CN105157708A - Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar - Google Patents
Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar Download PDFInfo
- Publication number
- CN105157708A CN105157708A CN201510653965.5A CN201510653965A CN105157708A CN 105157708 A CN105157708 A CN 105157708A CN 201510653965 A CN201510653965 A CN 201510653965A CN 105157708 A CN105157708 A CN 105157708A
- Authority
- CN
- China
- Prior art keywords
- module
- unmanned plane
- radar
- image processing
- aerial vehicle
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
Abstract
The invention discloses an unmanned aerial vehicle autonomous navigation system and method based on image processing and radar. The system comprises an unmanned aerial vehicle platform and a ground station system, wherein a GPS satellite positioning module, an image processing module, a radar system module and a hybrid control module are arranged on the unmanned aerial vehicle platform; the hybrid control module is connected with the GPS satellite positioning module, the image processing module, the radar system module, an unmanned aerial vehicle flight controller and a communication module; the image processing module comprises a high-speed camera, a camera holder unit and an image processing unit; the radar system module comprises a microwave and millimeter wave radar unit and a signal processing unit; the hybrid control module comprises an unmanned aerial vehicle high-speed embedded-type processing unit. According to the method, a sensor group, the image processing module and the radar system module periodically acquire effective information, and feed back the acquired effective information to the hybrid control module for classified processing, so that autonomous navigation of an unmanned aerial vehicle can be achieved. The system provided by the invention is advanced and high in expansibility; through adoption of the system, the autonomous navigation effect of an automated unmanned aerial vehicle can be very good.
Description
Technical field
The invention belongs to the technical field of Navigation of Pilotless Aircraft, particularly a kind of unmanned plane autonomous navigation system based on image procossing and radar and method.
Background technology
Nowadays the utilization rate of unmanned plane increases day by day, but due to the limitation of unmanned aerial vehicle platform, self cannot judge course line and flight path, and the technology that therefore really can realize independent navigation flight is little.
The method of current solution Navigation of Pilotless Aircraft has GPS navigation, the method realizing independent navigation has noctovisor scan map making method, indoor vision system navigation method, because this little method is also in laboratory study, a good solution is not applied to current unmanned plane field.
Summary of the invention
The object of the present invention is to provide a kind of safe and reliable, strain flexibly, the widely used unmanned plane autonomous navigation system based on image procossing and radar and method.
The technical solution realizing the object of the invention is: a kind of unmanned plane autonomous navigation system based on image procossing and radar, comprise unmanned aerial vehicle platform and earth station system, wherein unmanned aerial vehicle platform is provided with power system, UAV Flight Control device, communication module, UAV Flight Control device access power system, described unmanned aerial vehicle platform is also provided with gps satellite locating module, image processing module, radar system module and Hybrid mode module, Hybrid mode module respectively with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module are connected,
Described gps satellite locating module, by receiving satellite signal, determines longitude and latitude position, unmanned plane current place, for navigation provides master data; Described image processing module comprises high-speed camera, The Cloud Terrace unit and graphics processing unit; Described image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, and high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight; Described radar system module comprises microwave and millimeter wave radar cell, signal processing unit; Described radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search; Described Hybrid mode module comprises unmanned plane high speed embedded processing unit; The information of described Hybrid mode module collection image processing module and radar system module, and obtain positional information by gps satellite locating module, according to the informix disposal decision flight planning received; And Hybrid mode module can perform different offline mode, comprise low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
Further, described UAV Flight Control device comprises ultrasonic distance sensor, light stream flowmeter sensor, and described ultrasonic distance sensor, light stream flowmeter sensor are all arranged at the bottom of unmanned aerial vehicle platform, and the transmitting terminal of sensor or camera lens perpendicular alignmnet ground.
Further, described image processing module and radar system module all install the bottom of unmanned aerial vehicle platform, and being on the vertical center of gravity line of aircraft, the high-speed camera of image processing module and the microwave and millimeter wave radar cell of radar system module are all installed on the The Cloud Terrace unit of radar system module.
