284 results about "Flight altitude" patented technology

In order to measure the movement of a vehicle, especially an aircraft, an imaging optical system 2 which is to be positioned on the vehicle is used to detect an image of the environment 4, and an optoelectronic shift sensor 3 chip of the type comprising an inherent evaluation unit is used to measure any shift of the image from structures thereof. The shift sensor is equal or similar to the sensor used on an optical mouse. The sensor is positioned in such a way that infinite objects are focused. The measuring signal is evaluated to indicate movements and/or the position of the aircraft. The inventive system can also be used to measure distances e.g. in order to control the flight altitude. The invention further relates to methods for automatically controlling particularly a hovering flight by means of a control loop using optical flow measurement.

The invention belongs to the field of path planning technology and specifically relates to a three-dimensional multi-UAV coordinated path planning method based on SAS. The method comprises the following steps: carrying out modeling on a path planning environment; initializing multi-target SAS calculation parameters consisting of the length of a minimum path section, a maximum turning angle, a maximum angle of climb/glide, a minimum safe distance of UAVs and a minimum flight altitude of UAVs; initializing the positions of the UAVs, wherein each UAV represents a path; updating the positions of the UAVs; expanding a current node; determining whether a path section collides with other path sections; updating a node table of the path section; executing a step (8) if minimum path cost set in the step (2) is met, and otherwise, executing the step (3); determining a cooperated planned optimal path so as to complete path planning. The method overcomes multi-objective optimization problems, has versatility, provides a reasonable optimal solution for a decision maker and better accords with practical needs.

A drone control apparatus and method are disclosed. The drone control apparatus according to an exemplary embodiment of the present disclosure includes a communication unit that communicates with a drone operation system and a drone over a wireless communication network, a storage unit that stores radio wave environment information of the wireless communication network according to a spatial position, and flight restriction information, and a determination unit that determines a flight path and a flight altitude of the drone based on a radio map, the flight restriction information, and a departure and a destination of the drone received from the drone operation system, and transmits the flight path and the flight altitude to at least one of the drone and the drone operation system via the communication unit.

The invention relates to an unmanned helicopter three-dimensional positioning and mapping method based on laser detection and image recognition, which belongs to the technical field of application of unmanned aerial vehicles. A distance measurement sensor based on laser detection and image recognition, an altimetric sensor and a flight control computer are comprised, wherein the distance measurement sensor consists of a vehicle-mounted camera and a laser emitter and used for detecting the distance from the unmanned helicopter to obstacles around. The distance measurement sensor is used for detecting and measuring distance for the around environment of the unmanned helicopter by means of changing the angle of pitch and the angle of yaw. The altimetric sensor is used for measuring the flight altitude from the unmanned helicopter to the ground. The distance measurement data obtained from the measurement under different angles of altitude, angles of yaw and flight altitudes can realize three-dimensional synchronous positioning and mapping of unknown environment by the unmanned helicopter. In the invention, the around environment can be rapidly, simply and reliably detected during the flying by carrying the distance measurement sensor based on laser detection and image recognition on the unmanned helicopter.

The invention discloses a differential evadible system of an electric field for an unmanned aerial vehicle polling live wires and a method. The system comprises a polling unmanned aerial vehicle which is provided with an electric field evadible device. The device comprises a DSP (Digital Signal Processor) data processing module and two identical electric field measuring circuits. Each electric field measuring circuit comprises an electric field measuring sensor, a signal processing unit and an A/D (Analog to Digital) conversion unit which are connected sequentially. The A/D conversion unit is connected with an input of the data processing module, an output end of the DSP data processing module is connected with an airborne flight control system. The differential evadible system of the electric field for the unmanned aerial vehicle polling live wires provided by the invention can evade power transmission lines by the unmanned aerial vehicle, avoids collision of the unmanned aerial vehicle and the power transmission lines caused by error of GPS (Global Positioning System) navigation, overlarge gust when the unmanned aerial vehicle polls the live wires, or deviation of a predetermined course of the unmanned aerial vehicle which is not enough in flight altitude in the process of executing the task, the safety of a line patrol system of the unmanned aerial vehicle and the transmission lines is ensured, the reliability of line patrol operation is enhanced, and the safety of personnel, power grids and devices is guaranteed.

