726 results about "Landing point" patented technology

A system and method relaxing typing accuracy in stylus or other keyboards comprises recording a coordinate of a keystroke landing point, wherein the keystroke emanates from tapping a key on a keyboard, counting the number of tapped landing points, creating a set of words from a lexicon having the same amount of the tapped landing points, for each letter in each word in the set, computing the distance from the pattern formed by the landing coordinate to the pattern formed by the letters in words in a database, and selecting a word from the set having the shortest total distance, wherein the distance is a mean distance of all the tapped landing points for each word, or wherein the distance is an elastic matching distance between the tapped landing points and the coordinate.

Disclosed is a rotor unmanned aircraft independent take-off and landing system based on three-layer triangle multi-color landing ground. The system comprises a small rotor unmanned aircraft (SRUA), an onboard sensor, a data processing unit, a flight control system, an onboard camera, landing ground, a wireless image transmission module, a wireless data transmission module and a ground monitor station, wherein the onboard sensor comprises an inertial measurement unit, a global positioning system (GPS) receiver, a barometer, an ultrasound device and the like, the data processing unit is used for integrating sensor data, the flight control system finishes route planning to achieve high accuracy control over the SRUA, the onboard camera is used for collecting images of the landing ground, the landing ground is a specially designed landing point for an unmanned aircraft, the wireless image transmission module can transmit the images to a ground station, the wireless data transmission module can achieve communication of data and instructions between the unmanned aircraft and the ground station, and the ground station is composed of a visual processing unit and a display terminal. According to the rotor unmanned aircraft independent take-off and landing system based on the three-layer triangle multi-color landing ground, the reliability of SRUA navigation messages is guaranteed, the control accuracy of the SRUA is increased, costs are low, the application is convenient, and important engineering values can be achieved.

The invention discloses a multi-rising-and-landing-point course planning method used for cruising power of a unmanned aircraft, which is characterized by using a rising-and-landing point of the unmanned aircraft as a parameter for planning the track, and dividing a testing zone by combining with the distribution of the rising-and-landing points according to the limitation of the capability of the single flight of the unmanned aircraft. In the invention, the operator of the rotor wing unmanned aircraft can appoint a rising-and-landing point, the course planning system generates an estimation rising-and-landing point and a partitioning course plan of the unmanned aircraft operation capability according to the rising-and-landing points, and the operation scope and the operation parameters which are provided by the operator. The operator can perform checking and adjustment through the generated partitioning course so as to generate a relatively optimized unmanned operation course. Except for reducing the flight distance of the rotor wing unmanned aircraft and improving the working efficiency in the practical operation, and the partitioning course planning can also support the collaborative operation by a plurality of the unmanned aircraft in one test area.

The invention relates to an autonomous optical navigation method for soft landing of a deep space probe, and belongs to the field of space flight and aviation. The autonomous optical navigation method comprises the following steps: firstly, reading a corresponding pixel and a pixel line coordinate of a target landing point on an image plane photographed by an optical navigation camera, and the distance of the probe from a landing plane in three laser ranging device mounting directions; secondly, determining the posture of the probe relative to a landing plane of a target astronomical body by using the obtained distance measured by the three laser ranging devices and the mounting azimuth angle and pitch angle of the known ranging device; thirdly, determining the position relationship between the probe and the target landing point by using the obtained distance di measured by the three laser ranging devices and the pixel and the pixel line coordinate of the target landing point; and finally, performing filter estimation on the position, speed, posture and angular speed information of the probe relative to the landing area. The autonomous optical navigation method for the soft landing of the deep space probe has the characteristics of high reliability, low cost and strong real-time, and can highly precisely determine the position and posture of the probe relative to the target landing point.

The invention discloses an autonomous landing visual positioning system for an unmanned aerial vehicle. When the unmanned aerial vehicle is close to a landing point and enters an effective range, the relative position and attitude between the unmanned aerial vehicle and the landing point can be accurately estimated by virtue of visual computation and transmitted to a control mechanism of the unmanned aerial vehicle, so that the unmanned aerial vehicle is guided to accurately land to a designated place. The autonomous visual positioning system for the unmanned aerial vehicle, provided by the invention, comprises an unmanned aerial vehicle body, a GPS receiver and an inertia measurement device arranged on the unmanned aerial vehicle body, and an embedded image computer, wherein a photoelectric reconnaissance platform is arranged at the bottom of the unmanned aerial vehicle body; a first camera and a second camera are arranged on the photoelectric reconnaissance platform; the embedded image computer is respectively connected with the first camera and the second camera and is also connected with a flight control computer; and the flight control computer is respectively connected with the GPS receiver and the inertia measurement device.

