CN106494621B - Complicated landform unmanned plane detection system and its detection method - Google Patents
Complicated landform unmanned plane detection system and its detection method Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
Complicated landform unmanned plane detection system, including measurement unmanned plane, target unmanned plane and ground laser orientation system；Ground laser orientation system includes reference laser transmitting position indicator and target laser transmitting position indicator, and reference laser emits position indicator and is used cooperatively with first laser reception calibration system, and target laser transmitting position indicator receives calibration system with second laser and is used cooperatively.The invention also discloses the detection methods of complicated landform unmanned plane detection system.The present invention is measured using aerial unmanned plane, applied widely, is had great advantage in complicated landform measurement tool.The present invention is measured using aerial unmanned plane and is sent with real time data, and measurement data is high-efficient, easy to operate.Unmanned plane is applied on topographic survey by the present invention, scientific in principle, strong real-time, and unfavorable terrain bring can be overcome to adversely affect, to provide convenience in real work.
Description
Technical field
The invention belongs to engineering measuring technology field more particularly to a kind of complicated landform unmanned plane detection system and its detections
Method.
Background technique
Ground total station measures landform and building etc. and has evolved to mature stage, but faces mountain area, valley
Etc. complicated landforms, survey crew can encounter the insoluble predicament of ground total station survey, by unmanned plane measuring system and
Target system realizes that aerial survety fine can must solve this technical problem, has very strong practical value, unmanned plane can
It is flown with providing the either high-precision fixed point of hovering well by flight controller, airborne clouds terrace system can provide well
Stability makes measuring device steady, and measurement result is more accurate credible, and the unmanned function of target preferably mitigates the burden of personnel,
Unnecessary accident is avoided to occur.
Summary of the invention
The present invention provides one kind and adapts to complicated landform measurement height, side to solve shortcoming in the prior art
Information such as parallactic angle, distance and convenient for operation, the accurate complicated landform unmanned plane detection system of measurement result and its detection method.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：Complicated landform unmanned plane detection system, including
Measure unmanned plane, target unmanned plane and ground laser orientation system；
Measuring unmanned plane includes 6 the first rotors, 6 the first brushless motors, 6 first supports, the first undercarriage, measurement
Camera, stable holder, the first data acquisition emitter, the first signal receiver, the first upper cover plate, the first lower cover plate, first
Flight controller, the first power-supply system, first laser receive calibration system and first laser altitude meter；First lower cover plate level is set
It sets and rises and falls top of the trellis first, the inner end bottom of 6 first supports is uniformly fixed along the center of the first lower cover plate by circular array
On the first lower cover plate, the first upper cover lower surface is fixed to be located at the top of the inner end of 6 first supports, 6 the first brushless motors
The fixed outer end top for being located at a first support is respectively corresponded, the main shaft of the first brushless motor is arranged vertically upward, and 6 first
Rotor is connected respectively in the main shaft upper end of the first brushless motor；Stablize holder is arranged in immediately below the first lower cover plate first
On undercarriage, measurement camera is located at stable holder lower part, and first laser altitude meter is located at measurement camera bottom, the first flight
Controller, the first power-supply system and first laser receive calibration system and are installed between the first upper cover plate and the first lower cover plate,
First data acquisition emitter and the first signal receiver are both connected on the first flight controller, the first data acquisition emitter
It is higher than the first upper cover plate with the upper end of the first signal receiver；
Target unmanned plane includes 6 the second rotors, 6 the second brushless motors, 6 second supports, the second undercarriage, target
Prism, target holder, the second data acquisition emitter, second signal receiver, the second upper cover plate, the second lower cover plate, second flies
Line control unit, second source system, second laser receive calibration system and second laser altitude meter；Second lower cover plate is horizontally disposed
At the top of the second undercarriage, the inner end bottom of 6 second supports is uniformly fixed on along the center of the second lower cover plate by circular array
On second lower cover plate, the second upper cover lower surface is fixed to be located at the top of the inner end of 6 second supports, 6 the second brushless motors point
The outer end top for being located at a second support Dui Ying not be fixed, the main shaft of the second brushless motor is arranged vertically upward, 6 second rotations
The wing is connected respectively in the main shaft upper end of the second brushless motor；Second immediately below the second lower cover plate is arranged in target holder
It falls on frame, target prism is located at target holder lower part, and second laser altitude meter is located at target prism bottom, the second flight control
Device, second source system and second laser receive calibration system and are installed between the second upper cover plate and the second lower cover plate, and second
Data acquisition emitter and second signal receiver are both connected on the second flight controller, the second data acquisition emitter and
The upper end of binary signal receiver is higher than the second upper cover plate；
Ground laser orientation system includes reference laser transmitting position indicator and target laser transmitting position indicator, reference laser hair
It penetrates position indicator to be used cooperatively with first laser reception calibration system, target laser emits position indicator and second laser receives to calibrate and is
System is used cooperatively.