The invention discloses an image motion compensation method for aviation full-frame transferring area CCD camera, accomplishing image motion compensation in aviation photography by combining mechanical shutter and electric shutter and the pure-electricity image motion compensation method of changing CCD line frequency driving according to aircraft speed-altitude ratio. Compared with common mechanical compensation technology, studying cost and complicated degree of area aviation camera are decreased greatly. In image motion compensation, flight altitude, exposure jitter and staring model so on are considered fully to strengthen compensation effect. Because compensation circuit adopts multi-phase driving method electric compensation accuracy can achieve sub-pixel level and improve image definition furthermore.

The embodiment of the present application provides a method and a device for generating an unmanned aerial vehicle route. The method comprises the following steps of: generating an initial route of anoperation area of the unmanned aerial vehicle; dividing the operation area into a two-dimensional grid; obtaining two-dimensional coordinate information and point position height information of eachintersection in the two-dimensional grid; determining three-dimensional coordinate information of the plurality of target waypoints corresponding to the plurality of waypoints on the initial route according to the two-dimensional coordinate information and the point position height information of each intersection in the two-dimensional grid; and generating a target route of the operation area according to the three-dimensional coordinate information of the plurality of target waypoints. According to the method and the device for generating an unmanned aerial vehicle route, in this embodiment,the elevation information of each waypoint in the operation area can be obtained in real time and accurately by obtaining the spatial characteristics of the ground terrain, and a target route parallel to the undulating terrain can be generated. When the unmanned aerial vehicle flies according to the target route, the flight altitude of the unmanned aerial vehicle can be quickly judged and adjusted to avoid flight accidents such as crash.

In an electronic control system, three-dimensional data sets (data cubes L11-L14) for different power-limiting engine parameters are stored at different engine ratings for setting a respective maximum engine power in relation to flight altitude (ALT), ambient temperature (DTAMB) and flight Mach number (MN) to separately calculate a maximum power corresponding to each parameter. For power reduction due to air bleed, corresponding separate data cubes (L21-L24) are stored. In a comparator, the respective smallest power reduction value is determined and, subsequently, the fuel supply is set according to that power reduction value. Under conforming boundary conditions, the same data cubes (L24) can be stored for different engine ratings. The system requires low storage capacity and low calculating effort.

The invention discloses a Reynolds number effect correcting method of a zero lift-drag force coefficient. The method comprises the steps of: obtaining a zero lift attack angle [alpha]0 of an aircraft at a Mach number according to wind tunnel experiment data; calculating an actual Reynolds number ReH under each sea level altitude H based on an size and configuration of a product, and calculating a drag force coefficient CxH at the Mach number and at each altitude H when the attack angle [alpha] equals to [alpha]0, by a CFD method; increasing the Reynolds number of a blowing wind tunnel at the Mach number to the Reynolds number Re corresponding to the practical aircraft size according to a model scale, interpolating the Reynolds number Re with ReH values at different altitudes H at the step b to obtain flight altitude H wind tunnel experiment corresponding to the Re wind tunnel experiment, and calculating a drag force coefficient Cx0 of the aircraft when the attack angle [alpha] equals to [alpha]0 in the altitude H wind tunnel experiment; and obtaining a corrected value of the zero lift-drag force at the Mach number and at each flight altitude H. The Reynolds number effect correcting method of the zero lift-drag force coefficient is used for a small aspect ratio aircraft and is applicable to zero lift-drag coefficient correction.

