622 results about "Flight height" patented technology

The invention discloses an unmanned aerial vehicle course generation method which includes the following steps: conducting view finding and flying in advance, recording flight waypoints which include location data and flight height information of an unmanned aerial vehicle; receiving and recording the flight waypoints of the unmanned aerial vehicle; generating a flight track according to the flight waypoints of the view finding and flying; compiling the flight track to obtain a new flight track; transmitting the complied flight track to the unmanned aerial vehicle to enable the unmanned aerial vehicle to fly according to the new flight track. An unmanned aerial vehicle course generation system is further provided.

An unmanned aerial vehicle (UAV) includes a driving unit and a control unit. The control unit detects a human figure in an image of a scene of a monitored area, determines coordinate differences between the scene image's center and the figure image's center, and determines a tilt direction and a tilt angle of a lens of the image capture unit based on the coordinate differences. If the tilt angle falls within an allowable rotation range of the lens, the control unit controls the driving unit to directly rotate the lens by the tilt angle along the tilt direction. Otherwise, the control unit controls the driving unit to rotate the lens by a threshold angle along the tilt direction, and further controls the driving unit to adjust a flight orientation and a flight height of the UAV until the figure image's center superposes the scene image's center.

The invention, which relates to the technical field of the unmanned plane, discloses a spraying method of an unmanned plane and an unmanned plane. With the method and the unmanned plane, liquid pesticide can be sprayed uniformly in farmland at a target working area. According to the specific scheme, the method comprises: obtaining an image of a target working area and carrying out image segmentation to obtain a coordinate of an edge pixel of an image corresponding to a to-be-sprayed area; obtaining an actual flight height of the unmanned plane relative to the ground when collecting the image corresponding to the to-be-sprayed area by the unmanned plane at a constant height relative to a horizontal plane; according to the coordinate of the edge pixel, a shooting focus, and the actual flight height, calculating an actual navigation coordinate corresponding to the edge point of the to-be-sprayed area; and planning a navigation route based on the actual navigation coordinate and spraying liquid pesticide on operated objects at the to-be-sprayed area according to the navigation route. The method can be applied to the liquid pesticide spraying process by the unmanned plane.

The invention discloses a control device and method for integrated unmanned aerial vehicle (UAV) flight. The control device comprises a data link communication unit, an acquisition unit, a processing unit and a control unit, wherein the data link communication unit is used for interacting with a ground station, acquiring a flight task of a UAV and monitoring the flight state of the UAV; the acquisition unit is used for acquiring current flight acceleration and angular speed of the UAV, static air pressure on the UAV, motion speed of the UAV relative to surrounding air, magnetic field intensity of geomagnetic field on the UAV and positioning information of the UAV; the processing unit is used for processing data acquired by the acquisition unit to acquire the flight attitude of the UAV, and comparing the flight attitude with the flight task received by the data link communication unit so as to give flight height, flight speed and flight direction which need to be adjusted by the UAV; and the control unit is used for controlling a steering engine controller of the UAV to adjust according to the flight height, flight speed and flight direction which need to be adjusted by the UAV and are given by the processing unit, so that the UAV meets the requirement of the flight task. The device and the method can effectively and quickly control the flight of the UAV.

The invention discloses a 4D track generating method. The method includes the following steps of receiving aircraft meteorological data sent by an aircraft to download AMDAR data, conducting testing and quality control on the AMDAR data, generating a flight height profile and a flight speed profile according to the track historical information in the AMDAR data and the large elliptic distance method, generating a nominal flight profile as an initial 4D track generating profile according to the flight height profile and the flight speed profile and through a dynamic time warping (DTW) algorithm and an aircraft basic performance database (BADA) model, modifying weather forecast GRIB data according to actually-measured meteorological data in the AMDAR data, and calculating aircraft airway point-to-point time and combining the aircraft airway point-to-point time with the nominal flight profile to generate a 4D track.

