Method and device for correcting aircraft state in real time

An aircraft and state technology, applied in the direction of instruments, position/direction control, vehicle position/route/altitude control, etc., can solve problems such as reducing the reliability of visual navigation, improve accuracy and reliability, correct state information, reduce The effect of small deviations

Active Publication Date: 2014-07-09
SZ DJI TECH CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there is a deviation between the estimated state information and the actual state information, and the longer the visual navigation time, the greater the divergence of the deviation, which reduces the reliability of visual navigation

Method used

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  • Method and device for correcting aircraft state in real time
  • Method and device for correcting aircraft state in real time
  • Method and device for correcting aircraft state in real time

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Embodiment Construction

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0025] figure 1 Shown is a schematic flow chart of an embodiment of a method for real-time correction of aircraft state in the present invention, the method comprising:

[0026] S101: Obtain a historical state information of the camera unit, a current image captured by the camera unit and a historical image before the current image, and external or internal information currently measured by at least one sensor.

[0027] Wherein, the information amount of the ...

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Abstract

The invention discloses a method and device for correcting an aircraft state in real time. The method comprises the steps that history state information of a camera shooting unit, a current image shot by the camera shooting unit, a history image before the current image and external information or internal information currently measured and sensed by at least one sensor are obtained; matching feature points, corresponding to target feature points in the history image, in the current image are forecast according to the history state information, and the external information or internal information of the current camera shooting unit is calculated according to the matching feature points; the relative proportional relation between the external information of the camera shooting unit and the external information of the at least one sensor or the internal information of the camera shooting unit and the internal information of the at least one sensor is calculated according to the position relation of the at least one sensor calibrated in advance relative to the camera shooting unit; the current state information, obtained by history state information estimation, of the camera shooting unit is corrected through the relative proportional relation. The state information of an aircraft is corrected, and errors are reduced.

Description

technical field [0001] The invention relates to the field of unmanned flight control, in particular to a method for real-time correction of the state of an aircraft, and also to a device for real-time correction of the state of the aircraft. Background technique [0002] In recent years, unmanned aerial vehicles (such as fixed-wing aircraft, rotorcraft including helicopters) carrying camera equipment have played a very important role in monitoring, detection, search and rescue and other applications. The manipulation of these aircraft is usually realized by the user through the remote controller. [0003] During the process of remote control of the flying signal device, due to the limited line of sight of the operator, it is difficult for the operator to observe the state of the aircraft when the aircraft flies far away or is obstructed. If the aircraft has no auxiliary flight means, the aircraft is very easy to fly away Or hit an obstacle. Therefore, the aircraft with aux...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/00
Inventor 周谷越杨硕刘昂
Owner SZ DJI TECH CO LTD
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