GB2398771A - Apparatus for detecting abnormal operating condition of an external feature of an aircraft - Google Patents
Apparatus for detecting abnormal operating condition of an external feature of an aircraft Download PDFInfo
- Publication number
- GB2398771A GB2398771A GB0304620A GB0304620A GB2398771A GB 2398771 A GB2398771 A GB 2398771A GB 0304620 A GB0304620 A GB 0304620A GB 0304620 A GB0304620 A GB 0304620A GB 2398771 A GB2398771 A GB 2398771A
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- correlator
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- 238000003384 imaging method Methods 0.000 claims abstract description 15
- 238000012545 processing Methods 0.000 claims description 9
- 230000003287 optical effect Effects 0.000 claims description 8
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- 238000013459 approach Methods 0.000 description 1
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D45/00—Aircraft indicators or protectors not otherwise provided for
- B64D45/0005—Devices specially adapted to indicate the position of a movable element of the aircraft, e.g. landing gear
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Alarm Systems (AREA)
Abstract
The apparatus includes an imaging device 9, (24 in fig 3) carried on the aircraft and located to view one or more external features (1, 2, 3, 8 in fig. 1) to be monitored and output a series of images, a database (12 in fig. 2) for storing reference images of the monitored feature or features in normal expected condition of operation and an image matching unit for receiving the series of images from the imaging device 9, (24 in fig 3), for matching the received images to corresponding reference images in the database (12 in fig. 2) and for issuing a warning to the crew in the event that an abnormal operating condition of the feature is detected.
Description
APPARATUS FOR DETECTING ABNORMAL OPERATING CONDITION OF
AN EXTERNAL FEATURE OF AN AIRCRAFT
This invention relates to apparatus for detecting abnormal operating condition of an external feature of an aircraft and is particularly, but not exclusively suitable for monitoring position and operation of flight control surfaces, landing gear and engines of an aircraft.
It is known for a ground manoeuvre camera system to be installed on some modern air transports to give a view of the main landing wheels and nose wheels. Cameras are located within fairings on the fuselage belly and tail plane Jo with the output from the camera which is preferably a video camera being connected to a monitor within the aircraft cockpit to allow the crew to observe the landing wheels and to take appropriate action. However with such a known system the monitor becomes just another visual unit within the cockpit area which provides no warning to the crew and which may or may not be taken note of by the crew in an emergency situation. Aircraft have a number of flying surfaces some of which are used to control the aircraft in cruise mode and others of which are specialized for landing and take off. To rotate the aircraft about the longitudinal axis a combination of ailerons 1 and spoilers 3 on the wing areas are utilised as can be seen by reference to Figure 1 of the accompanying drawings.
Roll control for the aircraft is primarily achieved by the aileron surfaces.
Low speed ailerons 1 are located on the aft or trailing edge of the wing.
Additional ailerons 2 are located about half wave along the wing for use at high aircraft speeds to make slower more gentle changes in bank attitude while at cruising speeds. Each aileron surface is typically controlled by two flyby wire actuators powered from the aircraft hydraulic system.
Centrally located on the wings are spoilers 3 which deploy upwardly to make small changes in bank by eliminating or spoiling lift. The spoiler control system is used to supplement the ailerons 1, 2 to provide additional roll control for the aircraft at low speed, to act as speed brakes and to provide braking and lift dumping on landing. Upon touchdown the spoilers 3 deploy automatically - 2 creating a firm downward pressure on the landing gear which aids In braking effectiveness. Each spoiler surface is controlled by one flyby wire actuator or by an electromechanical device.
On the tail of the aircraft horizontal stabilisers 4 and elevators 5 provide the pitch control to establish climbs and descents. Typically there are two such elevators 5 hinged from the horizontal stabilisers 4 and actuated in a similar manner to the ailerons using two flyby wire actuators per surface. A rudder 6 is provided on the tail-plane 7 which provides yaw directional control for the aircraft. The rudder surface typically is controlled by two or more actuators and 0 with only one surface provided for the rudder 6 the integrity of the actuation system is crucial for aircraft safety.