The detection method of complicated landform unmanned plane detection system, includes the following steps：
（1）Assembling measurement unmanned plane and target unmanned plane；
（2）Reference laser transmitting position indicator is installed into corresponding known position on the ground, it is fixed that target laser is emitted
Position instrument is mounted on the place for needing to measure；
（3）Starting measurement unmanned plane and target unmanned plane, the first signal receiver and second signal receiver receive respectively
Ground remote control signal is instructed, and instruction is transferred to the first flight controller and the second flight controller respectively, and first flies
Line control unit and the second flight controller adjust the revolving speed of the first brushless motor and the second brushless motor according to flight progress respectively,
The information of flight carries out data storage by the first data acquisition emitter and the second data acquisition emitter and is real-time transmitted to
Ground, measures unmanned plane and target unmanned plane is raised in the air, and measurement unmanned plane and reference laser transmitting position indicator are vertical right up and down
It answers, target unmanned plane and target laser transmitting position indicator are vertical corresponding up and down；
（4）Unmanned plane and target unmanned plane to be measured is hovered in the sky after stabilization, and first laser altitude meter measures and base
The distance between quasi- Laser emission position indicator H1, second laser altitude meter, which is measured, emits the distance between position indicator with target laser
H2, measurement camera bornb sight prism measure, by the reflected light of target prism can be obtained unmanned plane to be measured and
The distance between target unmanned plane L, passes through H1、H2And the numerical value of L can be obtained measurement camera and target prism between line with
Height, the side in the place at target laser transmitting position indicator just can be obtained finally by automatic conversion for angle between horizontal plane
Parallactic angle, range information complete the information collection of measurement point；
（5）After measurement, unmanned plane and the landing recycling of target unmanned plane are measured.
Step（1）It is middle measurement unmanned plane assembling process be specially：6 the first rotor correspondences are installed to 6 the first nothings
On the main shaft of brush motor, then 6 the first brushless motors are assembled in 6 first supports, by the first flight controller, first
Power-supply system and first laser receive calibration system and are assembled between the first upper cover plate and the first lower cover plate, then by 6 first
Bracket is assembled with the first upper cover plate, the first lower cover plate and the first undercarriage, and then carry is steady below the first undercarriage
Determine holder, measurement camera and first laser altitude meter, the assembling of measurement unmanned plane is completed with this.
Step（1）The assembling process of middle target unmanned plane is specially：6 the second rotor correspondences are installed to 6 the second nothings
On the main shaft of brush motor, then 6 the second brushless motors are assembled in 6 second supports, by the second flight controller, second
Power-supply system and second laser receive calibration system and are assembled between the second upper cover plate and the second lower cover plate, then by 6 second
Bracket is assembled with the second upper cover plate, the second lower cover plate and the second undercarriage, then the carry target below the second undercarriage
Holder, target prism and second laser altitude meter are marked, the assembling of target unmanned plane is completed with this.
By adopting the above technical scheme, unmanned plane and target unmanned plane is measured to fly by receiving ground remote control signal and instruct
Row, flight course are supplied respectively to the first brushless motor and the second brushless motor electricity by the first power-supply system and second source system
Can, it drives the first rotor and the second rotor wing rotation to provide flight lift, measures the flight stability of unmanned plane and target unmanned plane
It is controlled respectively by the first flight controller and the second flight controller with quick response, measures camera to target prism
After the information such as progress angle, distance, height measure, by the first data acquisition emitter and the second data acquisition emitter point
Storage is not carried out and is sent to ground in real time.