Further, described earth station system comprises control system, task system and supervisory system, and control system is used for real time remote and controls unmanned plane; Task system is used for arranging unmanned plane autotask, and process adjustment aircraft mission planning automatically in real time; Supervisory system is for checking the real time data of unmanned plane.
Based on a unmanned plane autonomous navigation method for image procossing and radar, comprise the following steps:
Step 1, unmanned aerial vehicle platform loads gps satellite locating module, image processing module, radar system module and Hybrid mode module, and Hybrid mode module is connected with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module respectively;
Step 2, arranges unmanned plane task by earth station system, comprises destination, performs an action, and unmanned plane takes off and executes the task, and Hybrid mode module is according to unmanned plane task setting offline mode simultaneously;
Step 3, image processing module, radar system module detect targeted environment simultaneously, and according to the result detected, coordinate the sensor group of unmanned aerial vehicle platform, control unmanned plane during flying attitude in real time by Hybrid mode module;
Step 4, according to unmanned plane task, first unmanned plane arrives GPS locating area, then according to the Search Results track lock target of radar system module, finally adopts image processing module to identify target further, completes performing an action of setting.
Further, Hybrid mode module described in step 2 is according to unmanned plane task setting offline mode, and offline mode comprises low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
Further, described in step 3, image processing module, radar system module detect targeted environment simultaneously, be specially: image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight; Radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search.
Compared with prior art, its remarkable advantage is in the present invention: (1) described unmanned plane is according to different task requirement, and its self-control system performs the program of different mode, adopts the most effective mode to finish the work; (2) self can judge course line and flight path, realize independent navigation, expansibility is strong, has good robotization unmanned plane independent navigation effect; (3) there is the feature of safe and reliable, flexible strain, have wide range of applications.
Accompanying drawing explanation
Fig. 1 is the configuration diagram of the unmanned plane autonomous navigation system that the present invention is based on image procossing and radar.
Fig. 2 is the process flow diagram of the unmanned plane autonomous navigation method that the present invention is based on image procossing and radar.
Embodiment
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Composition graphs 1, the present invention is based on the unmanned plane autonomous navigation system of image procossing and radar, comprise unmanned aerial vehicle platform and earth station system, wherein unmanned aerial vehicle platform is provided with power system, UAV Flight Control device, communication module, UAV Flight Control device access power system, described unmanned aerial vehicle platform is also provided with gps satellite locating module, image processing module, radar system module and Hybrid mode module, and Hybrid mode module is connected with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module respectively;
Described gps satellite locating module, by receiving satellite signal, determines longitude and latitude position, unmanned plane current place, for navigation provides master data; Described image processing module comprises high-speed camera, The Cloud Terrace unit and graphics processing unit; Described image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, and high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight; Described radar system module comprises microwave and millimeter wave radar cell, signal processing unit; Described radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search; Described Hybrid mode module comprises unmanned plane high speed embedded processing unit; The information of described Hybrid mode module collection image processing module and radar system module, and obtain positional information by gps satellite locating module, according to the informix disposal decision flight planning received; And Hybrid mode module can perform different offline mode, comprise low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
The high-speed camera of described image processing module adopts Gopro4Silver, is furnished with high speed SD memory card; The Cloud Terrace unit adopts and flies space MINI3D tri-axle The Cloud Terrace; Graphics processing unit adopts MK802IV as embedded processing module and the working procedure of Android operation system and OpenCV is housed; Power supply uses 12V Voltage stabilizing module.Fly space MINI The Cloud Terrace brushless electric machine and be controlled by MK802IV embedded processing module, video camera Gopro video output cable connects wireless image transmission device and MK802IV respectively.
Described radar system module comprises microwave and millimeter wave radar cell, signal processing unit; Signal processing unit adopts FPGA high speed embedded system, and its millimetre-wave radar antenna direction is consistent with camera direction, gathers range data and thingness information, and signal processing unit collects simulating signal, calculates after A/D sampling.If under target tracking pattern, the Data Comparison that need arrange with database, thus realize search objective function.