Control the of the ailerons, elevators and rudder surfaces are by means of controls in the aircraft cockpit such as levers, control stick and rudder bar and it is critical for flight safety of the aircraft that the exact angle and position of the flight critical surfaces be known reliably in the cockpit. Additionally there is a need for an awareness in the cockpit of other external features on the aircraft such as the position of landing gear, cargo and passenger doors, maintenance panels, and of bird strikes on other surfaces of the aircraft and in the engines. It would also be advantageous to be able to determine substantial accretions of ice on the wings. These critical flying surfaces, engines and other external items are generally not visible from the cockpit.
There is thus a need for an improved apparatus for detecting abnormal operating condition of an external feature of an aircraft which improves the flight safety and efficiency of the aircraft and which is capable of operating automatically and independently of the Flight Control System of the aircraft.
According to a first aspect of the present invention there is provided apparatus for detecting abnormal operating condition of an external feature of an aircraft, including at least one imaging device carried on the aircraft and located to view one or more external features to be monitored and output a series of images, a database for storing reference images of the monitored feature or features in normal expected conditions of operation, and an image - 3 matching unit for receiving the series of images from the at least one imaging device, for matching the received images to corresponding reference images in the database and for issuing a warning to crew of the aircraft in the event that an abnormal operating condition of the external feature is thereby detected Preferably the or at least one of the imaging devices is a camera containing a Charge Coupled Device (CCD).
Conveniently said at least one camera is a monochrome camera.
Advantageously said at least one camera is a colour camera.
Preferably the image matching unit is digital.
to Conveniently the digital image matching unit includes an image processing computer, a frame grabber for receiving a video signal from the Charge Coupled Device, for assembling a digital image from the video signal, and for transferring at least one full frame at a time to the image processing computer where it is processed and matched or not to the database stored images.
Advantageously the apparatus includes a display unit for displaying images received from the digital image matching unit.
Preferably the image matching unit is an optical correlator.
Conveniently the optical Correlator is a Joint Transform Correlator (JTC) or a Vander Lugt Correlator.
Advantageously the optical correlator is a Vander Lugt Correlator which includes a first spatial light modulator for receiving and displaying an output image signal from the Charge Coupled Device, means for producing a collimated beam of light, a first light focussing means for receiving the collimated beam and passing it through the first spatial light modulator which operatively contains the output image signal of the external feature received from the Charge Coupled Device, a second light focussng means for receiving the beam from the input spatial light modulator and a second spatial light modulator which operatively contains a reference image of a normal operating condition of the external feature being viewed by the Charge Coupled Device, - 4 and the correlator operating such that if the image received from the Charge Coupled Device matches at least partially the reference image a spot of light Is created on a further focal plane on which the position and intensity of the spot correspond to the external feature position and relative level of correlation to the reference image.
Preferably the database stores reference images holographically.
For a better understanding of the present invention and to show how the same may be carried into effect reference will now be made, by way of example, to the accompanying drawings in which; Figure 1 is a perspective view of control surfaces of a conventional aircraft, Figure 2 is a block diagram of apparatus according to a first embodiment of the present invention, Figure 3 is a schematic illustration of apparatus according to a second embodiment of the present invention, Figure 4 is a view from above of an aircraft showing the location of typical flying control surfaces, and Figure 5 is a plan view from above of an aircraft showing the location of apparatus according to the present invention and external features of the aircraft viewed thereby, Apparatus for detecting abnormal operating condition of an external feature of an aircraft according to the present invention includes at least one imaging device, preferably a camera 9 Gamed on the aircraft, for example as shown in Figure 5 of the accompanying drawings, and located to view one or more external features to be monitored and output a series of images. Such features can be for example ailerons 1, additional ailerons 2, spoilers 3, horizontal stabiliser 4, elevators 5, rudder 6, sailplane 7, slats 8, engines 10, as shown in Figures 1, 4 and 5 of the accompanying drawings and landing gear (not shown). The imaging device or camera 9 is operable to provide an image of the feature being viewed to a matching system which correlates the picture - 5 with a stored view of the correct situation. In the event of non-correlation the flight crew of the aircraft can be warned to carry out appropriate checks or other actions. Alternatively the crew can, when warned of an anomaly, simply choose to view the camera picture on a cockpit display to more closely examine the problem. The external viewing imaging device camera 9 can have a broad field of view as indicated in Figure 5 by the arrows 11 because the edge of the airframe, engines or flying surfaces is distinct and readily identifiable. Although the flying surfaces and undercarriage are intended to move smoothly through a range of commanded positions and failure to do this constitutes an anomaly to likely to be detected by the apparatus of the present invention it is also able, in the case of the undercarriage, to image match the position of the nose wheel of the undercarriage against steering markers such as white lines provided on airfield runways. In the case of the engines 10 the apparatus of the present invention will be able to show an abnormal situation such as a bird strike damage to the fan disk or cowling, excessive smoking of the engine and loss of an engine. The correct operation of thrust reversers can also be recognised, as can cargo door, passenger door or panel openings and ice build up on the wing section or other flight surfaces.
