A system and method for identifying a ground water flight phase of a seaplane

Abstract

The application belongs to the technical field of aircraft control system, and discloses a system and method for identifying the ground water surface flight stage of an amphibious aircraft, wherein a camera group is installed below the left and right wings of the amphibious aircraft, and the camera group is connected with an analysis computer arranged in the equipment cabin of the aircraft; the analysis computer adopts a double-channel architecture to process the images collected by the camera group, and identifies the state of the amphibious aircraft according to the visual environment interaction features of the amphibious aircraft in the water surface, ground and flight states, including the ground parking state, the take-off and leaving ground state, the landing state, the water surface parking and low-speed sliding state, the leaving water state and the water landing state. Based on the high-precision visual capture and analysis of the aircraft landing gear posture, the extension length of the landing gear strut, the dynamic and static feature changes of the wheel marker, and the spatial relationship between the fuselage and the ground water surface, the application realizes the accurate judgment of the aircraft full flight stage state.

Description

Technical Field

[0001] This invention belongs to the field of aircraft control system technology and relates to a method for identifying whether an aircraft is on the ground, on water, or in flight. Specifically, it relates to a system and method for identifying the ground, water, and flight phases of an amphibious aircraft. Background Technology

[0002] To ensure precise control of the fly-by-wire flight control system of amphibious aircraft throughout the entire flight process, engineers typically customize specific control law schemes for different phases, such as ground, water, and flight. In actual operation, the system uses flight phase recognition capabilities to automatically switch the appropriate control law mode based on the aircraft's current phase.

[0003] In contrast, the flight phase of a conventional land-based aircraft can be simply divided into two main stages: ground taxiing and air flight. The distinction between the ground and flight phases can be efficiently and accurately made based on the carrying status of wheel-borne signals. The more detailed phases within the flight phase, such as approach and pull-up, have relatively lower requirements for timeliness and accuracy. Measuring the relative altitude between the aircraft and the ground using a radio altimeter is sufficient for identification.

[0004] Compared to conventional land-based aircraft, amphibious aircraft have a more complex flight phase, encompassing three stages: ground taxiing, water taxiing, and air flight. Traditional methods for distinguishing between ground / water / flight phases have revealed numerous limitations when applied to amphibious aircraft.

[0005] Firstly, to shorten takeoff and landing distances on water and reduce wave interference, amphibious aircraft are often equipped with large-area wings to increase lift. This means that when the aircraft lands, even if the landing gear has touched the ground, the wheel signal will only be triggered after the flight speed drops to a certain threshold, gravity, landing gear support force, and lift are rebalanced, and the landing gear struts are compressed to a certain extent. This results in a significant delay in signal triggering compared to the moment the wheels touch down.

[0006] Secondly, when amphibious aircraft are operating on water, their landing gear is retracted, rendering wheel-mounted signals ineffective. Therefore, additional surface sensors are required to determine the water surface condition. This determination can be divided into two stages: when the aircraft is floating on the water, whether stationary or gliding, pressure sensors are sufficient for assessment; however, when the aircraft lands on the water, the hull experiences a tremendous impact load, and sensors in direct contact with the water surface are easily damaged by the impact.

[0007] Third, during the high-speed taxiing phase after the fuselage touches the water, lateral attitude control of the aircraft is difficult, and it is prone to swaying from side to side. At the same time, due to interference from water waves, the radio altitude signal cannot reliably reflect the aircraft's successful water landing status before the aircraft reaches the required draft.

[0008] Significant delays in flight phase identification will severely impact the real-time switching of control laws, thereby threatening the safety and stability of flight control. Therefore, the development of a ground / water / flight status assessment system suitable for amphibious aircraft is urgently needed. This system must meet two core requirements: first, high timeliness, requiring rapid flight phase status determination after the aircraft's wheels touch down or its fuselage touches the water; second, sensor integration, changing the traditional reliance on multiple sensors for ground and water status assessment, and developing a sensor system capable of simultaneously identifying both states, thereby effectively reducing system complexity, aircraft weight, and cost control.