Described Hybrid mode module is the highest control module, adopt Linux embedded system as platform, it collects the mobile message of image processing module and the range information of radar module, and learns longitude and latitude positional information by gps system, carrys out overall treatment decision-making flight planning according to task.In addition have control mode switch, its pattern comprises manual remote control and controls and unmanned plane procedure auto-control.The data of flight controller collecting sensor group all hand to Hybrid mode module, and Hybrid mode module calculates current aircraft state in real time according to information, and adjusts in real time.Described image processing module, radar system module and Hybrid mode module all belong to the load of unmanned aerial vehicle platform.
Further, described UAV Flight Control device adopts the APM flight control system having GPS navigation ability, on flight control system original sensor group basis, also comprise ultrasonic distance sensor, light stream flowmeter sensor, its original sensor group comprises barometer, accelerometer, angular accelerometer, electronic compass, 6HGPS receiver, current/voltage sensor; Described ultrasonic distance sensor, light stream flowmeter sensor are all arranged at the bottom of unmanned aerial vehicle platform, and the transmitting terminal of sensor or camera lens perpendicular alignmnet ground.
Further, described image processing module and radar system module all install the bottom of unmanned aerial vehicle platform, and being on the vertical center of gravity line of aircraft, the high-speed camera of image processing module and the microwave and millimeter wave radar cell of radar system module are all installed on the The Cloud Terrace unit of radar system module.
Further, described earth station system comprises control system, task system and supervisory system, and control system is used for real time remote and controls unmanned plane; Task system is used for arranging unmanned plane autotask, and process adjustment aircraft mission planning automatically in real time; Supervisory system is for checking the real time data of unmanned plane.
Composition graphs 2, the present invention is based on the unmanned plane autonomous navigation method of image procossing and radar, comprises the following steps:
Step 1, unmanned aerial vehicle platform loads gps satellite locating module, image processing module, radar system module and Hybrid mode module, and Hybrid mode module is connected with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module respectively;
Step 2, arranges unmanned plane task by earth station system, comprises destination, performs an action, and unmanned plane takes off and executes the task, and Hybrid mode module is according to unmanned plane task setting offline mode simultaneously;
Step 3, image processing module, radar system module detect targeted environment simultaneously, and according to the result detected, coordinate the sensor group of unmanned aerial vehicle platform, control unmanned plane during flying attitude in real time by Hybrid mode module;
Step 4, according to unmanned plane task, first unmanned plane arrives GPS locating area, then according to the Search Results track lock target of radar system module, finally adopts image processing module to identify target further, completes performing an action of setting.
Further, Hybrid mode module described in step 2 is according to unmanned plane task setting offline mode, and offline mode comprises low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
Further, described in step 3, image processing module, radar system module detect targeted environment simultaneously, be specially: image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight; Radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search.
Embodiment 1
The present embodiment is for traffic hazard and follow the trail of vehicle, is described in further details the present invention.
The present invention is based on unmanned plane autonomous navigation system and the method for image procossing and radar, system comprises traffic unmanned aerial vehicle (UAV) control terminal and is distributed in the patrol unmanned plane in city; Traffic patrolling unmanned plane hardware comprises unmanned aerial vehicle platform, image processing module, radar system module and mixed control unit module, and image processing module is divided into high-speed camera Gopro camera, flies space MINI The Cloud Terrace and Android embedded MK802IV graphics processing unit module; Radar system module is divided into microwave and millimeter wave radar module, high speed FPGA signal processing module; Hybrid mode module comprises unmanned plane high speed Linux embedded processing unit and is connected with unmanned plane during flying device control module; Traffic unmanned aerial vehicle (UAV) control terminal, and can uploading instructions and download image information and unmanned plane status information by network and radar real-time follow-up locking unmanned plane.