The invention discloses a method for measuring height by fusing an unmanned helicopter barometric altimeter and a GPS (global positioning system), belonging to the technical field of unmanned helicopter flight control. The method is characterized in that a barometric altimeter, the GPS and a flight control computer are utilized, wherein, the barometric altimeter and the GPS form a redundancy height measuring system; the effective flight height value of the unmanned helicopter is obtained after the height measuring value of the barometric altimeter and the height measuring value of the GPS are fused by the flight control computer, when the GPS is in failure, the height value of the barometric altimeter is adopted; when the height value of the air pressure changes suddenly, and the height value of the GPS does not change, the height value of the GPS is adopted; and when the height value of the air pressure and the height value of the GPS change synchronously, the mean value of the height values of the GPS and the air pressure is taken as the flight height value. By fusing the height measuring value of the barometric altimeter and the height measuring value of the GPS, the method provided by the invention has the advantages that the reliability and accuracy of the height measurement are improved, and the conditions that the barometric altimeter is easily influenced by gust when being used singly and the GPS is easily influenced by the surrounding condition when being used singly are avoided.

An embodiment of the invention discloses a UAV route generation method, a UAV route generation device, a UAV and a storage medium. The UAV route generation method comprises the steps of: acquiring a digital surface model of a to-be-operated region, wherein the digital surface model comprises elevation information of the to-be-operated region; generating an initial route of the to-be-operated region according to the digital surface model, wherein the initial route comprises a flight height of the UAV; determining an obstacle avoidance region in the initial route according to the elevation information and flight height; and adjusting the initial route based on the obstacle avoidance region to generate a target route. The UAV route generation method and the UAV route generation device do notneed to adopt acoustic radar or optical radar ranging to determine obstacles, solve the problem of UAV explosion accidents because the UAV cannot avoid obstacles timely when acoustic radar or opticalradar ranging and obstacle avoidance is adopted, determine the obstacle avoidance region precisely by means of the elevation information of the digital surface model and flight height, can generate aneffective obstacle-avoiding fight route, and guarantee the flight safety of the UAV.

The invention discloses an onboard automatic speed measuring and height measuring radar system and a speed measuring and height measuring method. The system comprises an antenna, a transmitter, a superhet receiver, a broadband digital intermediate-frequency receiver, a center computer and a power module. The transmitter generates four sawtooth wave linear frequency modulation radio-frequency signals and achieves space symmetric configuration through the antenna; the superhet receiver and the broadband digital intermediate-frequency receiver complete echo signal digital demodulation together and calculate the frequency, amplitude, phase and signal-to-noise ratio information of echo signals; the center computer separates the speed information and the height information of the same echo beam by applying Doppler principle directivity based on the space symmetry and the timing sequence relevance of four beams, and the information is used for calculating the flight speed value and the flight height value of an aircraft. According to the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method, the same radar can be used for automatically measuring the speed and the height, the structure of an aircraft avionics system is simplified, the measuring precision is high, and the onboard automatic speed measuring and height measuring radar system and the speed measuring and height measuring method can be used for measuring carrier aircraft flight parameters.

The invention discloses an unmanned aerial vehicle (UAV) control method comprising the steps of making a UAV enter a fixed-height flight mode, acquiring the current flight height of the UAV, and controlling flight of the UAV according to the current flight height and the flight height set for the fixed-height flight mode. The invention further discloses a UAV control device. Automatic fixed-height flight is realized only by setting the fixed-height flight mode. The requirement on the control technology of flight controllers is lowered, and precise control is realized.

The invention, which belongs to the unmanned aerial vehicle application field, discloses an intelligent pasture management system and method by using an unmanned aerial vehicle. The system comprises an unmanned aerial vehicle and a ground control console. The unmanned aerial vehicle includes a flight control board, an infrared imaging monitoring device, a storage device, and a radio frequency identification device. The flight control board receives a remote control instruction sent by the ground control console to control flight of the unmanned aerial vehicle according to a preset route; the infrared imaging monitoring device is used for detecting a lift object; the storage device is used for recording the life object as a suspected object; and the radio frequency identification device is capable of carrying out communication with an electronic tag arranged on the suspected object in a preset flight height range and reading identity information in the electronic tag. The fight control board determines whether the suspected object is a target object according existence of the electronic tag and / or the identity information. According to the invention, on the basis of the long-distance infrared induction imaging or real-time image transmission principle and a short-distance radio-frequency object identification principle, a high-efficiency and intelligent solution scheme for finding missing livestock is provided.