[0009] In terms of time efficiency, traditional multi-sensor integrated logic judgment is limited by factors such as signal transmission delay, data fusion algorithm complexity, and the long status confirmation time set by engineers because it adopts non-direct result judgment methods. As a result, the judgment results usually have a significant time lag.

[0010] In terms of system architecture optimization, traditional solutions require the deployment of multiple types of sensors, which not only increases equipment costs and maintenance difficulty, but also reduces system reliability due to the large number of sensors.

[0011] In the data processing stage, traditional multi-sensor solutions require a lot of resources to perform data verification, signal matching and logic verification, which not only increases development and maintenance costs, but also easily leads to data conflicts and misjudgments. Summary of the Invention

[0012] To address this, the present invention provides a system and method for identifying the ground and water flight phases of amphibious aircraft, employing a single-type sensor to construct an integrated perception architecture. This system utilizes computer vision technology to achieve millisecond-level state recognition of the aircraft in various operational scenarios, including ground parking, takeoff, landing, floating on water, takeoff from water, and landing on water. Compared to traditional multi-sensor discrimination schemes, this significantly reduces system complexity and result judgment time, effectively improving the real-time performance and reliability of monitoring the operational status of amphibious aircraft across all scenarios.

[0013] The technical solution of the present invention is as follows:

[0014] A system for identifying the ground and water flight phases of an amphibious aircraft includes a camera array installed under the left and right wings of the amphibious aircraft. The camera array is connected to a processing computer located in the aircraft's equipment bay. The processing computer uses a dual-channel architecture to process the images captured by the camera array. Based on the visual environmental interaction characteristics of the amphibious aircraft in its water, ground, and flight states, the processing computer identifies the amphibious aircraft's state, including ground parking, takeoff, landing, water parking and low-speed taxiing, water exit, and water landing.

[0015] Furthermore, the camera array is installed on the lower middle and rear sections of the left and right wings, with the camera array all pointing towards the fuselage. The specific shooting angles of different cameras are different, and the shooting angles of the camera array make the overall shooting range include the aircraft's wheels, landing gear struts, and even the upper middle part of the fuselage.

[0016] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a ground parking status identification method: The computer analyzes images captured by a group of cameras to detect that the aircraft wheels are not suspended in the air, that the wheels are compressed and deformed due to the load, and that the landing gear struts are in a compressed state. At the same time, it combines the pixel motion vector changes in multiple consecutive frames of image data to determine that the aircraft is parked on the ground.

[0017] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a method for identifying the aircraft's takeoff and liftoff states: By analyzing continuous multi-frame image data captured by a group of cameras, the system monitors the changes in the landing gear strut status in real time. When it detects that the strut has changed from a compressed state to a fully extended state, it can be determined that the aircraft landing gear has been released from its load, thus realizing takeoff and liftoff status recognition.

[0018] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a landing state identification method: By setting fluorescent markers on the surface of the landing gear to distinguish it from the surface color, and analyzing images captured by a computer through a group of cameras, the landing status can be identified by utilizing the significant visual differences between rotating and stationary landing gear and combining the dynamic image features of the rotating landing gear.

[0019] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, including a method for identifying the water-based parking and low-speed taxiing states: The computer analyzes images captured by a group of cameras to determine the relative positions of fuselage markers and the waterline, the attitude of the landing gear struts relative to the fuselage, and the shape of water splashes. Through data fusion and intelligent analysis, it determines that the aircraft is floating on the water, that is, it is parked on the water and taxiing at low speed.

[0020] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a method for identifying the out-of-water state:

[0021] The computer analyzes continuous multi-frame image data captured by a camera array to monitor the continuous changes in the spatial relationship between the aircraft's markings and the waterline in real time. At the same time, the shape of the water surface waves also changes significantly as the aircraft's speed increases. Through real-time monitoring and analysis of dynamic visual features, the computer completes the identification of the aircraft's takeoff state.