Reference laser transmitting position indicator and target laser transmitting position indicator are placed in selected target position, to measure unmanned plane
Position positioning is provided with target unmanned plane, guarantees the position precision of measurement unmanned plane and target unmanned plane.
Measurement unmanned plane projects reference position known to ground in the air, in the sky to the height of target point, distance and side
Parallactic angle measures, and can carry out appropriate adjustment according to actual landform, eliminate sight interference, the unfavorable factors such as terrain obstruction.
Target unmanned plane stablizes high-precision positioning to need the point that measures to provide, and measures for measuring system, can be with
Appropriate adjustment is carried out according to actual landform, eliminates sight interference, the unfavorable factors such as terrain obstruction.
Ground laser orientation system provides reference by location for aerial survety unmanned plane and target unmanned plane, and guarantee measures nobody
The position precision that machine and target unmanned plane hover in the sky.
In conclusion the present invention is measured using aerial unmanned plane, and it is applied widely, have very in complicated landform measurement
Big advantage.The present invention is measured using aerial unmanned plane and is sent with real time data, and measurement data is high-efficient, easy to operate.This
Unmanned plane is applied on topographic survey by invention, scientific in principle, strong real-time, and unfavorable terrain bring can be overcome to adversely affect,
To provide convenience in real work.
Detailed description of the invention
Fig. 1 is whole structural schematic diagram of the invention；
Fig. 2 is the enlarged drawing that unmanned plane is measured in Fig. 1；
Fig. 3 is the explosive view that unmanned plane is measured in the present invention；
Fig. 4 is the enlarged drawing of target unmanned plane in Fig. 1.
Specific embodiment
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, complicated landform unmanned plane detection system complicated landform unmanned plane of the invention is visited
Examining system, including measurement unmanned plane 30, target unmanned plane 31 and ground laser orientation system.
Measuring unmanned plane 30 includes 6 the first rotors 1,6 the first brushless motor 2,6 first supports 3, the first undercarriages
4, it measures camera 5, stablize holder 6, the first data acquisition emitter 7, the first signal receiver 8, the first upper cover plate 9, first
Lower cover plate 10, the first flight controller 11, the first power-supply system 12, first laser receive calibration system 13 and first laser surveys height
Instrument 32；First lower cover plate 10 is horizontally set on 4 top of the first undercarriage, and the inner end bottom of 6 first supports 3 is along the first lower cover plate
10 center is uniformly fixed on the first lower cover plate 10 by circular array, and the fixation of 9 lower surface of the first upper cover plate is located at 6 first
At the top of the inner end of frame 3,6 the first brushless motors 2 respectively correspond the fixed outer end top for being located at a first support 3, the first nothing
The main shaft of brush motor 2 is arranged vertically upward, and 6 the first rotors 1 are connected respectively in the main shaft upper end of the first brushless motor 2；
Stablize on the first undercarriage 4 that holder 6 is arranged in immediately below the first lower cover plate 10, measurement camera 5 is located under stable holder 6
Portion, first laser altitude meter 32 are located at measurement 5 bottom of camera, the first flight controller 11, the first power-supply system 12 and first
Laser pick-off calibration system 13 is installed between the first upper cover plate 9 and the first lower cover plate 10,7 He of the first data acquisition emitter
First signal receiver 8 is both connected on the first flight controller 11, the first data acquisition emitter 7 and the first signal receiver
8 upper end is higher than the first upper cover plate 9.
Target unmanned plane 31 includes 6 the second rotors, 14,6 second supports 16, second of the second brushless motor 15,6
Fall frame 17, target prism 18, target holder 19, the second data acquisition emitter 21, second signal receiver 22, the second upper cover plate
23, the second lower cover plate 24, the second flight controller 25, second source system 26, second laser receive calibration system and second and swash
Light altitude meter 20；Second lower cover plate 24 is horizontally set on the top of the second undercarriage 17, and the inner end bottoms of 6 second supports 16 is along the
The center of two lower cover plates 24 is uniformly fixed on the second lower cover plate 24 by circular array, and the fixation of 23 lower surface of the second upper cover plate is located at
At the top of the inner end of 6 second supports 16,6 the second brushless motors 15 respectively correspond the fixed outer end for being located at a second support 16
The main shaft on top, the second brushless motor 15 is arranged vertically upward, and 6 the second rotors 14 are connected respectively in the second brushless motor
15 main shaft upper end；Target holder 19 is arranged on the second undercarriage 17 immediately below the second lower cover plate 24, and target prism 18 is set
In 19 lower part of target holder, second laser altitude meter 20 is located at 18 bottom of target prism, the second flight controller 25, second source
System 26 and second laser receive calibration system and are installed between the second upper cover plate 23 and the second lower cover plate 24, and the second data are adopted
Collection transmitter 21 and second signal receiver 22 are both connected on the second flight controller 25,21 He of the second data acquisition emitter
The upper end of second signal receiver 22 is higher than the second upper cover plate 23.