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 provides a control method of accurate landing of an unmanned aerial vehicle. The control method is used for controlling the unmanned aerial vehicle to reach a present landing point. The control method is characterized by comprising the following steps that 1 a sound source is placed at the landing point, regular-tetrahedron-shaped microphone arrays are placed on the unmanned aerial vehicle and a signal amplification circuit and a filtering circuit are arranged at the signal output end of each microphone; 2 GPS navigation is used for controlling the unmanned aerial vehicle to reach the range which is ten meters away from the landing point; 3 a processor on the unmanned aerial vehicle is used for calculating delay generated when sound source signals reach the second microphone, the third microphone, the fourth microphone and the first microphone; 4 the yaw angle and the pitch angle of the unmanned aerial vehicle are calculated through the processor according to the spatial geometric relationship of the sound source and the microphone arrays and delay values; 5 the unmanned aerial vehicle is navigated to the position over the landing point according to the yaw angle and the pitch angle; 6 an air pressure height sensor is used for enabling the unmanned aerial vehicle to be landed at the landing point accurately.

An estimated trajectory 281a, an estimated ball landing point 282a, and an estimated run range 283a are displayed in a game image 20a. The estimated ball landing point 282a is displayed as, for example, a star mark, in a game space of the game image 20a which corresponds to a terminal coordinate point on the estimated trajectory 281a. The estimated trajectory 281a is obtained for a shot at a power indicated by a power target value set by the player, and is displayed so as to extend between a current ball 22 and the estimated ball landing point 282a based on estimated trajectory data. The estimated run range 283a is displayed in the game space of the game image 20a based on estimated run range data, so as to have a shape of a rectangular area, which is divided into a plurality of equal-sized mesh parts, in accordance with geographic undulations.

The invention relates to a high-precision safe landing guiding method based on relative navigation. The method includes the following steps that a landing point is chosen on a star or the ground in advance before launching and guiding parameters are set; in the practical flight process, a quartic polynomial guiding manner is used for controlling a lander to slow down and descend at first according to a target point planned on the star or regulated on the ground and the guiding parameters; after the pre-chosen height of the ground is reached, an optical imaging sensor is started, a landing point is selected again according to the practical terrain and the position of the landing point is determined; afterwards, according to the new position of the landing point, the lander automatically performs planning of guiding target parameters; according to the new guiding parameters, the quartic polynomial guiding rule is used for controlling the lander to reach the space above the target landing point.

Method for pilot assistance in landing an aircraft with restricted visibility, in which the position of a landing point is defined by at least one of a motion compensated, aircraft based helmet sight system and a remotely controlled camera during a landing approach, and with the landing point is displayed on a ground surface in the at least one of the helmet sight system and the remotely controlled camera by production of symbols that conform with the outside view. The method includes one of producing or calculating during an approach, a ground surface based on measurement data from an aircraft based 3D sensor, and providing both the 3D measurement data of the ground surface and a definition of the landing point with reference to a same aircraft fixed coordinate system.

A trajectory of a struck golf ball from when the golf ball is struck until the golf ball lands is computed by a golf ball trajectory computing system. The system comprises: an initial trajectory measuring portions that measures an initial velocity, a launch angle, and a backspin rate of the golf ball immediately after impact thereof; a carry distance measuring portion that measures a carry distance of the golf ball from an impact point to a landing point where the golf ball lands; a duration-of-flight measuring portion that measures a duration of flight of the golf ball from impact thereof until the golf ball lands; and a computing portions that computes a trajectory of the golf ball based on the measured initial velocity, the measured launch angle, and the measured backspin of the golf ball immediately after impact, and the carry distance and the duration of flight of the golf ball.

A method and a system for landing an Unmanned Aerial Vehicle (UAV) are provided. The method for landing the UAV includes recognizing a mark installed to the UAV through a plurality of vision sensors installed around a landing point of the UAV, and calculating a relative location of the UAV based on the landing point using the mark recognized by the vision sensors. Hence, the plurality of the sensors installed near the landing point can calculate more precise location and position of the UAV using the relative location of the UAV and the absolute location of the landing point by recognizing the mark attached to the UAV, and thus the UAV can land on the landing point accurately.

The invention relates to a visual guiding and monitoring system for the plane taking off and landing with low visibility and the technique, wherein, the system comprises a plurality of infrared cooperation marks, infrared detecting and imaging systems and control computers, wherein, the infrared cooperation marks are arranged on the landing point area, the runway boundary, the runway end, the planes parked on the airport and gliding on the airport, the parked vehicles and the moving vehicles, the tall buildings and barriers around the airport and the crossroads of the runway; the infrared detecting and imaging systems and control computers are arranged on the control tower of airport, the planes and the vehicles; the control computers are used for controlling all the infrared cooperation marks to emit specific infrared ray; the infrared detecting and imaging systems are used for detecting that the spectrum range is matched with the wavelength of the infrared ray emitted by the infrared cooperation marks. With the computer visual and mode identification technology, the visual guiding and monitoring system enables to extract the relative information automatically to guide the vehicles on the airport to travel, to guide the plane to glide, take off and land, so as to realize the intelligent monitoring for the whole airport. The visual guiding and monitoring system is also suitable for the roads, waterway traffic, collision prevention, rescue and dangerous area warning with low visibility.