[0022] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a water-landing state identification method:

[0023] By analyzing images captured by a cluster of cameras, the computer determines that the landing gear struts are in the retracted state and analyzes the obvious wave changes in the water surrounding the fuselage at the moment of contact with the water surface and in the subsequent process, thus realizing the identification of the aircraft's water-landing status.

[0024] The technical effects of this invention are as follows:

[0025] 1. This invention innovatively integrates computer vision technology into the flight status monitoring system of amphibious aircraft. Based on high-precision visual capture and analysis of aircraft landing gear attitude, landing gear strut extension length, dynamic and static changes in wheel markers, and the spatial relationship between the fuselage and the ground / water surface, it achieves accurate judgment of the aircraft's status throughout the entire flight phase. Compared to traditional comprehensive logical judgment schemes that rely on multi-source data such as wheel-mounted signals, radio altitude signals, throttle angle signals, and speed signals, this invention effectively overcomes the inherent defects of traditional technologies.

[0026] 2. By leveraging the real-time image information processing capabilities of computer vision technology, this invention significantly reduces the time delay in status assessment, effectively improving the real-time performance and accuracy of flight status monitoring, and providing more timely assurance for flight safety.

[0027] 3. This invention reduces the number and types of sensors through the integrated design of the computer vision system, significantly reducing hardware costs and system complexity, while improving the overall system stability and reliability.

[0028] 4. Leveraging the powerful data processing capabilities of computer vision technology, this invention reduces the workload of verifying the integrated logic of multi-sensor data, lowers the difficulty of system development and maintenance costs, and improves the efficiency and accuracy of data processing. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the computer vision system of the present invention determining when an aircraft is landing / on the ground.

[0030] Figure 2 This is a schematic diagram of the computer vision system of the present invention determining when an aircraft is on water / on the water surface. Detailed Implementation

[0031] The features and illustrative embodiments of various aspects of the present invention will now be described in detail. Numerous specific design details are set forth in the following detailed description to provide a more complete understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without some of these specific details. The following description of embodiments is merely intended to provide a better understanding of the invention by illustrating examples of the invention. The invention is by no means limited to any specific setup and method set forth below, but covers any improvements, substitutions, and modifications to the structures, methods, and devices without departing from the spirit of the invention. In the drawings and the following description, any parts not exhaustively described are considered to be common knowledge or conventional practices in the art.

[0032] It should be noted that, unless otherwise specified, the embodiments of the present invention and the features thereof can be combined with each other, and the various embodiments can be referenced and cited in each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0033] Example 1:

[0034] A system for identifying the ground and water flight phases of an amphibious aircraft includes a camera array installed under the left and right wings of the amphibious aircraft. The camera array is connected to a processing computer located in the aircraft's equipment bay. The processing computer uses a dual-channel architecture to process the images captured by the camera array. Based on the visual environmental interaction characteristics of the amphibious aircraft in its water, ground, and flight states, the processing computer identifies the amphibious aircraft's state, including ground parking, takeoff, landing, water parking and low-speed taxiing, water exit, and water landing.

[0035] The camera array is installed on the lower middle and rear sections of the left and right wings, with the camera array all pointing towards the fuselage. The specific shooting angles of different cameras are different, and the shooting angles of the camera array make the overall shooting range include the aircraft's wheels, landing gear struts, and even the upper middle part of the fuselage.

[0036] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a ground parking status identification method: The computer analyzes images captured by a group of cameras to detect that the aircraft wheels are not suspended in the air, that the wheels are compressed and deformed due to the load, and that the landing gear struts are in a compressed state. At the same time, it combines the pixel motion vector changes in multiple consecutive frames of image data to determine that the aircraft is parked on the ground.

[0037] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a method for identifying the aircraft's takeoff and liftoff states:

[0038] By analyzing continuous multi-frame image data captured by a group of cameras, the system monitors the changes in the landing gear strut status in real time. When it detects that the strut has changed from a compressed state to a fully extended state, it can be determined that the aircraft landing gear has been released from its load, thus realizing takeoff and liftoff status recognition.