The invention discloses a multi-camera synchronous triggering device and a control method, thereby achieving the automatic triggering of a plurality of cameras based on a GPS signal. A synchronous trigger receives GPS serial port information and a PPS signal. According to the GPS signal, the flight height, flight speed and preset overlap ratio of an aircraft are resolved according to the GPS signal, and the photographing intervals between the cameras are calculated. According to the photographing intervals, the synchronous triggering is carried out, and feedback signals exposed by the cameras are read. Moreover, the height, speed and time information of camera triggering are stored in an on-board SD card, thereby facilitating the subsequent data processing. The device irons out the defects that a conventional camera trigger cannot be corresponding to the standard time, cannot achieve the storage of data and is short of an exposure feedback signal detection loop when the conventional camera trigger is based on an off-line clock of a local timer, thereby effectively employing the GPS information to facilitate the subsequent data processing, and improving the reliability.

The embodiments of the invention provide an unmanned aerial vehicle, an unmanned aerial vehicle return method, and a control terminal, and belong to the field of automatic control. The unmanned aerial vehicle return method comprises the following steps: an unmanned aerial vehicle, in a flying process, successively acquiring multiple pieces of position information at a preset frequency on a flight path and a flight height corresponding to each piece of the position information; and after a return instruction sent by a control terminal for controlling the unmanned aerial vehicle is received, the unmanned aerial vehicle, according to the multiple pieces of position information and the flight height corresponding to each piece of the position information, returning on the same route to a position identified by starting point coordinate information along a return route formed by the multiple pieces of position information. The unmanned aerial vehicle return method improves the problem of incapability of successful return due to obstacles met by a conventional unmanned aerial vehicle in an automatic return process.

The group of inventions relates to aviation and to transport means having (static and dynamic) air discharge, in particular to self-stabilizing wing-in-ground-effect craft of types A, B and C. The following technical results are achieved: increased flight safety and maneuvering safety, increased load-bearing capacity and flight height in ground effect mode, reduced dimensions, improved take-off and landing characteristics, as well as amphibian characteristics and economic efficiency, increased functionality and a wider range of operational alignments, and greater ease of use and maintenance. This result is achieved by simultaneously applying the methods for generating a system of aerodynamic forces, the structural solutions and the piloting methods conceptually linked therewith which are proposed in the present group of inventions to “flying wing” or “composite wing” design layouts.

The invention discloses a controlling method for all-weather precision landing of an unmanned aerial vehicle. The method comprises: step one, an unmanned aerial vehicle executes landing preparation instruction; step two, a camera shoots a base station and transmits information to an unmanned aerial vehicle flight control system; step three, according to a white light intensity value A of a shot image, the flight control system compares the white light intensity value A with a set light intensity value K; to be specific, step (3.1), if the A is larger than the K, a day mode is selected, landing is identified in a segmented mode based on the flight height, and a landing point is determined precisely; and step (3.2), if the A is smaller than or equal to the K, a night mode is selected, the number sent out by a signal transmitting terminal in the image and an infrared signal flicker frequency are determined, and a landing point is determined; and step four, the flight attitude of the unmanned aerial vehicle is adjusted continuously until the unmanned aerial vehicle lands on a landing platform of the base station precisely. On the basis of determination of the white light intensity value of the shot image by the camera, division of the day mode and the night mode is carried out, so that the unmanned aerial vehicle can fly automatically around the clock. Moreover, the unmanned aerial vehicle can land automatically and precisely and the intelligent degree is high.

The invention discloses a control method of a hypersonic vehicle orienting the uncertainty condition. The control method comprises the following steps that step S1, full state feedback linearization processing is performed on flight speed V and flight height h according to a hypersonic vehicle longitudinal dynamic equation so as to obtain a corresponding state equation; step S2, an anti-step sliding mode controller is designed according to the state equation, and the double exponential approximation law of the selected sliding mode surface is S<.>=-k<1>|S|<eta>sgn(S)-k<2>|S|<lambda>sgn(S), wherein k<1>>0, K<2>>2, eta>1 and 1>lambda>0 are parameters in the formula; and step S3, a test platform is established based on the anti-step sliding mode controller to perform performance simulation. According to the method, the double exponential sliding mode controller based on the backstepping method is adopted, and switching gain and the problem of buffeting existing in sliding mode control can be effectively reduced by the method.

