petrol engine one (containing electrically activating) put down and fly one, propeller, and 4L fuel tank one,
Steering engine five, hovering horn is a pair of, hovers four, propeller, hovers four, motor, and the electricity that hovers adjusts four.
(2) it is as follows with the composition of avionics system to fly control by CW-20G:
The dedicated autopilot of greenhouse a set of (module containing differential GPS), the dedicated magnetic compass of greenhouse are a set of, greenhouse general aviation connects
Device is a set of, airborne differential GPS antenna is a set of, airborne number biography antenna is a set of, the dedicated autopilot software of greenhouse is a set of.
(3) composition of battery pack is as follows:
Fly one piece of battery of control, one piece of engine start battery, two pieces of power battery of hovering.
(4) earth station system:
It is a set of that GCS202 earth station is a set of, number passes one, antenna, one, WIFI antenna, greenhouse dedicated ground station software.
The technical parameter of multi-angle of view aerial surveying camera is as follows:
Weight: 2500g-3000g；
Outer dimension: 255*225*105(millimeters)；
Camera lens distribution: one is just being taken the photograph tetra- inclination 50mm Lycra lens groups of 35mm+；
Camera resolution: 36,400,000 pixels, 7360*4912,0.48 μ；
Storage card: 128G high speed SD card；
Power supply system: five camera centrally connected power supply of power supervisor, voltage 7.2V are used；
Shutter triggering: five camera synchronizer trigger of electronics zero propagation；
Camera setting: it supports mobile device APP adjustment, external adjuster is supported to adjust；
Shock-damping structure: the mating damper of camera main-body meets all kinds of unmanned plane vibration frequency requirements；
Camera angle: 38 degree；
The secondary quantity of taking pictures of single rack: 5000.
Operation principle and process, it is as shown in Figure 9 that boat takes the photograph workflow.
CW-20G standard operating procedure carries out according to the following steps:
Step 1: putting earth station's hardware to fixed position, start earth station's power supply, earth station is made to start to be positioned.Such as
Earth station needs externally hanging battery to work, then should use external power supply line connection externally hanging battery to work at this time.
Step 2: opening aircraft cabinet, assembling aircraft.After being completed, the inspection of aircraft mechanical structure is carried out.Confirm aircraft
Structure no problem；Motor cabinet, blade non-loosening.
Step 3: three type batteries needed for installation aircraft (fly control electricity, start electromechanical, power electric), and carry out fuel oil and add
Note.The inspection of engine and carburetor strainer opening (it is extremely important, strainer is had to check for before flight every time, it must if there is obturator
Tamper must be cleared up with fuel oil).
Step 4: executing " fuselage inspection ", " mechanical verification ", " electric checking " in " CW-20G pre-takeoff check list ", confirmation
Three parts inspection item is without exception.
Step 5: starting remote controler, by SE switch (Five-channel) incision " gesture mode "；The winged control power supply of starting, 5 seconds
It inside is remain stationary aircraft, waits and flies control initialization completion；After steering engine starts reaction occur, using remote controler rocking bar, manually
It checks each rudder face manipulation direction of fixed-wing, confirms that each rudder face orienting response is correct.
Step 6: carrying out magnetic compass calibration operation.If aircraft leaves last time magnetic compass calibration region greater than after 50KM, need
Magnetic compass calibration operation is carried out, to obtain correct magnetic heading data.After having calibrated magnetic compass data, sensing data is checked
Middle magnetic compass Z axis data, confirmation Z axis data are positive value, then save data to autopilot.Autopilot is restarted after preservation, from step
Rapid 5 start to re-start process.If the positional distance last time magnetic compass calibrating position distance of aircraft flight is less than 10KM or
Magnetic compass calibration operation is completed, may skip this step.
Step 7: drawing or import task course line, draw task course line as needed or be introduced directly into the boat planned
Line plan is uploaded to winged control, and re-download long haul route, is confirming the way point information of upload just after confirmation course line parameter is correct
It is really errorless.
Step 8: it is logical to start electromechanics, it is opened using remote controler starting engine by engine pump oil, and after the engine started
Begin to check engine working conditions, the execution of inspection item please refers to " to be examined in " CW-20G pre-takeoff check list " before engine start
Look into " and " being checked after engine start " part.If engine throttle at idle position or starting throttle position need to adjust, need after adjusting
New idling place value write-in " self-starting throttle position " parameter in.If engine operation is normal, without carrying out engine related parameters
Adjustment, then engine can be closed after the completion of test run.If engine needs be adjusted, please refer to " engine use and
Adjust points for attention " carry out related adjustment operation.