Ground laser orientation system includes reference laser transmitting position indicator 28 and target laser transmitting position indicator 29, and benchmark swashs
Light emitting position indicator 28 receives calibration system 13 with first laser and is used cooperatively, and target laser emits position indicator 29 and second laser
Calibration system is received to be used cooperatively.
The detection method of complicated landform unmanned plane detection system, includes the following steps：
（1）Assembling measurement unmanned plane 30 and target unmanned plane 31；
（2）Reference laser transmitting position indicator 28 is installed into corresponding known position on the ground, target laser is emitted
Position indicator 29 is mounted on the place for needing to measure；
（3）Starting measurement unmanned plane 30 and target unmanned plane 31, the first signal receiver 8 and second signal receiver 22 divide
Not Jie Shou ground remote control signal instructed, and by instruction be transferred to the first flight controller 11 and the second flight controller respectively
25, the first flight controller 11 and the second flight controller 25 adjust the first brushless motor 2 and second according to flight progress respectively
The information of the revolving speed of brushless motor 15, flight is carried out by the first data acquisition emitter 7 and the second data acquisition emitter 21
Data store and are real-time transmitted to ground, measure unmanned plane 30 and target unmanned plane 31 is raised in the air, measure unmanned plane 30 and base
Quasi- about 28 Laser emission position indicator is vertically corresponding, and target unmanned plane 31 and target laser about 29 position indicator of transmitting are vertical right
It answers；
（4）Unmanned plane 30 and target unmanned plane 31 to be measured are hovered in the sky after stabilization, measure 5 bornb sight of camera
Prism 18 measures, and height, the azimuth, range information of target prism 18 can be obtained, finally by target unmanned plane 31
Stablize skyborne height to convert, obtains the height, the azimuth, range information that need the place measured, complete measurement point
Information collection；
Unmanned plane 30 and target unmanned plane 31 to be measured in the sky hovering stablize after, first laser altitude meter 32 measure with
Reference laser emits the distance between position indicator 28 H1, second laser altitude meter 20 measure with target laser transmitting position indicator 29 it
Between distance H2, measurement 5 bornb sight prism 18 of camera measure, by the reflected light of target prism 18 can be obtained to
The distance between unmanned plane 30 and target unmanned plane 31 L are measured, H is passed through1、H2With the numerical value of L can be obtained measurement camera 5 with
Target laser transmitting positioning just can be obtained finally by automatic conversion in angle between target prism 18 between line and horizontal plane
The height in the place at instrument 29, azimuth, range information complete the information collection of measurement point
（5）After measurement, unmanned plane 30 and the landing recycling of target unmanned plane 31 are measured.
Step（1）It is middle measurement unmanned plane 30 assembling process be specially：6 the first rotor 1 correspondences are installed to 6 first
On the main shaft of brushless motor 2, then 6 the first brushless motors 2 are assembled in 6 first supports 3, by the first flight controller
11, the first power-supply system 12 and first laser receive calibration system 13 and are assembled between the first upper cover plate 9 and the first lower cover plate 10,
Then 6 first supports 3 and the first upper cover plate 9, the first lower cover plate 10 and the first undercarriage 4 are assembled, then
One undercarriage, 4 lower section carry stablizes holder 6, measurement camera 5 and first laser altitude meter 32, completes measurement unmanned plane with this
30 assembling.