The imaging device 9 can be a traditional analogue camera which may be monochrome or a colour. Such cameras will typically employ CCD (Charge Coupled device) chips but generally provide an analogue video output. The analogue signal is converted to a digital format as soon as possible within image matching circuits. In the case of a digital image matching unit 22 this is managed by a frame grabber 14. With an optical correlator an interface circuit may be required to convert the incoming data into a format for display on an input special light modulator 24.
Thus advantageously a digital interface may be used to minimise noise levels on the signal and to reduce the amount of pre-processing required.
A monochrome camera 9 may have better resolution and sensitivity than a colour camera but the latter may provide better detection by virtue of colour contrast or through colour coding techniques and selective filtering of the input to the image processor. - 6
The apparatus according to the present invention generally includes a database 12 for storing reference images of the monitored feature or features in normal expected conditions of operation, and an Image matching unit for receiving the series of images from the or each imaging device or camera 9, for matching the received images to corresponding reference images in the database 12 and for issuing a warning to crew of the aircraft in the event that an abnormal operating condition of the external feature is thereby detected.
Figure 2 of the accompanying drawings shows apparatus according to a first embodiment of the present invention in which the image matching unit is to digital and includes an image processing computer generally indicated at 13.
The purpose of image matching is to compare the image of a feature such as a flying surface captured by the camera 9, which in this embodiment includes a Charge Coupled Device, with a pre-programmed reference image of the commanded position of the feature such as a flying surface. In the embodiment of Figure 2 a frame grabber 14 is provided for receiving a video signal from the Charge Coupled Device 9. The frame grabber 14 operates to assemble a digital image from the video signal and to transfer at least one full frame at a time to a processing computer 15 where it is processed and matched or not to the database stored images. The Charge Coupled Device or camera 9 typically has a field of view of 40 , but may be fitted with an alternative lens to optimise the focus and depth of field of the object to be imaged. Thus a narrow field long focus lens or a wide angle lens may be fitted as appropriate. The frame grabber 14 samples the incoming video signal at sampling intervals controlled by a pixel clock which can be generated internally in the frame grabber or transmitted from the camera 9. The frame grabber 14 may be a live mode frame grabber operable to overwrite the current image in its memory area as soon as a new image arrives or an acquisition mode frame grabber operable to wait for the start of the next image, indicated by a vertical synchronization signal, digitises the incoming image lines and stores them until the next synchronization signal is detected whereupon acquisition stops until a complete image is stored in a buffer area ready for transmission to the processing computer 15. Also forming part of the embodiment of Figure 2 are a read only - 7 memory (ROM) built-in operating system (BIOS) 16, a peripheral component interconnect (PCI) to industry standard architecture (ISA) unit 17 under the control of a controller 18, a processing computer to PCI unit 19 and an output which connects with a display unit 21 for displaying images to the crew of an aircraft and an image matching control unit 22.
The processing of the images received may include enhancing contrast, suppressing noise, emphasising specific structures, definition of one or more regions of interest, segmentation etc. Regions of interest could be specific regions within the field of view of the imaging device 9 such as one particular to flap on an entire wing being viewed. Segmentation enables a specific feature in the field of view to be broken up and specific characteristics checked against a standard for image recognition. Edges and shapes can also be recognised
within a field of view being monitored.