Step 1, is assembling or Load Images processing module, radar system module and Hybrid mode module on complete unmanned aerial vehicle platform; Wherein radar antenna and video camera are all fixed on and fly on space MINI tri-axle The Cloud Terrace, and The Cloud Terrace is fixed on unmanned plane integral central place, and the data line afterwards between connection device and power lead set the firmware of all devices, and all functions can normally be run;
Step 2, by unmanned plane total system energising test, check and communication system is normally worked, if information feed back normally just can start follow-up work, after self-check program completes, UAS enters holding state;
Step 3, traffic unmanned aerial vehicle (UAV) control terminal arranges unmanned plane task, comprises destination, performs an action, trace routine, after accomplishing the setting up, executes the task, and unmanned plane is stationed area in patrol and is taken off;
Step 4, image processing module, radar system module testing environment information, according to mission planning, first by locating to GPS, the road that exterior traffic unmanned aerial vehicle (UAV) control terminal is selected and region patrol, simultaneously Hybrid mode module is according to unmanned aerial vehicle platform self-sensor device group, and image processing module, radar system module feedback data, real-time control unmanned plane during flying attitude, makes unmanned plane even running and keeps course line;
Step 5, according to mission bit stream, if run into accident, there is accident, traffic unmanned aerial vehicle (UAV) control terminal prioritizing selection controls the traffic patrolling unmanned plane nearest from spot, make to fly to dummy section on accident spot fast by GPS location, then according to radar system search coupling accident target, follow the trail of the objective after locking, and accident spot is flown in the most efficient course line of formulation, in certain distance, use image identification system more accurately to identify coupling to target, video and image document are returned traffic unmanned aerial vehicle (UAV) control terminal simultaneously; If escape without troublemaker, then do not need to follow the tracks of, perform step 7;
Step 6, if there is troublemaker to escape, according to the target information that the image information gathered and radar gather, combine and follow the trail of troublemaker, and moment passback troublemaker GPS and video image information are to traffic unmanned aerial vehicle (UAV) control terminal, traffic department then can notify the people's police joint action, efficiently solution accident.
Step 7, unmanned plane continues patrol mission after finishing the work, after task completes or electricity low, dropped near unmanned plane be stationed a little.
Claims (7)
1. the unmanned plane autonomous navigation system based on image procossing and radar, comprise unmanned aerial vehicle platform and earth station system, wherein unmanned aerial vehicle platform is provided with power system, UAV Flight Control device, communication module, UAV Flight Control device access power system, it is characterized in that, described unmanned aerial vehicle platform is also provided with gps satellite locating module, image processing module, radar system module and Hybrid mode module, Hybrid mode module respectively with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module are connected,
Described gps satellite locating module, by receiving satellite signal, determines longitude and latitude position, unmanned plane current place, for navigation provides master data;
Described image processing module comprises high-speed camera, The Cloud Terrace unit and graphics processing unit; Described image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, and high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight;
Described radar system module comprises microwave and millimeter wave radar cell, signal processing unit; Described radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search;
Described Hybrid mode module comprises unmanned plane high speed embedded processing unit; The information of described Hybrid mode module collection image processing module and radar system module, and obtain positional information by gps satellite locating module, according to the informix disposal decision flight planning received; And Hybrid mode module can perform different offline mode, comprise low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
2. the unmanned plane autonomous navigation system based on image procossing and radar according to claim 1, it is characterized in that, described UAV Flight Control device comprises ultrasonic distance sensor, light stream flowmeter sensor, described ultrasonic distance sensor, light stream flowmeter sensor are all arranged at the bottom of unmanned aerial vehicle platform, and the transmitting terminal of sensor or camera lens perpendicular alignmnet ground.
3. the unmanned plane autonomous navigation system based on image procossing and radar according to claim 1, it is characterized in that, described image processing module and radar system module all install the bottom of unmanned aerial vehicle platform, and being on the vertical center of gravity line of aircraft, the high-speed camera of image processing module and the microwave and millimeter wave radar cell of radar system module are all installed on the The Cloud Terrace unit of radar system module.
4. the unmanned plane autonomous navigation system based on image procossing and radar according to claim 1, it is characterized in that, described earth station system comprises control system, task system and supervisory system, and control system is used for real time remote and controls unmanned plane; Task system is used for arranging unmanned plane autotask, and process adjustment aircraft mission planning automatically in real time; Supervisory system is for checking the real time data of unmanned plane.