[0039] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a landing state identification method:

[0040] A specific color mark containing a fluorescent agent is set on the surface of the landing gear. The specific color here refers to the color that can be distinguished from the surface of the landing gear, including red, yellow, green, blue, white, etc. The computer analyzes the images captured by the camera array and uses the significant differences in visual features between rotating and stationary landing gear, combined with the dynamic image features of the rotating landing gear, to realize the identification of the landing status.

[0041] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, including a method for identifying the water-based parking and low-speed taxiing states:

[0042] The computer analyzes images captured by a group of cameras to determine the relative positions of fuselage markers and the waterline, the attitude of the landing gear struts relative to the fuselage, and the shape of water splashes. Through data fusion and intelligent analysis, it determines that the aircraft is floating on the water, that is, it is parked on the water and taxiing at low speed.

[0043] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a method for identifying the out-of-water state:

[0044] The computer analyzes continuous multi-frame image data captured by a camera array to monitor the continuous changes in the spatial relationship between the aircraft's markings and the waterline in real time. At the same time, the shape of the water surface waves also changes significantly as the aircraft's speed increases. Through real-time monitoring and analysis of dynamic visual features, the computer completes the identification of the aircraft's takeoff state.

[0045] A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft, includes a water-landing state identification method:

[0046] By analyzing images captured by a cluster of cameras, the computer determines that the landing gear struts are in the retracted state and analyzes the obvious wave changes in the water surrounding the fuselage at the moment of contact with the water surface and in the subsequent process, thus realizing the identification of the aircraft's water-landing status.

[0047] Example 2:

[0048] This invention utilizes computer vision technology at its core. The system hardware consists of camera arrays mounted on the left and right wings, and a processing computer configured in the aircraft's equipment bay. To enhance system reliability and signal availability, a redundant fault-tolerant mechanism is constructed: dual camera units are deployed on each wing, and the processing computer adopts a dual-channel architecture; each processing computer can receive image signals from four cameras, possessing extremely strong fault tolerance capabilities, ensuring stable operation of the system's signal transmission and processing functions even when a single computer or any three cameras fail. The system achieves accurate state recognition by capturing the interaction characteristics of the amphibious aircraft with the background environment, such as the runway and water surface, in various states on the water, on land, and in flight, as detailed below:

[0049] Ground parking status recognition: When an aircraft is parked on the ground supported by its landing gear, the wheels are in fixed contact with the ground. The system achieves accurate judgment through multi-dimensional data fusion analysis: it detects that the wheels are not suspended in the air, that the wheels are compressed and deformed due to load, that the landing gear struts are in a compressed state, and combines this with the fact that the pixel motion vector changes in consecutive frames of image data are less than a preset threshold, to comprehensively determine that the aircraft is in a ground parking state.

[0050] Takeoff and Liftoff Status Recognition: During takeoff, the landing gear struts extend from an initial compressed state to a fully extended state. Compared to the compressed state, which varies depending on factors such as fuel level and cargo load, the fully extended state of the landing gear struts is highly stable. The system monitors the landing gear strut status changes in real time based on continuous multi-frame image data. When it detects a transition from a compressed to a fully extended state, it determines that the aircraft landing gear has disengaged from its load-bearing state, thus achieving takeoff and liftoff status recognition.

[0051] Landing Status Recognition: When an aircraft lands, the landing gear struts are in the lowered position, and the wheels rotate rapidly due to friction after contacting the ground. To enhance the recognition accuracy of computer vision, specific color markers containing fluorescent agents are applied to the surface of the wheels. By utilizing the significant visual differences between rotating and stationary wheels, combined with the dynamic image features of wheel rotation, a rapid and accurate determination of the landing status can be achieved.

[0052] Water Surface Parking and Low-Speed ​​Taxiing Status Recognition: When an aircraft is parked or taxiing at low speed on the water, the fuselage and the water surface exhibit a specific spatial relationship. The system analyzes various visual information, such as the relative positions of fuselage markers and the waterline, the attitude of the landing gear struts relative to the fuselage, and the shape of water splashes, and through data fusion and intelligent analysis, comprehensively determines that the aircraft is in a floating state on the water.