Alternatively the image matching unit may be an optical correlator as shown in the apparatus according to a second embodiment of the invention as illustrated in Figure 3 of the accompanying drawings. Figure 3 illustrates what is in effect a Vander Lugt Correlator (JTC) but a joint transform correlator (JTC) can be used if preferred.
The correlator in Figure 3 effectively makes use of two images namely an image from the camera 9 input at 23 or to an input spatial light modulator 24. A collimated beam is produced by a laser diode 25 and passed through a beam expander 26 to a polariser beam splitter 27 where it is combined with the input image displayed by the input spatial light modulator 24 via a half wave plate 28.
From the beam splitter 27 the beam containing the input image passes through a pair of Fourier lens 29 to a second polariser beam splitter 30 and from thence through a second half wave plate 31 to a filter spatial light modulator 32 which contains a reference image or pattern which is a computer generated interference pattern based on the desired normal operating condition of the feature being viewed. If the input image matches some or all of the reference image the interference patterns create a spot of light on a third focal plane. The position and intensity of this spot correspond directly to the viewed features position and condition and relative level of correlation to the reference image. - 8
The spot of light is reflected back from the second polariser beam splitter 30 via a second pair of Fourier lens 33 to a CCD camera 34 which provides the third focal plane. Additionally the camera 34 is the source of the reference images provided to the filter spatial light modulator 32 and a signal representative of the degree of correlation between the input image and the reference image, i.e. the matching, is outputted from the camera 34 at 35 to the display unit in the cockpit of the aircraft. Instead of providing a reference image to the spatial light modulator 32 by means of the camera 34 it is possible to store reference images holographically. This enables the image to be presented in full frame to format to the filter spatial light modulator 32 instead of being loaded into the spatial light modulator 32 line by line.
An example of operation of apparatus according to the present invention will now be described. When an aircraft having apparatus according to the present invention is on the approach path to a landing strip the pilot commands 15 degrees of flap. He does this by moving the cockpit control lever to the requisite setting which is translated into an electrical signal sent to the flight control computer. The flight control computer manages the command in a number of ways such as by enabling the drive motor associated with the flap mechanical positioning system, monitoring the position sensors on the flap mechanism to ensure that the position commanded is achieved and checks that the port and starboard flaps are set in a symmetrical balanced state. The flap is monitored by an appropriate imaging device of the apparatus of the present invention located for example as shown in the accompanying Figure 5. In the image matching unit the actual image received is compared with the reference image and if absolute correlation is achieved the apparatus of the present invention will output a true signal which can be used by the flight control system as part of its integrity check. Additionally this result is shown on the display unit in the cockpit which ensures that if the flight control system fails to correlate then the flight crew have the added advantage of being able to observe the flap position on the display unit. Additionally if there is a mismatch in the flap position from the desired position there will be a warning sounded or given visually to the crew via the display unit. - 9 -
In effect the apparatus of the present invention operates entirely automatically. Pilot interaction is only needed if a warning is given, but the apparatus will always be checking. Additionally the correlator is operable to determine the fact that motion has occurred, the direction of the motion and the terminal position of the feature being monitored. -
Claims (11)
1. Apparatus for detecting abnormal operating condition of an external feature of an aircraft, including at least one imaging device carried on the aircraft and located to view one or more external features to be monitored and output a series of images, a database for storing reference images of the monitored feature or features in normal expected conditions of operation, and an image matching unit for receiving the series of images from the at least one imaging device, for matching the received images to corresponding reference images in the database and for issuing a warning to crew of the aircraft in the event that an abnormal operating condition of the external feature is thereby detected.
2. Apparatus according to Claim 1, wherein the at least one imaging device is a camera containing a Charge Coupled Device (CCD).