5., based on a unmanned plane autonomous navigation method for image procossing and radar, it is characterized in that, comprise the following steps:
Step 1, unmanned aerial vehicle platform loads gps satellite locating module, image processing module, radar system module and Hybrid mode module, and Hybrid mode module is connected with gps satellite locating module, image processing module, radar system module, UAV Flight Control device and communication module respectively;
Step 2, arranges unmanned plane task by earth station system, comprises destination, performs an action, and unmanned plane takes off and executes the task, and Hybrid mode module is according to unmanned plane task setting offline mode simultaneously;
Step 3, image processing module, radar system module detect targeted environment simultaneously, and according to the result detected, coordinate the sensor group of unmanned aerial vehicle platform, control unmanned plane during flying attitude in real time by Hybrid mode module;
Step 4, according to unmanned plane task, first unmanned plane arrives GPS locating area, then according to the Search Results track lock target of radar system module, finally adopts image processing module to identify target further, completes performing an action of setting.
6. the unmanned plane autonomous navigation method based on image procossing and radar according to claim 5, it is characterized in that, Hybrid mode module described in step 2 is according to unmanned plane task setting offline mode, and offline mode comprises low-latitude flying pattern, high-altitude flight pattern, hover mode, tracing mode.
7. the unmanned plane autonomous navigation method based on image procossing and radar according to claim 5, it is characterized in that, described in step 3, image processing module, radar system module detect targeted environment simultaneously, be specially: image processing module makes it keep stable by The Cloud Terrace unit controls high-speed camera, high-speed camera collects image information and input picture processing unit, and graphics processing unit carries out object matching tracking and realizes unmanned plane tracking flight; Radar system module detects surrounding terrain by microwave and millimeter wave radar cell, and detectable signal input signal processing unit is carried out target search.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653965.5A CN105157708A (en) | 2015-10-10 | 2015-10-10 | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510653965.5A CN105157708A (en) | 2015-10-10 | 2015-10-10 | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105157708A true CN105157708A (en) | 2015-12-16 |
Family
ID=54798649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510653965.5A Pending CN105157708A (en) | 2015-10-10 | 2015-10-10 | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105157708A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105551280A (en) * | 2016-03-09 | 2016-05-04 | 武汉博感空间科技有限公司 | Unmanned aerial vehicle traffic signal indicating system |
| CN105676870A (en) * | 2016-01-18 | 2016-06-15 | 国家基础地理信息中心 | Photo control point information collecting method and system based on unmanned plane |
| CN105721751A (en) * | 2016-03-28 | 2016-06-29 | 中国人民解放军第三军医大学第三附属医院 | Method for collecting information of night traffic accident scene |
| CN105809687A (en) * | 2016-03-08 | 2016-07-27 | 清华大学 | Monocular vision ranging method based on edge point information in image |
| CN106054737A (en) * | 2016-07-19 | 2016-10-26 | 陈昊 | Photosensitive sensor-based unmanned aerial vehicle visual recognition device and using method thereof |
| CN106354157A (en) * | 2016-11-28 | 2017-01-25 | 深圳明创自控技术有限公司 | Autonomous flight system of unmanned aerial vehicle |
| CN106584516A (en) * | 2016-11-01 | 2017-04-26 | 河池学院 | Intelligent photographing robot for tracing specified object |
| CN107087435A (en) * | 2016-09-27 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic installation and flight control system |