The invention discloses an electric power inspection method, an electric power inspection system, an electronic device and a storage medium. The method comprises the following steps: acquiring all to-be-inspected tower coordinates imported through a preset interface; generating an inspection route according to the all tower coordinates; acquiring altitude of each waypoint, and obtaining flight altitude; automatically generating an inspection flight course according to the inspection route and the flight altitude, and controlling an unmanned aerial vehicle to perform electric power inspection according to the inspection flight course. From the above, the inspection route is generated according to all tower coordinates, and the inspection flight course is generated automatically according tothe inspection route and the flight altitude, thereby, the unmanned aerial vehicle is controlled to perform electric power inspection according to the automatically generated inspection flight course, namely, according to the method, the system, the electronic device and the storage medium provided by the invention, artificial control of the unmanned aerial vehicle is not needed, artificial operation steps in an inspection work process are reduced, artificial operation errors caused by subjective reasons are also avoided, and work efficiency and safety of inspection are improved effectively.

The invention relates to an unmanned airship low-altitude photogrammetry, which comprises an unmanned airship consisting of a main air bag, a vice air bag, a stern rudder and an engine car, a flight controller, a three-axis stabilized holder and a digital camera, wherein the vice air bag fixed in the main air bag is arranged according to the volume with certain proportion and can be adjusted. According to the practical situation of a measurement region, an airline plan is firstly made, the flight path, the strip interval, the photographing interval and the flight altitude are calculated in advance, and the data is transmitted to and stored by the flight controller; the unmanned airship is controlled by the flight controller after taking off by remote control, and the flight controller controls the stern rudder and the engine to operate the airship to fly according to the pre-determined airline and speed; in flight, the flight controller controls the digital camera fixed on the three-axis stabilized holder to take photos over the ground according to specified distance and/or time intervals; and compared with the conventional photogrammetry, the invention has the characteristics of high mobility, low cost and high security, and is suitable for mapping large scale topographical maps of medium and small areas.

In a fuel supply control device for a turbo-charged diesel aircraft engine, a fuel injection amount is reduced in accordance with the air temperature when the flight altitude of the aircraft is higher than a predetermined altitude. The turbocharger speed increases as the flight altitude or the air temperature becomes higher even if the engine output power is the same. Therefore, if the maximum engine output power is restricted based only on the flight altitude in order to prevent the overrun of the turbocharger, an undue restriction on the maximum output power may occur when the air temperature changes. By controlling the fuel injection amount based on both air temperature and the altitude, i.e., by reducing the fuel injection amount in accordance with the air temperature when the altitude is higher than a predetermined altitude, an undue restriction of the engine output power, as well as an over-speed of the turbocharger, can be prevented.

The invention discloses a low-altitude flight simulation method for airborne geophysical prospecting of an unmanned aerial vehicle. A laser radar mounting flight is introduced to before-flight simulation, accuracy DSM (digital surface model) data of a work zone are acquired, and more-complete altitude data are provided for low-altitude flight simulation. The low-altitude flight simulation method is capable of accurately simulating various postures of low-altitude flight of the unmanned aerial vehicle on planned flight paths and evaluating whether ground barriers (signal towers, telegraph poles, tall trees, buildings, high-rise buildings and bridges and the like) in the flight paths of the unmanned aerial vehicle damage flight safety of the unmanned aerial vehicle or not, flight altitude over the ground during low-altitude flight of the unmanned aerial vehicle is visually analyzed from simulation results, safety of the ultralow-altitude flight of the unmanned aerial vehicle in the flight paths is judged, modification of the prior art is reduced, operation efficiency is improved, flight safety of the unmanned aerial vehicle is guaranteed, mountain collision during flight of the unmanned aerial vehicle is avoided, and airborne geophysical prospecting of the unmanned aerial vehicle is effectively assisted.