[0053] Water exit status recognition: During the transition from floating on the water (including low-speed taxiing) to high-speed taxiing and finally leaving the water, the spatial relationship between the aircraft's markings and the waterline continuously changes, while the morphology of the water surface also changes significantly as the aircraft's speed increases. The system achieves accurate recognition of the aircraft's water exit status through real-time monitoring and analysis of these dynamic visual features.

[0054] Water Landing Status Recognition: When an aircraft lands on water, the landing gear struts are in the retracted position. At the moment the fuselage touches the water and during the subsequent process, noticeable wave changes occur in the water surrounding the fuselage. The system effectively identifies the aircraft's water landing status by capturing and analyzing the visual characteristics of these wave patterns, intensity, and variation patterns.

[0055] View of the aircraft's landing / ground-based configuration and camera mounting positions. Figure 1 Opinions on the aircraft's shape when it is on the water / on the surface and the camera's mounting position. Figure 2 .

[0056] This invention innovatively integrates computer vision technology into the flight status monitoring system of amphibious aircraft. Based on high-precision visual capture and analysis of aircraft landing gear attitude, landing gear strut extension length, dynamic and static changes in wheel markers, and the spatial relationship between the fuselage and the ground / water surface, it achieves accurate judgment of the aircraft's status throughout the entire flight phase. Compared to traditional comprehensive logical judgment schemes that rely on multi-source data such as wheel-mounted signals, radio altitude signals, throttle angle signals, and speed signals, this invention effectively overcomes the inherent defects of traditional technologies.

[0057] In terms of time efficiency, traditional multi-sensor integrated logic judgment is limited by factors such as signal transmission delay, data fusion algorithm complexity, and the relatively long status confirmation time set by engineers due to the use of indirect result judgment methods, resulting in significant time lag in judgment results. This invention, leveraging the real-time processing capabilities of computer vision technology for image information, significantly reduces the time delay in status judgment, effectively improving the real-time performance and accuracy of flight status monitoring, and providing more timely assurance for flight safety.

[0058] In terms of system architecture optimization, traditional solutions require the deployment of multiple types of sensors, which not only increases equipment costs and maintenance difficulty but also reduces system reliability due to the large number of sensors. This invention, through the integrated design of a computer vision system, reduces the number and types of sensors, significantly lowering hardware costs and system complexity, while simultaneously improving the overall system stability and reliability.

[0059] In the data processing stage, traditional multi-sensor solutions require significant resources for data verification, signal matching, and logic validation, which not only increases development and maintenance costs but also easily leads to data conflicts and misjudgments. This invention, leveraging the powerful data processing capabilities of computer vision technology, reduces the workload of verifying the integrated logic of multi-sensor data, lowers system development difficulty and maintenance costs, and improves the efficiency and accuracy of data processing.

[0060] Example 3:

[0061] I. Hardware system installation and configuration.

[0062] A symmetrical array of cameras is mounted on the left and right wings of the amphibious aircraft. Two high-resolution, wide dynamic range industrial cameras are fixed to each wing. The camera models are not fixed, but are chosen to meet the requirements of high-speed dynamic image acquisition. The camera mounting angles are precisely calibrated to ensure that their shooting angles cover the aircraft landing gear, fuselage markings, and key areas on the ground or water.

[0063] The analysis computer is deployed in the aircraft's equipment bay and employs a dual-channel redundant configuration; it is used to perform high-speed image data processing and complex visual algorithm calculations. Four cameras are connected to the analysis computer via gigabit Ethernet interfaces or other high-speed buses to ensure the stability and real-time performance of data transmission.

[0064] II. Implementation method for determining the ground parking status.

[0065] When the aircraft is parked on the ground supported by its landing gear, the ground image acquisition system is activated. Four cameras acquire images (synchronous acquisition is not required; depending on the specific application, a synchronization algorithm can be used to synchronize the four cameras, or they can be asynchronous without affecting the final result). After the computer analyzes the received image data, it performs the following steps for evaluation (the following features can be selected, or other features can be added):

[0066] Wheel suspension detection: Using edge detection algorithms in computer vision, the wheel contour is extracted. The percentage of pixels in the wheel-to-ground contact area is used to determine if the wheel is suspended. If the percentage of pixels in the wheel-to-ground contact area exceeds a preset threshold, the wheel is considered to be not suspended.