3. Apparatus according to Claim 1, wherein said at least one camera is a monochrome camera.
4. Apparatus according to Claim 1, wherein said at least one camera is a colour camera.
5. Apparatus according to Claim 2, wherein the image matching unit Is digital.
6. Apparatus according to Claim 5, wherein the digital image matching unit includes an image processing computer, a frame grabber for receiving a video signal from the Charge Coupled Device, for assembling a digital image from the video signal, and for transferring at least one full frame at a time to the image processing computer where it is processed and matched or not to the database stored images.
7. Apparatus according to Claim 6, including a display unit for displaying images received from the digital image matching unit.
8. Apparatus according to Claim 2, wherein the image matching unit is an optical correlator. - 11
9 Apparatus according to Claim 8, wherein the optical correlator is a Joint Transform Correlator (JTC) or a Vander Lugt Correlator.
10. Apparatus according to Claim 9, wherein the optical Correlator Is a Vander Lugt Correlator which includes a first spatial light modulator for receiving and displaying an output image signal from the Charge Coupled Device, means for producing a collimated beam of light, a first light focusing means for receiving the collimated beam and passing it through the first spatial light modulator which operatively contains the output image signal of the external feature being viewed received from the Charge Coupled Device, a second light focusing means for receiving the beam from the input spatial light modulator and a second spatial light modulator which operatively contains a reference image of a normal operating condition of the external feature being viewed by the Charge Coupled Device, and the Correlator operating such that if the image received from the Charge Coupled Device matches at least partially a reference image a spot of light is created on a further focal plane on which the position and intensity of the spot correspond to the external feature position and relative level of correlation to the reference image.
11. Apparatus according to any one of Claims 1 to 10, wherein the database stores reference images holographically.
12 Apparatus for detecting abnormal operating condition or an external feature of an aircraft, substantially as hereinbefore described and as illustrated in Figure 2 or Figure 3 as modified or not by Figures 4 and 5 of the accompanying drawings.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0304620A GB2398771A (en) | 2003-02-28 | 2003-02-28 | Apparatus for detecting abnormal operating condition of an external feature of an aircraft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB0304620A GB2398771A (en) | 2003-02-28 | 2003-02-28 | Apparatus for detecting abnormal operating condition of an external feature of an aircraft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB0304620D0 GB0304620D0 (en) | 2003-04-02 |
| GB2398771A true GB2398771A (en) | 2004-09-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB0304620A Withdrawn GB2398771A (en) | 2003-02-28 | 2003-02-28 | Apparatus for detecting abnormal operating condition of an external feature of an aircraft |
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| Country | Link |
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| GB (1) | GB2398771A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2008003546A1 (en) * | 2006-07-05 | 2008-01-10 | Airbus Deutschland Gmbh | Method of and apparatus for monitoring the condition of structural components |
| US20090110289A1 (en) * | 2007-10-31 | 2009-04-30 | The Boeing Company | Image processing of apparatus condition |
| WO2012131105A1 (en) * | 2011-04-01 | 2012-10-04 | Latecoere | Aircraft provided with a system for observing part of the aircraft's environment |
| CN104443363A (en) * | 2013-09-25 | 2015-03-25 | 波音公司 | Apparatus and methods to operate laminar flow control doors |
| US20150193925A1 (en) * | 2014-01-09 | 2015-07-09 | The Boeing Company | System and method for determining whether an apparatus or an assembly process is acceptable |
| JP2015533109A (en) * | 2012-08-13 | 2015-11-19 | ザ・ボーイング・カンパニーＴｈｅＢｏｅｉｎｇ Ｃｏｍｐａｎｙ | Collision detection using video images |
| EP3159764A1 (en) * | 2015-10-19 | 2017-04-26 | The Boeing Company | System and method for environmental control system diagnosis and prognosis |