Step（1）The assembling process of middle target unmanned plane 31 is specially：6 the are installed to by 6 the second rotors 14 are corresponding
On the main shaft of two brushless motors 15, then 6 the second brushless motors 15 are assembled in 6 second supports 16, by the second flight
Controller 25, second source system 26 and second laser receive calibration system and are assembled in the second upper cover plate 23 and the second lower cover plate 24
Between, then 6 second supports 16 and the second upper cover plate 23, the second lower cover plate 24 and the second undercarriage 17 are assembled,
Then carry target holder 19, target prism 18 and second laser altitude meter 20 below the second undercarriage 17, are completed with this
The assembling of target unmanned plane 31.
The present embodiment not makes any form of restriction shape of the invention, material, structure etc., all according to this hair
Bright technical spirit any simple modification, equivalent change and modification to the above embodiments, belong to the technology of the present invention side
The protection scope of case.
Claims (4)
1. complicated landform unmanned plane detection system, it is characterised in that：It is fixed including measurement unmanned plane, target unmanned plane and ground laser
Position system；
Measuring unmanned plane includes 6 the first rotors, 6 the first brushless motors, 6 first supports, the first undercarriage, measurement camera shooting
Head stablizes holder, the first data acquisition emitter, the first signal receiver, the first upper cover plate, the first lower cover plate, the first flight
Controller, the first power-supply system, first laser receive calibration system and first laser altitude meter；First lower cover plate is horizontally set on
First rises and falls top of the trellis, and the inner end bottom of 6 first supports is uniformly fixed on along the center of the first lower cover plate by circular array
On one lower cover plate, the first upper cover lower surface is fixed to be located at the top of the inner end of 6 first supports, 6 the first brushless motor difference
The corresponding fixed outer end top for being located at a first support, the main shaft of the first brushless motor are arranged vertically upward, 6 the first rotors
It is connected respectively in the main shaft upper end of the first brushless motor；Stablize holder is arranged in immediately below the first lower cover plate first to rise and fall
On frame, measurement camera is located at stable holder lower part, and first laser altitude meter is located at measurement camera bottom, the first flight control
Device, the first power-supply system and first laser receive calibration system and are installed between the first upper cover plate and the first lower cover plate, and first
Data acquisition emitter and the first signal receiver are both connected on the first flight controller, the first data acquisition emitter and
The upper end of one signal receiver is higher than the first upper cover plate；
Target unmanned plane includes 6 the second rotors, 6 the second brushless motors, 6 second supports, the second undercarriage, target rib
Mirror, target holder, the second data acquisition emitter, second signal receiver, the second upper cover plate, the second lower cover plate, the second flight
Controller, second source system, second laser receive calibration system and second laser altitude meter；Second lower cover plate is horizontally set on
At the top of second undercarriage, the inner end bottom of 6 second supports is uniformly fixed on the along the center of the second lower cover plate by circular array
On two lower cover plates, the second upper cover lower surface is fixed to be located at the top of the inner end of 6 second supports, 6 the second brushless motor difference
The corresponding fixed outer end top for being located at a second support, the main shaft of the second brushless motor are arranged vertically upward, 6 the second rotors
It is connected respectively in the main shaft upper end of the second brushless motor；What target holder was arranged in immediately below the second lower cover plate second rises and falls
On frame, target prism is located at target holder lower part, and second laser altitude meter is located at target prism bottom, the second flight controller,
Second source system and second laser receive calibration system and are installed between the second upper cover plate and the second lower cover plate, the second data
Acquisition transmitter and second signal receiver are both connected on the second flight controller, the second data acquisition emitter and the second letter
The upper end of number receiver is higher than the second upper cover plate；
Ground laser orientation system includes reference laser transmitting position indicator and target laser transmitting position indicator, and reference laser transmitting is fixed
Position instrument receives calibration system with first laser and is used cooperatively, and target laser emits position indicator and matches with second laser reception calibration system
It closes and uses.