Step 9: connection power electric confirms that each motor speed is normal, in the right direction using remote controler manual unlocking motor.
After the completion of confirmation, toed-in is by motor-locking.
Step 10: drawing landing flight plan.Aircraft is removed to required level point, is determined according to landform and wind direction actual conditions
Determine the hovering height in level point, into nearly direction.After having drawn course line, Autonomous landing course line is adjusted according to landform actual conditions
It is whole, periphery barrier is avoided, avoids striking periphery barrier when landing.The physical planning method and points for attention in landing course line
It is executed with reference to " planning in landing course line " chapters and sections of flight airmanship.Note: if it is left-handed mode, aircraft is landing in landing course line
Preceding direction of spiraling is necessary for a left side and spirals and (i.e. spiral for a left side in the direction of spiraling of task course line last point)；Land course line if it is
Right-handed mode, then the direction of spiraling before aircraft landing be necessary for the right side spiral (i.e. task course line last point spiral direction for the right side
It spirals).
Step 11: execute ground station software flies preceding inspection program, confirms that all information before flying in inspection program are correct
It is errorless.Such as the setting informations such as parameter of taking pictures, emergency parameter.When going to emergency parameter testing step, part setting option is needed
According to actually adjusting；Part therein fixed setting content with reference to " earth station's inspection " in " pre-takeoff check list " partially into
Row.
Step 12: restarting engine, the last start-up check test for the front engine that take off.Engine start
Afterwards, gradually rain on full throttle confirmation engine cart is normal, and acts whereby so that engine and carburetor pump oil, enters engine
Normal operating conditions.After determining that engine operating condition is normal, engine, final test before completion is taken off are closed.Note that this step must
It must carry out！If after engine start has checked, instruction of taking off is not issued in 2 minutes, it is necessary to repeat the step and carry out engine
Pump oil, otherwise engine can occur to stop working when accelerating because of carburetor oil-break.
Step 13: plane nose being directed toward alignment way point 1, all personnel withdraws to over 20 meters of takeoff point.
Step 14: state is cut fully automatic mode by flight manipulation hand, control is transferred to earth station, then by throttle
Bar is placed in middle position, has observed aircraft, carries out the preparation of emergency situation lower linking tube aircraft, and earth station operator is waited to send to aircraft
It takes off instruction.
Step 15: earth station sends instruction of taking off, and aircraft is liftoff to take off, and automatically tracks No. 1 after being converted to fixed-wing mode
Way point.Period flight manipulation hand keeps a close eye on the flight condition of observation aircraft and the operation conditions of engine, carries out unexpected feelings
Emergency action under condition prepares.
Step 16: closing remote controller operation.When aircraft flies according to schedule, the overhead Ben Chang is left, into operation course line
After cruise, flight manipulation hand can close remote controler.
Step 17: the flying quality monitoring in flight course.Earth station keeps a close eye on observation aircraft in flight course
Flying quality, height, air speed, ground velocity, engine speed, throttle percentage, posture, the coordinate position etc. observed and confirm aircraft
Data are in normal condition.The preparation for carrying out the emergency that reply is likely to occur simultaneously, makes sound to the exception of aircraft in time
It answers.
Step 18: the landing after the completion of aerial mission.Aircraft fulfils assignment behind course line, before returning to landing according to schedule
It spirals holding point, reduces height and spiral waiting.At this point, flight operation hand must confirm that remote controler switch in auto state, opens
Dynamic remote controler, throttle lever are placed on middle position, are ready for Touchdown Protection.
Step 19: meanwhile, flight operation hand and earth station operator must do landing course line according to the actual conditions of wind direction
Adjustment, so that approach course is against the wind.Land after the completion of the adjustment of course line, on suitable opportunity, earth station sends landing instruction, aircraft
Start to execute landing procedure.Aircraft eventually hovers near level point, and is moved to level point overhead and is declined.In this phase
Between, flight operation hand must carry out the preparation of reply critical condition, if machine break down can not normal control its automatic land
When, it is necessary to it is switched to the more rotor modes of manual control progress immediately and lands manually.