The invention relates to a RVSM airspace aircraft altitude holding performance monitoring system and method. And the system comprises: absolute altitude obtaining module; data collecting and preprocessing module; and altitude holding deviation data processing module. And the method comprises: collecting high-accuracy altitude, allowable flight altitude and actual flight altitude of an aircraft, obtaining altitude measuring reference differences corresponding to the sequence of flight trace points of the aircraft, and processing these messages to obtain the altitude holding deviation message. And the invention can obtain high-accuracy total vertical altitude deviation of the aircraft and the altitude deviation caused by artificial factors and the system altitude deviation caused by device accuracy, so as to more accurately and effectively monitor the aircraft altitude holding performance.

The invention provides a method and system for monitoring the speed of an unmanned plane, and the method comprises the steps: obtaining the current flight altitude and angular velocity and an image; obtaining feature points of the image, and calculating the optical flow of each feature point; carrying out the counting of the optical flows of all feature points, and selecting the optical flow with the maximum optical flow repetitive rate in the same direction as the optical flow of the image; and calculating the current flight velocity according to the current flight altitude and angular velocity and the optical flow of the image. The invention also relates to a system corresponding to the above method. The method obtains the feature points of the current image through calculation, calculates the optical flows of all feature points, and selects the optical flow with the maximum optical flow repetitive rate in the same direction as the optical flow of the image. Afterwards, the method carries out the calculation of the current flight velocity according to the optical flow of the image and the current flight altitude and angular velocity. The method is simple in calculation, is small in calculation burden, gives consideration to the influence of a plurality of factors, and is precise in calculation result.

The invention discloses a manual throwing automatic takeoff method for unmanned aerial vehicles. The manual throwing automatic takeoff method includes S1, enabling the unmanned aerial vehicles to enter automatic takeoff logics; S2, monitoring trigger action signals of the unmanned aerial vehicles; S3, judging attitude angles of the unmanned aerial vehicles to determine whether the attitude angles are within the ranges of safety unlocking angles or not; S4, unlocking engines and allowing the engines to rotate at full speeds; S5, allowing operators to forwardly manually throw the unmanned aerial vehicles to release the unmanned aerial vehicles; S6, enabling the unmanned aerial vehicles to accumulate airspeeds at the highest speeds and detecting the airspeeds of the unmanned aerial vehicles to determine whether the airspeeds exceed takeoff safety airspeeds or not; S7, confirming climbing altitudes of the unmanned aerial vehicles and keeping the unmanned aerial vehicles to fly along releasing directions; S8, judging whether flight altitudes of the unmanned aerial vehicles reach safety altitudes or not and terminating automatic takeoff procedures if the flight altitudes of the unmanned aerial vehicles reach the safety altitudes. The manual throwing automatic takeoff method has the advantages that dependence on flight controllers and dependence on ground equipment can be lowered in the takeoff procedures of the unmanned aerial vehicles; damage on the air vehicles due to environmental impact or human errors when the air vehicles are taken off can be prevented, and the unmanned aerial vehicles can be assuredly safely taken off.

A distance from an aerial vehicle to a terrain feature located forward and lower with respect to the aerial vehicle is measured. A current orientation of the aerial vehicle with respect to a reference orientation is detected. At least the measured distance and the current orientation is utilized to determine a relative vertical difference between a vertical location of the aerial vehicle and a vertical location of the terrain feature is det. The determined vertical difference is utilized to automatically adjust a flight altitude of the aerial vehicle.

The invention discloses a radar signal processing method and belongs to the field of signal processing. The method comprises the following steps of: receiving an echo signal which is formed after an emitting signal is reflected by a flying target; converting the echo signal into a baseband signal; performing preset signal processing operation on the baseband signal, thereby acquiring a target signal corresponding to the flying target, wherein the preset signal processing operation at least comprises fast fourier transform FFT treatment and two-dimensional constant false alarm rate CFAR detection; and confirming a motion trail and/or motion trend of the flying target according to the target signal. The problems of high omission ratio and false alarm probability when the radar is used for monitoring the flying target characterized by low flight altitude, small volume and low speed can be solved. The effects of reducing the omission ratio and false alarm probability and increasing the precision for positioning and tracking the flying target are achieved.