| CN107094245A (en) * | 2017-06-05 | 2017-08-25 | 北京天承遥感科技有限公司 | A kind of artificial intelligence unmanned plane city management target identification and alarm supplying system |
| CN107148777A (en) * | 2016-10-26 | 2017-09-08 | 深圳前海达闼云端智能科技有限公司 | Intelligent patrol device, cloud control device, patrol method, control method, robot, controller, and non-transitory computer-readable storage medium |
| CN107200130A (en) * | 2017-04-19 | 2017-09-26 | 江苏大学 | A kind of brainpower insufflation agricultural chemicals aircraft and method |
| CN107291092A (en) * | 2017-06-15 | 2017-10-24 | 上海工程技术大学 | A kind of air-ground coordination UAS of WiFi supports |
| CN107290960A (en) * | 2017-06-19 | 2017-10-24 | 江西洪都航空工业集团有限责任公司 | A kind of intelligence multiple control system of large-scale intelligent grass-removing robot |
| CN107784841A (en) * | 2017-11-22 | 2018-03-09 | 成都大学 | Traffic monitoring system and monitoring method based on aircraft |
| WO2018072509A1 (en) * | 2016-10-19 | 2018-04-26 | 广东容祺智能科技有限公司 | Automatic obstacle-avoidance navigation system and method for unmanned aerial vehicle |
| CN108062108A (en) * | 2017-12-11 | 2018-05-22 | 郑宏远 | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer |
| CN108572380A (en) * | 2017-06-17 | 2018-09-25 | 苏州博田自动化技术有限公司 | A kind of air navigation aid and its application based on satellite navigation and vision guided navigation |
| CN108627152A (en) * | 2018-04-25 | 2018-10-09 | 珠海全志科技股份有限公司 | A kind of air navigation aid of the miniature drone based on Fusion |
| CN108803633A (en) * | 2018-07-25 | 2018-11-13 | 安康学院 | A kind of unmanned plane low latitude monitoring system based on mobile communications network |
| CN109186553A (en) * | 2018-08-15 | 2019-01-11 | 上海海洋大学 | Tuna seine detection of fish school tracing system and method based on unmanned air vehicle technique |
| CN109238240A (en) * | 2018-10-22 | 2019-01-18 | 武汉大势智慧科技有限公司 | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain |
| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
| CN112556691A (en) * | 2020-11-26 | 2021-03-26 | 广东工业大学 | Unmanned aerial vehicle autonomous navigation and temperature measurement system and method based on relative distance and displacement measurement value |
| CN113716048A (en) * | 2021-07-22 | 2021-11-30 | 北京航空航天大学 | Taking-off and landing method for floating type air mobile airport platform carrying fixed-wing aircraft |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080215204A1 (en) * | 2006-12-06 | 2008-09-04 | Mercury Computer Systems, Inc. | Methods, apparatus and systems for enhanced synthetic vision and multi-sensor data fusion to improve operational capabilities of unmanned aerial vehicles |
| CN101667032A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN102707724A (en) * | 2012-06-05 | 2012-10-03 | 清华大学 | Visual localization and obstacle avoidance method and system for unmanned plane |
| CN103744429A (en) * | 2013-02-07 | 2014-04-23 | 山东英特力光通信开发有限公司 | Flight control system of small unmanned helicopter |
| CN104076817A (en) * | 2014-06-18 | 2014-10-01 | 北京计算机技术及应用研究所 | High-definition video aerial photography multimode sensor self-outer-sensing intelligent navigation system and method |
| CN104950906A (en) * | 2015-06-15 | 2015-09-30 | 中国人民解放军国防科学技术大学 | Unmanned aerial vehicle remote measuring and control system and method based on mobile communication network |
-
2015
- 2015-10-10 CN CN201510653965.5A patent/CN105157708A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080215204A1 (en) * | 2006-12-06 | 2008-09-04 | Mercury Computer Systems, Inc. | Methods, apparatus and systems for enhanced synthetic vision and multi-sensor data fusion to improve operational capabilities of unmanned aerial vehicles |
| CN101667032A (en) * | 2008-09-03 | 2010-03-10 | 中国科学院自动化研究所 | Vision-based target tracking system using unmanned helicopter |
| CN102707724A (en) * | 2012-06-05 | 2012-10-03 | 清华大学 | Visual localization and obstacle avoidance method and system for unmanned plane |
| CN103744429A (en) * | 2013-02-07 | 2014-04-23 | 山东英特力光通信开发有限公司 | Flight control system of small unmanned helicopter |