Step 20: the reading data after landing.It is extracted first on the station software of ground and flies control POS data；Then USB is used
Turn 422 serial ports line drawing ground after difference base station data；Finally with same cable, airborne rear difference moving station number evidence is extracted.
Differential data extracts afterwards and data processing content please refers to " difference block operation instruction after PPS ".
Obviously, described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments.
Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
Every other embodiment, fall within the protection scope of the utility model.
Claims (2)
1. a kind of oblique photograph measuring system based on composite wing unmanned plane characterized by comprising
Fuselage, the tail portion of the fuselage has horizontal tail, and the fuselage two sides are respectively arranged with left side wing and right side wing；
Left side horn is arranged on the left side wing, and has the first rotor unit on the left side horn；
Right side horn is arranged on the right side wing, and has the second rotor unit on the right side horn；
Multi-angle of view aerial surveying camera is arranged on the fuselage, including rack, and vertical and four inclinations are provided in the rack
The image capturing unit in direction, wherein the tilt angle of the image capturing unit of four inclined directions is 38 degree, in the rack
With multiple installation plate bodys, there is through-hole, the installation plate body is for being fixed on multi-angle of view aerial surveying camera on the installation plate body
On the fuselage；
CW-20G flying platform；
CW-20G flies control and avionics system；
Battery pack；And
Earth station system.
2. the oblique photograph measuring system according to claim 1 based on composite wing unmanned plane, which is characterized in that
The length extending direction of the left side wing and the length extending direction of the fuselage are vertical, meanwhile, the right side wing
Length extending direction it is vertical with the length extending direction of the fuselage；
The length extending direction of the left side horn is vertical with the length extending direction of the left side wing, and the right side horn
Length extending direction it is vertical with the length extending direction of the right side wing；
The first rotor unit includes the first sub- rotor and the second sub- rotor, and the first sub- rotor and the second sub- rotor are distinguished
The both ends of the left side horn are set；The second rotor unit includes the sub- rotor of third and the 4th sub- rotor, the third
Sub- rotor and the 4th sub- rotor are separately positioned on the both ends of the right side horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469419.1U CN209480012U (en) | 2018-09-12 | 2018-09-12 | A kind of oblique photograph measuring system based on composite wing unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821469419.1U CN209480012U (en) | 2018-09-12 | 2018-09-12 | A kind of oblique photograph measuring system based on composite wing unmanned plane |
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| Publication Number | Publication Date |
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| CN209480012U true CN209480012U (en) | 2019-10-11 |
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| CN201821469419.1U Expired - Fee Related CN209480012U (en) | 2018-09-12 | 2018-09-12 | A kind of oblique photograph measuring system based on composite wing unmanned plane |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332486A (en) * | 2020-03-20 | 2020-06-26 | 国网福建省电力有限公司漳州供电公司 | Data acquisition hardware system for power transmission and distribution line channel |
| CN112180982A (en) * | 2020-10-20 | 2021-01-05 | 郑州超图地理信息技术有限公司 | Unmanned aerial vehicle air route management system and method |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
| CN114655431A (en) * | 2022-02-15 | 2022-06-24 | 南昌航空大学 | Unmanned aerial vehicle real-time surveying and mapping data processing integrated device and system |
-
2018
- 2018-09-12 CN CN201821469419.1U patent/CN209480012U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111332486A (en) * | 2020-03-20 | 2020-06-26 | 国网福建省电力有限公司漳州供电公司 | Data acquisition hardware system for power transmission and distribution line channel |
| CN112180982A (en) * | 2020-10-20 | 2021-01-05 | 郑州超图地理信息技术有限公司 | Unmanned aerial vehicle air route management system and method |
| CN112180982B (en) * | 2020-10-20 | 2023-02-03 | 郑州超图地理信息技术有限公司 | Unmanned aerial vehicle air route management system and method |
| CN113050691A (en) * | 2021-03-25 | 2021-06-29 | 成都纵横自动化技术股份有限公司 | Unmanned aerial vehicle obstacle avoidance method, device, equipment and computer readable storage medium |
| CN114655431A (en) * | 2022-02-15 | 2022-06-24 | 南昌航空大学 | Unmanned aerial vehicle real-time surveying and mapping data processing integrated device and system |
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Granted publication date: 20191011 |