The invention provides an aerial video shooting displacement acquiring method and an aerial video shooting movement control method. The aerial video shooting displacement acquiring method comprises the following steps: a compensation movement servo mechanism determines the start time when an aerial camera moves under control; the compensation movement servo mechanism acquires the flight parameters of an aircraft; and the compensation movement servo mechanism gets the displacement by which the aerial camera moves under control. According to the flight altitude and speed of the aircraft, the focal length and exposure time of the shooting camera and the attitude information of a camera platform, the aerial camera is driven to move through aerial video shooting displacement acquisition. According to the operation speed of the compensation movement servo mechanism and the shooting time of the shutter of the camera, the forward image shift deviation of a target in the focal plane generated by movement of the target and the camera in unit exposure time and the rotary image shift deviation caused by the attitude of the camera platform during high-speed flight of the aircraft in the aerial video shooting process are eliminated. Through aerial video shooting displacement acquisition, the aerial camera is relatively stationary in space at the moment of shooting exposure, and the shooting of the shooting target is completed.

The invention discloses a method for adjusting and designing the outlet area of an engine jet pipe based on installation performance. Engine zero dimension calculation software is adopted to calculate section parameters and adjustable sectional area of an engine according to a main adjustment plan, limit values, a flight altitude and a mach number of the engine, wherein 101% of the current throat area of the jet pipe is taken as a minimum value, and 250% of the throat area is taken as a maximum value; the series outlet area of the jet pipe is divided equally into 13 parts; a jet pipe flow field at various outlet area conditions is calculated by flow field calculation software; non-installation thrust and afterbody drag of the engine jet pipe are after-processed and calculated by the flow field calculation software; a maximum value of the sum of the non-installation thrust and the afterbody drag is selected; and the outlet area, which corresponds to the maximum value, of the jet pipe is the optimum outlet area of the jet pipe at the condition. The method has the advantages that the installation thrust of the engine can be effectively improved on the premise that the structure of the engine jet pipe and the working state of the engine are not changed.

The invention discloses a visual simulation method and a visual simulation device and belongs to the field of computer graphics. The method comprises the following steps of: acquiring three-dimensional coordinates and a pitching angle of a viewpoint in a geodetic coordinate system; acquiring a flight altitude value of the viewpoint according to a vertical coordinate in the three-dimensional coordinates; acquiring the distance between the viewpoint and a far section of a perspective projection matrix where the viewpoint is positioned according to a horizontal coordinate and a longitudinal coordinate in the three-dimensional coordinates; calculating an included angle between the viewpoint and a simulated horizontal plane according to the flight altitude value and the distance; and subtracting the included angle from the pitching angle to obtain a corrected pitching angle. By the invention, the pitching angle of the viewpoint is corrected, and an error between the simulated horizon and an actual horizon can be eliminated.

The invention relates to an unmanned aerial vehicle autonomous landing system and landing method based on GPS and vision. The method comprises the steps: enabling an unmanned aerial vehicle to receivea one-key return instruction in a normal flight process, enabling the unmanned aerial vehicle to maintain a normal flight height, starting to fly to a first landing position right above a landing point, and employing a GPS positioning system in the process; after the unmanned aerial vehicle arrives at the first-section landing position, the unmanned aerial vehicle starts to descend to a second-section landing position 5 m away from the position over the target at the vertical speed of 5 m/s, and a GPS is adopted in the process; after the unmanned aerial vehicle reaches the second-section landing position, the unmanned aerial vehicle starts to descend to the ground at the vertical speed of 1 m/s, and a visual positioning system is adopted in the process; and after the unmanned aerial vehicle reaches the ground, the unmanned aerial vehicle blades stop rotating. According to the unmanned aerial vehicle autonomous landing system, a GPS and visual positioning method is adopted, and the landing precision of the unmanned aerial vehicle is improved to the maximum extent.