The invention discloses a process layout method for a conventional hypersonic speed wind tunnel. The process layout method includes the steps that a fixed supporting base for bearing axial force of components before a test section of the conventional hypersonic speed wind tunnel is arranged on a heat pipeline before a front chamber, the test section is fixed immovably, and axial force generated by an ultra-expanding section in the bearing test of the fixed supporting base is set; the front chamber can move toward the side of the axis of the conventional hypersonic speed wind tunnel to provide space for replacing a spray pipe; two branches are arranged behind the ultra-expanding section, one branch is provided with an ejector, and the other branch is led to a vacuum container, and the two branches are each provided with a valve used for switching and selecting the branches. Due to the technical scheme, the conventional hypersonic speed wind tunnel can have two operation modes, and the capacity for simulating the flight height of an air vehicle of the conventional hypersonic speed wind tunnel is greatly improved.

The invention discloses a plant protection unmanned plane spraying control system which performs pesticide spraying according to the flight height and flight speed and a spraying control method. The spraying control method comprises steps of (A) determining pesticide spraying amount, (B) detecting flight speed and flight height of the unmanned plane, (C) calculating the spraying speed, wherein the spraying speed =pesticide spraying amount *flight speed* spraying swath and the spraying swath and the flight height satisfy the function relation: spraying swath=f (flight height), (D) calculating the pumping speed of a water pump and the rotation speed of the centrifugation atomization sprayer according to the spraying speed, (E) transmitting a corresponding signal to a water pump controller and a centrifugation atomization sprayer controller by the unmanned plane navigation controller according to the pumping speed of the water pump and the rotation speed of the centrifugation atomization sprayer. The plant protection unmanned plane spraying control system can automatically regulate according to the flight speed and the flight height of the plant protection unmanned plane, guarantees the effective adhesion amount and the uniform distribution rate of the pesticide droplet on the crop and improves the pesticide application effect.

An unmanned aerial vehicle-based expressway violation monitoring system, including a flight control subsystem, a violation monitoring subsystem, an information transmission subsystem, and a road information release subsystem; the flight control subsystem controls the flight route, flight height and flight speed The violation monitoring subsystem processes the collected images, obtains the emergency lane occupancy of the expressway, and transmits the photos of the violation (or emergency rescue) situation, the license plate number of the violation vehicle and the road section information of the violation vehicle to the information transmission subsystem; The information transmission subsystem sends the received picture data together with the illegal license plate number and illegal road section information through the wireless transmission module; the road information publishing subsystem receives the information and stores the processed picture, illegal license plate number and illegal road section information in the expressway Publication in the database of the highway management department or on the road information publishing platform.

The invention discloses a UAV (unmanned aerial vehicle) landing method and system. The method comprises steps as follows: the flight height of a UAV is acquired; a template image corresponding to the flight height is acquired according to the flight height of the UAV; a scene picture is shot by a camera device of the UAV, and the shot picture is acquired; the shot picture is matched with the template image corresponding to the flight height, and the position where the UAV deviates from the target landing site is obtained; the UAV is controlled to fly to the target landing site on the basis of the position where the UAV deviates from the target landing site and controlled to land at the target landing site. By means of the UAV landing method and system, the UAV accurately lands without GPS positioning or position estimation.

The invention discloses an intelligent obstacle avoidance method for an unmanned aerial vehicle based on autonomous learning, and so, the unmanned aerial vehicle intelligently and autonomously learnsby utilizing visual information obtained by a camera in a three-dimensional visualization simulation environment and according to terrain height and obstacle height, constant altitude flight control is performed on the unmanned aerial vehicle by utilizing a trained network model as an intelligent body, the flight height is adjusted in real time, and an automatic terrain following application is achieved to complete an autonomous obstacle avoidance task. The method creates the three-dimensional visualization simulation environment, provides a good training environment for an intelligent autonomous obstacle avoidance algorithm, implements an interaction interface for human-machine real-time operation, and provides the possibility for a transfer training from a simulation environment to a true environment. The method provides a simulation test platform for other deep reinforcement learning algorithms, and is convenient for the intelligent body to perform deep reinforcement training and testing of multiple scenarios, different tasks, and multiple algorithms.