[0067] Wheel compression deformation analysis: A 3D model of the wheel in its normal, uncompressed state is established. 3D point cloud data of the current wheel is acquired using stereo vision technology and compared with a standard model to calculate the wheel's compression deformation. When the compression deformation exceeds a set value, it indicates that the wheel is experiencing compression deformation.

[0068] Landing gear strut compression state identification: Specific marker points are set on the surface of the landing gear strut. A feature point matching algorithm is used to track the positions of the marker points in multiple consecutive frames of images and calculate the compression length of the strut. When the compression length is less than a certain percentage of the normal extension length, the landing gear strut is determined to be in a compressed state.

[0069] Pixel motion vector analysis: Using an optical flow algorithm, the motion vectors of pixels in multiple consecutive frames of images are calculated. When the average amplitude of the pixel motion vectors in all wheel regions is less than a preset threshold, it indicates that the wheels are stationary.

[0070] Based on the above conditions, when the wheels are not suspended in the air, there is compression deformation, the landing gear struts are in a compressed state, and the pixel motion vector change is less than the threshold, the analysis computer determines that the aircraft is in a ground-parked state (the above four features are only examples, and other features can be selected or added in actual execution).

[0071] III. Implementation Method for Determining Takeoff and Liftoff Status

[0072] During takeoff, the computer continuously monitors changes in the landing gear strut status. By tracking the marker points on the landing gear struts in multiple consecutive frames of images, the computer calculates the strut length change rate. When the strut length change rate exceeds a set threshold and the strut reaches full extension and remains in this state for a certain number of frames, the computer determines that the aircraft landing gear is no longer under load, meaning the aircraft is in the takeoff and liftoff phase.

[0073] IV. Implementation Method for Determining Landing Status

[0074] During aircraft landing, after the wheels touch down, the computer analyzes the data using specific color markers on the wheel surfaces. First, a color segmentation algorithm extracts the marked areas. Then, a template matching algorithm compares the positional changes of these marked areas across multiple consecutive frames, calculating the wheel speed. When the wheel speed exceeds a set value and the landing gear struts are in the lowered position (determined by the position of the strut markers), the computer determines that the aircraft is in a landing state.

[0075] V. Implementation Method for Judging the State of Parking and Low-Speed ​​Gliding on the Water

[0076] When the aircraft is on the water, the computer analyzes the relationship between the fuselage markings and the waterline, the relationship between the landing gear struts and the fuselage, and the shape of the waves.

[0077] Determining the relationship between fuselage markers and the waterline: Multiple markers are placed on the side of the fuselage. The waterline is detected using a graphic algorithm, and the vertical distance between the markers and the waterline is calculated. When this distance is within a certain range and remains stable, the fuselage markers and the waterline are considered to be in a normal relationship.

[0078] Landing gear strut attitude determination: The attitude of the landing gear strut in the image is identified by the image algorithm. When the strut is within the angle range of the water surface, the attitude of the strut is determined to be normal.

[0079] Wave morphology analysis: The texture features of the waves are extracted using image texture analysis algorithms. When the wave morphology exhibits the smooth characteristics of low-speed gliding and meets the above two conditions, the analysis computer determines that the aircraft is either parked on the water or gliding at low speed.

[0080] VI. Implementation Method for Determining the State of Isolation from Water

[0081] During the aircraft's acceleration from the water surface to liftoff, the computer analysis system monitors in real time the relative positional changes of fuselage markers to the waterline and the evolution of wave patterns.

[0082] Monitoring of changes in the position of fuselage markers and waterline: Continuously calculate the rate of change of the vertical distance between the fuselage markers and the waterline. When the rate of change exceeds a set threshold and the markers gradually move away from the waterline, it indicates that the positional relationship between the fuselage and the water surface has changed.