| US9771171B1 (en) | 2016-03-09 | 2017-09-26 | Rosemount Aerospace Inc. | Aircraft wing deformation monitoring and analysis system |
| EP2772439A3 (en) * | 2013-02-28 | 2017-12-06 | The Boeing Company | Identification of aircraft surface positions using camera images |
| EP3578944A1 (en) * | 2018-06-06 | 2019-12-11 | GE Aviation Systems Limited | Automated fault isolation of flight control surfaces and damage detection of aircraft through non-contact measurement |
| CN117171681A (en) * | 2023-11-03 | 2023-12-05 | 贵州大学 | Unmanned plane control surface intelligent fault diagnosis method and device under unbalanced small sample |
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Cited By (30)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8779943B2 (en) * | 2006-07-05 | 2014-07-15 | Airbus Operations Gmbh | Method of and apparatus for monitoring the condition of structural components |
| JP2009541878A (en) * | 2006-07-05 | 2009-11-26 | エアバス ドイチェランド ゲゼルシャフト ミット ベシュレンクテル ハフツング | Method and apparatus for monitoring the status of structural parts |
| US20090309762A1 (en) * | 2006-07-05 | 2009-12-17 | Airbus Deutschland Gmbh | Method of and Apparatus for Monitoring the Condition of Structural Components |
| WO2008003546A1 (en) * | 2006-07-05 | 2008-01-10 | Airbus Deutschland Gmbh | Method of and apparatus for monitoring the condition of structural components |
| CN101484360B (en) * | 2006-07-05 | 2013-10-23 | 空中客车营运有限公司 | Method of and apparatus for monitoring condition of structural components |
| US20090110289A1 (en) * | 2007-10-31 | 2009-04-30 | The Boeing Company | Image processing of apparatus condition |
| US8824731B2 (en) * | 2007-10-31 | 2014-09-02 | The Boeing Comapny | Image processing of apparatus condition |
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| CN104443363B (en) * | 2013-09-25 | 2018-05-08 | 波音公司 | Operate the apparatus and method of laminar flow control door |
| US9558547B2 (en) | 2014-01-09 | 2017-01-31 | The Boeing Company | System and method for determining whether an apparatus or an assembly process is acceptable |
| US20150193925A1 (en) * | 2014-01-09 | 2015-07-09 | The Boeing Company | System and method for determining whether an apparatus or an assembly process is acceptable |
| CN107010225B (en) * | 2015-10-19 | 2021-06-01 | 波音公司 | System and method for environmental control system diagnostics and prognostics |
| EP3159764A1 (en) * | 2015-10-19 | 2017-04-26 | The Boeing Company | System and method for environmental control system diagnosis and prognosis |
| US10139795B2 (en) | 2015-10-19 | 2018-11-27 | The Boeing Company | System and method for environmental control system diagnosis and prognosis |
| CN107010225A (en) * | 2015-10-19 | 2017-08-04 | 波音公司 | The system and method for diagnosing and predicting for environmental control system |
| US9771171B1 (en) | 2016-03-09 | 2017-09-26 | Rosemount Aerospace Inc. | Aircraft wing deformation monitoring and analysis system |
| EP3578944A1 (en) * | 2018-06-06 | 2019-12-11 | GE Aviation Systems Limited | Automated fault isolation of flight control surfaces and damage detection of aircraft through non-contact measurement |
| GB2574441A (en) * | 2018-06-06 | 2019-12-11 | Ge Aviation Systems Taleris Ltd | Automated fault isolation of flight control surfaces and damage detection of aircraft through non-contact measurement |
| CN110567388A (en) * | 2018-06-06 | 2019-12-13 | 通用电气航空系统有限公司 | Fault isolation and aircraft damage detection for automatic flight control surfaces by non-contact measurement |
| GB2574441B (en) * | 2018-06-06 | 2021-04-28 | Ge Aviat Systems Ltd | Automated fault isolation of flight control surfaces and damage detection of aircraft through non-contact measurement |
| US11299294B2 (en) * | 2018-06-06 | 2022-04-12 | Ge Aviation Systems Limited | Automated fault isolation of flight control surfaces and damage detection of aircraft through non-contact measurement |
| CN117171681A (en) * | 2023-11-03 | 2023-12-05 | 贵州大学 | Unmanned plane control surface intelligent fault diagnosis method and device under unbalanced small sample |
| CN117171681B (en) * | 2023-11-03 | 2024-01-30 | 贵州大学 | Unmanned plane control surface intelligent fault diagnosis method and device under unbalanced small sample |
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| GB0304620D0 (en) | 2003-04-02 |
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