2. the detection method of complicated landform unmanned plane detection system according to claim 1, it is characterised in that：Including following
Step：
（1）Assembling measurement unmanned plane and target unmanned plane；
（2）Reference laser transmitting position indicator is installed into corresponding known position on the ground, target laser is emitted into position indicator
It is mounted on the place for needing to measure；
（3）Starting measurement unmanned plane and target unmanned plane, the first signal receiver and second signal receiver receive ground respectively
Remote signal is instructed, and instruction is transferred to the first flight controller and the second flight controller, the first flight control respectively
Device processed and the second flight controller adjust the revolving speed of the first brushless motor and the second brushless motor, flight according to flight progress respectively
Information data storage is carried out by the first data acquisition emitter and the second data acquisition emitter and is real-time transmitted to ground,
Measurement unmanned plane and target unmanned plane are raised in the air, and measurement unmanned plane and reference laser transmitting position indicator are vertical corresponding up and down, target
It marks unmanned plane and target laser transmitting position indicator is vertical corresponding up and down；
（4）Unmanned plane and target unmanned plane to be measured is hovered in the sky after stabilization, and first laser altitude meter is measured to swash with benchmark
The distance between light emitting position indicator H1, second laser altitude meter, which is measured, emits the distance between position indicator H with target laser2, survey
Amount camera bornb sight prism measure, by the reflected light of target prism can be obtained unmanned plane and target to be measured without
The distance between man-machine L, passes through H1、H2And line and horizontal plane between measurement camera and target prism can be obtained in the numerical value of L
Between angle, finally by automatic conversion just can be obtained the height in the place at target laser transmitting position indicator, azimuth, away from
From information, the information collection of measurement point is completed；
（5）After measurement, unmanned plane and the landing recycling of target unmanned plane are measured.
3. the detection method of complicated landform unmanned plane detection system according to claim 2, it is characterised in that：Step（1）
It is middle measurement unmanned plane assembling process be specially：6 the first rotor correspondences are installed on the main shaft of 6 the first brushless motors,
Then 6 the first brushless motors are assembled in 6 first supports, by the first flight controller, the first power-supply system and first
Laser pick-off calibration system is assembled between the first upper cover plate and the first lower cover plate, then by 6 first supports and the first upper cover
Plate, the first lower cover plate and the first undercarriage assemble, and then carry stablizes holder, measurement camera shooting below the first undercarriage
Head and first laser altitude meter complete the assembling of measurement unmanned plane with this.
4. the detection method of complicated landform unmanned plane detection system according to claim 2, it is characterised in that：Step（1）
The assembling process of middle target unmanned plane is specially：6 the second rotor correspondences are installed on the main shaft of 6 the second brushless motors,
Then 6 the second brushless motors are assembled in 6 second supports, by the second flight controller, second source system and second
Laser pick-off calibration system is assembled between the second upper cover plate and the second lower cover plate, then by 6 second supports and the second upper cover
Plate, the second lower cover plate and the second undercarriage assemble, then carry target holder, target prism below the second undercarriage
And second laser altitude meter, the assembling of target unmanned plane is completed with this.
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| CN109269482B (en) * | 2018-08-09 | 2021-11-23 | 中山市聚云软件科技有限公司 | Bridge anti-collision laser horizontal detection method |
| CN109658743B (en) * | 2019-02-01 | 2021-04-27 | 江苏蒲公英无人机有限公司 | Training method for horizontal splayed air route of unmanned aerial vehicle |
| KR102217877B1 (en) * | 2020-11-23 | 2021-02-19 | 주식회사 이화엔지니어링 | Drone surveying system for terrain change |
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| DE3901040C1 (en) * | 1989-01-14 | 1990-06-13 | Messerschmitt-Boelkow-Blohm Gmbh, 8012 Ottobrunn, De | |
| US7961906B2 (en) * | 2007-01-03 | 2011-06-14 | Science Applications International Corporation | Human detection with imaging sensors |
| CN101968353B (en) * | 2010-09-29 | 2012-02-08 | 清华大学 | Laser probing and image identification based terrain tracking method for unmanned helicopter |
| CN105824322A (en) * | 2016-05-11 | 2016-08-03 | 飞智控（天津）科技有限公司 | Unmanned plane terrain following system and method based on laser radar |
| CN105973230B (en) * | 2016-06-30 | 2018-09-28 | 西安电子科技大学 | A kind of double unmanned plane collaborative perceptions and planing method |
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Effective date of registration: 20240415 Address after: 101399 north of wenyuying village, Gaoliying Town, Shunyi District, Beijing Patentee after: Beijing Jiucheng Technology Co.,Ltd. Country or region after: China Address before: 100083 Beijing City, Haidian District Institute of Rutosids No. 11 Patentee before: CHINA University OF MINING AND TECHNOLOGY BEIJING Country or region before: China |