| CN104076817A (en) * | 2014-06-18 | 2014-10-01 | 北京计算机技术及应用研究所 | High-definition video aerial photography multimode sensor self-outer-sensing intelligent navigation system and method |
| CN104950906A (en) * | 2015-06-15 | 2015-09-30 | 中国人民解放军国防科学技术大学 | Unmanned aerial vehicle remote measuring and control system and method based on mobile communication network |
Cited By (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105676870A (en) * | 2016-01-18 | 2016-06-15 | 国家基础地理信息中心 | Photo control point information collecting method and system based on unmanned plane |
| CN105676870B (en) * | 2016-01-18 | 2018-08-21 | 国家基础地理信息中心 | A kind of photo control point information collecting method and system based on unmanned plane |
| CN105809687A (en) * | 2016-03-08 | 2016-07-27 | 清华大学 | Monocular vision ranging method based on edge point information in image |
| CN105809687B (en) * | 2016-03-08 | 2019-09-27 | 清华大学 | A kind of monocular vision ranging method based on point information in edge in image |
| CN105551280A (en) * | 2016-03-09 | 2016-05-04 | 武汉博感空间科技有限公司 | Unmanned aerial vehicle traffic signal indicating system |
| CN105721751A (en) * | 2016-03-28 | 2016-06-29 | 中国人民解放军第三军医大学第三附属医院 | Method for collecting information of night traffic accident scene |
| CN106054737A (en) * | 2016-07-19 | 2016-10-26 | 陈昊 | Photosensitive sensor-based unmanned aerial vehicle visual recognition device and using method thereof |
| CN107087435A (en) * | 2016-09-27 | 2017-08-22 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic installation and flight control system |
| WO2018058309A1 (en) * | 2016-09-27 | 2018-04-05 | 深圳市大疆创新科技有限公司 | Control method, control device, electronic device, and aerial vehicle control system |
| WO2018072509A1 (en) * | 2016-10-19 | 2018-04-26 | 广东容祺智能科技有限公司 | Automatic obstacle-avoidance navigation system and method for unmanned aerial vehicle |
| CN107148777A (en) * | 2016-10-26 | 2017-09-08 | 深圳前海达闼云端智能科技有限公司 | Intelligent patrol device, cloud control device, patrol method, control method, robot, controller, and non-transitory computer-readable storage medium |
| CN107148777B (en) * | 2016-10-26 | 2019-11-08 | 深圳前海达闼云端智能科技有限公司 | Intelligent patrol equipment, cloud control device, patrol method and control method |
| CN106584516A (en) * | 2016-11-01 | 2017-04-26 | 河池学院 | Intelligent photographing robot for tracing specified object |
| CN106354157A (en) * | 2016-11-28 | 2017-01-25 | 深圳明创自控技术有限公司 | Autonomous flight system of unmanned aerial vehicle |
| CN106354157B (en) * | 2016-11-28 | 2019-05-14 | 中山市昌源模型有限公司 | A kind of unmanned plane autonomous flight system |
| CN107200130A (en) * | 2017-04-19 | 2017-09-26 | 江苏大学 | A kind of brainpower insufflation agricultural chemicals aircraft and method |
| CN107200130B (en) * | 2017-04-19 | 2024-03-22 | 江苏大学 | Intelligent pesticide spraying aircraft and method |
| CN107094245A (en) * | 2017-06-05 | 2017-08-25 | 北京天承遥感科技有限公司 | A kind of artificial intelligence unmanned plane city management target identification and alarm supplying system |
| CN107291092A (en) * | 2017-06-15 | 2017-10-24 | 上海工程技术大学 | A kind of air-ground coordination UAS of WiFi supports |
| CN108572380A (en) * | 2017-06-17 | 2018-09-25 | 苏州博田自动化技术有限公司 | A kind of air navigation aid and its application based on satellite navigation and vision guided navigation |
| CN108572380B (en) * | 2017-06-17 | 2022-02-08 | 苏州博田自动化技术有限公司 | Navigation method based on satellite navigation and visual navigation and application thereof |
| CN107290960A (en) * | 2017-06-19 | 2017-10-24 | 江西洪都航空工业集团有限责任公司 | A kind of intelligence multiple control system of large-scale intelligent grass-removing robot |
| CN107784841A (en) * | 2017-11-22 | 2018-03-09 | 成都大学 | Traffic monitoring system and monitoring method based on aircraft |
| CN108062108A (en) * | 2017-12-11 | 2018-05-22 | 郑宏远 | A kind of intelligent multi-rotor unmanned aerial vehicle and its implementation based on airborne computer |