[0083] Wave morphology evolution analysis: Feature extraction and classification of wave images. When the wave morphology changes from a smooth state during low-speed gliding to a violent tumbling state during high-speed movement, and the above position change conditions are met, the analysis computer determines that the aircraft is in the state of leaving the water.

[0084] VII. Implementation Method for Determining Water Contact Status

[0085] When an aircraft lands on water, the analysis computer focuses on changes in the waves around the fuselage. Image algorithms extract the water area around the fuselage, and then object detection algorithms identify wave patterns. When significant splashing is detected, wave height exceeds a set threshold, and the landing gear struts are in the retracted position (determined by the position of strut markers), the analysis computer determines that the aircraft is on water.

[0086] The above description is only a preferred embodiment of the present invention. It should be noted that those skilled in the art can make several improvements without departing from the principle of the present invention, and these improvements should also be considered within the scope of protection of the present invention.

Claims

1. A system for identifying the ground and water flight phases of an amphibious aircraft, characterized in that, A camera array is installed under the left and right wings of the amphibious aircraft. The camera array is connected to a resolution computer located in the aircraft's equipment bay. The resolution computer uses a dual-channel architecture to process the images captured by the camera array. Based on the visual environmental interaction characteristics of the amphibious aircraft in water, land, and flight states, the resolution computer identifies the status of the amphibious aircraft, including ground parking, takeoff, landing, water parking and low-speed taxiing, water exit, and water landing.

2. The system for identifying the ground and water flight phases of an amphibious aircraft according to claim 1, characterized in that, The camera array is installed on the lower middle and rear sections of the left and right wings, with the camera array all pointing towards the fuselage. The specific shooting angles of different cameras are different, and the shooting angles of the camera array make the overall shooting range include the aircraft's wheels, landing gear struts, and even the upper middle part of the fuselage.

3. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including ground parking status recognition methods: The computer analyzes images captured by a group of cameras to detect that the aircraft wheels are not suspended in the air, that the wheels are compressed and deformed due to the load, and that the landing gear struts are in a compressed state. At the same time, it combines the pixel motion vector changes in multiple consecutive frames of image data to determine that the aircraft is parked on the ground.

4. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including methods for recognizing aircraft takeoff and departure status: By analyzing continuous multi-frame image data captured by a group of cameras, the system monitors the changes in the landing gear strut status in real time. When it detects that the strut has changed from a compressed state to a fully extended state, it can be determined that the aircraft landing gear has been released from its load, thus realizing takeoff and liftoff status recognition.

5. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including landing status recognition methods: By setting fluorescent markers on the surface of the landing gear to distinguish it from the surface color, and analyzing images captured by a computer through a group of cameras, the landing status can be identified by utilizing the significant visual differences between rotating and stationary landing gear and combining the dynamic image features of the rotating landing gear.

6. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including methods for recognizing water surface parking and low-speed gliding states: The computer analyzes images captured by a group of cameras to determine the relative positions of fuselage markers and the waterline, the attitude of the landing gear struts relative to the fuselage, and the shape of water splashes. Through data fusion and intelligent analysis, it determines that the aircraft is floating on the water, that is, it is parked on the water and taxiing at low speed.

7. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including methods for identifying the state of being out of water: The computer analyzes continuous multi-frame image data captured by a camera array to monitor the continuous changes in the spatial relationship between the aircraft's markings and the waterline in real time. At the same time, the shape of the water surface waves also changes significantly as the aircraft's speed increases. Through real-time monitoring and analysis of dynamic visual features, the computer completes the identification of the aircraft's takeoff state.

8. A method for identifying the ground-to-water flight phase of an amphibious aircraft, using a system for identifying the ground-to-water flight phase of an amphibious aircraft as described in claim 1 or 2, characterized in that, Including methods for identifying water-covered states: By analyzing images captured by a cluster of cameras, the computer determines that the landing gear struts are in the retracted state and analyzes the obvious wave changes in the water surrounding the fuselage at the moment of contact with the water surface and in the subsequent process, thus realizing the identification of the aircraft's water-landing status.

Images