The invention discloses a low-altitude flight control method applied to airborne geophysical prospecting of an unmanned aerial vehicle. The low-altitude flight control method includes adopting complementary filter of pressure altitude and radio altitude of the unmanned aerial vehicle to obtain altitude signals with high signal to noise ratio as a low-altitude flight height control source of the unmanned aerial vehicle. High-frequency topographic influence can be filtered by flight altitude, terrain can be well tracked, and airborne geophysical prospecting flight operation can be realized effectively in hills and small-gradient mountainous areas, so that the unmanned aerial vehicle can fly at minimum altitude along topographic relief, track the terrain and effectively avoid obstacles and is capable of acquiring high-quality exploration data of an airborne geophysical prospecting operation aeromagnetic system and an airborne radioactive system, and geophysical prospecting safety is improved. Feasibility of the low-altitude flight control method is verified by practical tests, is completely succeeded and has pilot application effect for relevant flight control methods and creates basis for massive airborne geophysical prospecting application in the unmanned aerial vehicle.

The invention discloses a GPS-guided unmanned aerial vehicle automatic carrier-landing adaptive control system and method. The system includes: a GPS guidance reference trajectory generation and trajectory error calculation module which is used for inputting signals detected by a GPS, establishing a reference trajectory in a ground coordinate system with an ideal carrier-landing point being an original point, and finally outputting the signals; a longitudinal guidance law module which uses a pitch attitude as an internal loop, and realizes control of flight height by suppression of a height error; a lateral guidance law module used for subtracting an actual lateral position signal from a designated lateral position signal to obtain an error signal and eliminating the error signal; and a flight control loop includes control law modules of four channels of accelerator, elevator, aileron and rudder. The GPS-guided unmanned aerial vehicle automatic carrier-landing adaptive control system provided by the invention realizes conversion of a trajectory tracking error signal into an attitude tracking command signal, solves the problem of attitude tracking through adaptive control, and an unmanned aerial vehicle automatic carrier-landing guidance and control system is formed.

The invention discloses an avigation multi-spectral scanner geometric rough correction method under the conditions of no gesture information, which comprises the steps that: 1) the multi-spectral scanner data is carried out the coordinate conversion, the measured value in a WGS-84 ground coordinate system is converted to the value in a Gaussian plane Cartesian coordinate; 2) according to a ideal flight model, an one second mode is used for simulating a rolling angle; 3) a curve is fitted according to the height data in the vertical plane, then the flight pitching angle in each updated data point is calculated according to the cutting direction; 4) the central projection constitutive equation is used for obtaining the point coordinates; 5)according to the flight height, the scanning angel and the instantaneous scanning angel, the other points coordinates in the same scanning row are obtained by the scanning mode; 6) a direct method is used for producing a rough correction image. The invention improves the geographical accuracy of the avigation remote sensing, and is an innovation of the remote sensing technology under the conditions of no gesture information and improves the time effectiveness, so the avigation remote sensing technology can be better applied to the production and livelihood of the national economy.

The invention belongs to the technical field of image acquisition devices, and particularly relates to a terrain-based unmanned aerial vehicle oblique photography method and system. According to the method, terrain information and flight height information are acquired in real time in a flight process; according to the real-time terrain information, the flight height information, the course overlapping rate, the lens focal length and photography interval information, current optimal flight speed and exposure interval are dynamically calculated; and an unmanned aerial vehicle is controlled to carry out aerial photography operation according to the optimal flight speed. The photography system comprises an image acquisition sensor module arranged on an unmanned aerial vehicle main body, and further comprises a terrain detection module, an attitude path planning module and an unmanned aerial vehicle autonomous flight module which are arranged on the unmanned aerial vehicle main body and are sequentially connected. The photography method and the photography system can obtain the real-time distance information of a terrain in the aerial photography process of the unmanned aerial vehicle,and dynamically calculate the optimal flight speed of the unmanned aerial vehicle according to the fluctuation of the terrain, so that the terrain complexity is self-adapted, and the number of redundant photos is reduced.