| CN108627152A (en) * | 2018-04-25 | 2018-10-09 | 珠海全志科技股份有限公司 | A kind of air navigation aid of the miniature drone based on Fusion |
| CN108803633A (en) * | 2018-07-25 | 2018-11-13 | 安康学院 | A kind of unmanned plane low latitude monitoring system based on mobile communications network |
| CN109186553A (en) * | 2018-08-15 | 2019-01-11 | 上海海洋大学 | Tuna seine detection of fish school tracing system and method based on unmanned air vehicle technique |
| CN109238240B (en) * | 2018-10-22 | 2021-01-08 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle oblique photography method considering terrain and photography system thereof |
| CN109238240A (en) * | 2018-10-22 | 2019-01-18 | 武汉大势智慧科技有限公司 | A kind of unmanned plane oblique photograph method that taking landform into account and its camera chain |
| CN109634297A (en) * | 2018-12-18 | 2019-04-16 | 辽宁壮龙无人机科技有限公司 | A kind of multi-rotor unmanned aerial vehicle and control method based on light stream sensor location navigation |
| CN112556691A (en) * | 2020-11-26 | 2021-03-26 | 广东工业大学 | Unmanned aerial vehicle autonomous navigation and temperature measurement system and method based on relative distance and displacement measurement value |
| CN112556691B (en) * | 2020-11-26 | 2022-08-02 | 广东工业大学 | Method for unmanned aerial vehicle autonomous navigation and temperature measurement system |
| CN113716048A (en) * | 2021-07-22 | 2021-11-30 | 北京航空航天大学 | Taking-off and landing method for floating type air mobile airport platform carrying fixed-wing aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105157708A (en) | Unmanned aerial vehicle autonomous navigation system and method based on image processing and radar | |
| CN109923492B (en) | Flight path determination | |
| CN111045444B (en) | Adaptive sensing and avoidance system | |
| EP3729227B1 (en) | Image based localization for unmanned aerial vehicles, and associated systems and methods | |
| CN104015931B (en) | Vision localization, measurement and control method, system and experimental platform for automatic refueling dead zone of unmanned aerial vehicle | |
| US10775786B2 (en) | Method and system for emulating modular agnostic control of commercial unmanned aerial vehicles (UAVS) | |
| CN103592948B (en) | Unmanned plane flight collision avoidance method | |
| CN107272742A (en) | A kind of navigation control method of unmanned aerial vehicle group work compound | |
| CN105182992A (en) | Unmanned aerial vehicle control method and device | |
| Luo et al. | A survey of intelligent transmission line inspection based on unmanned aerial vehicle | |
| CN110679584B (en) | Automatic bird repelling device and method | |
| CN104808682A (en) | Small rotor unmanned aerial vehicle autonomous obstacle avoidance flight control system and control method | |
| CN107289953A (en) | A kind of navigation control method of unmanned aerial vehicle group | |
| CN102654940A (en) | Traffic information acquisition system based on unmanned aerial vehicle and processing method of traffic information acquisition system | |
| WO2016201359A1 (en) | A low altitude aircraft identification system | |
| KR101701397B1 (en) | vehicle control method using unmanned vehicle and system | |
| KR20160072425A (en) | Drone monitoring and control system | |
| CN106325300A (en) | Remote condition monitoring and controlling system of unmanned aerial vehicle based on GSM-4G communication | |
| US20210043094A1 (en) | Air position information and traffic management system for unmanned and manned aircraft | |
| Clothier et al. | The smart skies project | |
| CN110806230A (en) | Ecological environment monitoring method based on unmanned aerial vehicle | |
| CN104539906A (en) | Image/laser ranging/ABS-B monitoring integrated system | |
| CN114867988A (en) | Map comprising data for determining a route for an aircraft during a GNSS fault | |
| CN110647170A (en) | Navigation mark inspection device and method based on unmanned aerial vehicle | |
| KR102025687B1 (en) | Autonomous flight system using dual GPS and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20151216 |