The invention relates to a method for determining temperature field distribution of a cabin of a carrier rocket in a flight phase in an atmospheric layer. The method comprises a first step of determining an aerodynamic heating thermal flow qh changing along with the flight height and acting on the outer wall of the cabin; a second step of determining an average natural convection heat transfer coefficient alpha n of the shell surface of an instrument in a closed cavity of the cabin changing along with the flight height; a third step of determining a forced convection heat transfer coefficient alpha f of interior of the cabin caused by flight accelerated speed and constant leakage of gas in the cabin; and a fourth step of building a cabin node thermal network model, finishing thermal coupling analysis, and obtaining the cabin temperature field distribution. The method comprehensively considers the impact of aerodynamic heating outside the cabin, air natural convection in the cabin and forced convection on the cabin thermal environment, thereby effectively solving the problem of determination of temperature field distribution of the cabin of the carrier rocket in the flight phase in the atmospheric layer.

The embodiment of the invention provides an unmanned aerial vehicle obstable avoidance control method, flight controller and unmanned aerial vehicle. The method includes the steps of: obtaining distance between an unmanned aerial vehicle (100) and a front object in a flight direction of the unmanned aerial vehicle; and controlling the flight height of the unmanned aerial veilce (100) according to the distance. Through the distance between the unmanned aerial vehicle (100) and the front object, the flight height of the unmanned aerial vehicle (100) is controlled, as the flight height increases, the distance between the unmanned aerial vehicle (100) and the front object inceases therewith, and as the unmanned aerial vehicle (100) flies forward, when the distance between the unmanned aerial vehicle (100) and the front object is smaller than a safe distance, the flight height of the unmanned aerial vehicle (100) is increased, so that an agricultural unmanned aerial vehicle can increase the flight height as terrain rises in environments of hills, sloping fields and terraced fields, thereby ensuring that the agricultural unmanned aerial vehicle can work normally.

The invention discloses a flight planning method for an airborne synthetic aperture radar. The method comprises the following steps: selecting an azimuth angle corresponding to a mountain shadow image having the smallest shadow as a flight direction; dividing aerial photographic zones according to the range of elevation changes of DEM so as to allow the values of elevation changes of DEM in a same aerial photographic zone to be in a range of 1 / 6 to 1 / 4 of flight height; laying flight routes in each aerial photographic zone according to results of the aerial photographic zones. According to the invention, shadows and the phenomenon of layover on an image of the synthetic aperture radar can be maximally reduced, which enables information content of the image of the synthetic aperture radar to be increased and the image to be easier to interpret; flight planning is scientific and reasonable and can effectively reduce cost for aerial photography and enhance efficiency of aerial photography.

The invention discloses a landing method and system for an unmanned plane, and the method comprises the steps: carrying out the matching of a captured image with a template image corresponding to a first flight height, and obtaining a position of the unmanned plane deviating from a target landing point; controlling the unmanned plane to fly to the target landing point according to the position ofthe unmanned plane deviating from the target landing point, and controlling the unmanned plane to land at the target landing point, wherein the unmanned plane carries out the segmented landing in a landing process, and the landing speeds of the unmanned plane in all segments are different, thereby achieving the precise landing of the unmanned plane, achieving the landing of the unmanned plane without a GPS or position estimation, and reducing the safety accidents.

The invention provides an agricultural remote sensing system. Remote sensors, a POS sensor and a data synchronizing device are carried on an unmanned aerial vehicle, accordingly, images meeting the spatial resolution requirement can be obtained by controlling the flight height of the unmanned aerial vehicle, and geometric splicing is conducted on the images according to the position information recorded by the POS sensor to obtain an agricultural remote sensing image in a large area. Meanwhile, a plurality of remote sensors of different types can be carried on an unmanned aerial vehicle platform at the same time, and different types of image information can be acquired at one time. On the other hand, according to the agricultural remote sensing system, the remote sensors collect the remote sensing images once after receiving collection triggering signals, in this way, the phenomenon that the remote sensors are always in the working state can be avoided, and power supply consumption of the unmanned aerial vehicle is reduced.