The present invention discloses a photoelectric guidance simulation system, for the landing on a warship, consisting of a control computer, an inertial navigation system, an infrared detection gyro stabilizing system, infrared cooperation targets, a linear motion unit, an electric motor, a motion controller and a ground control station. The infrared detection gyro stabilizing system realizes stabilization of an optical axis; five cooperation targets are provided on a sliding block of the linear motion unit, and the motion controller controls the motion of the linear motion unit to bring the cooperation targets to move upward and downward and to simulate the motion of the runway decks in a vertical direction under the function of ocean waves. An infrared camera in the infrared detection gyro stabilizing system obtains images of the simulated runway decks generated by the infrared cooperation targets; operators at the ground control station identify and lock the simulated runway decks according to the image when the simulated runway decks are detected by the infrared detection gyro stabilizing system. The infrared detection gyro stabilizing system processes the five images of the simulated runway decks and sends necessary image information to the control computer which calculates a motion characteristic of the warship and a landing point position by using a photoelectric guidance algorithm. The photoelectric guidance simulation system with high precision and low cost has an important value for the development and manufacture of the photoelectric guidance landing systems.

A method for updating information for a graphics pipeline including executing in the first frame period an application on a CPU to generate primitives of a scene for a first video frame. Gaze tracking information is received in a second frame period for an eye of a user. In the second frame period a landing point on an HMD display is predicted at the CPU based at least on the gaze tracking information. A late update of the predicted landing point to a buffer accessible by the GPU is performed in the second frame period. Shader operations are performed in the GPU in the second frame period to generate pixel data based on the primitives and based on the predicted landing point, wherein the pixel data is stored into a frame buffer. The pixel data is scanned out in the third frame period from the frame buffer to the HMD.

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 relates to a Mars complex terrain region safe landing trajectory generation method with minimum fuel consumption, and belongs to the technical field of planet landing. The method comprises the steps that a Mars powered lowering kinetic model is built at first, a navigation function is built according to the target landing terrain, obstacle avoidance control force obtained through the navigation function can effectively avoid collision between a lander and an obstacle, and the lander is safely landed to a target landing point. According to the Mars complex terrain region safe landing trajectory generation method with minimum fuel consumption, the obtained obstacle avoidance control force is introduced into a Mars powered lowering kinetic equation, the control force is partially used for achieving obstacle avoidance, and landing trajectory optimization is carried out on the improved kinetic equation, so that obstacle avoidance is achieved, and meanwhile fuel consumed by the powered lowering trajectory is saved. The Mars complex terrain region safe landing trajectory generation method can not only take the target landing area terrain into consideration, but also effectively reduce fuel consumption, and overcomes the defects that obstacle avoidance cannot be achieved and fuel consumption is large in traditional optimization trajectory and obstacle avoidance.

The invention discloses a method of landform-adapted game jumping and a device of the same. The method can automatically search for a suitable landing point, and provide a role model with different takeoff speeds according to a space area that the landing point corresponds to a jumping to, thereby generating different parabolas of jumping tracks. The method and the device in the invention can select different takeoff speeds, jumping tracks and jumping modes for the game role according to selected jumping points, which makes players feel realer jumps and enriches appearing effects of the game.

The invention discloses a route planning method applied to a rotor UAV. The method comprises the steps of drawing an operation route, a step of meshing, a step of calculating a maximum number of imagepickup acquisition points, a step of planning an air route, and a step of selecting a takeoff point and a landing point, wherein a grid which intersects or is adjacent to the operation route is a first image pickup acquisition point in the air route, a second image pickup acquisition point, a third image pickup acquisition point to an Nth image pickup acquisition point are orderly selected, N isa natural number, the takeoff point is selected from a position nearest to the first image pickup acquisition point, and the landing point is selected from a position nearest to the Nth image pickup acquisition point in the air route in the operation route where the takeoff point is located. According to the method, through automatically selecting the takeoff point and the landing point, the workload brought by the manual selection of the takeoff point and the landing point is reduced, and the generation of takeoff and landing points that a UAV operator can not reach is avoided.

The invention discloses a speed measuring and positioning method of single-row light source Z-type reflected light screen targets, comprising the following steps of: forming a first path of light screen by parallel light emitted by single-row parallel light sources; reflecting the first path of light screen by a first reflection mirror to form a second path of light screen; reflecting the second path of light screen by a second reflection mirror to form a third path of light screen; placing a photodetector at the tail end of the third path of light screen; correspondingly measuring the time on penetrating through the light screen when bullets penetrate through the first path of light screen, the second path of light screen and the third path of light screen in sequence; indirectly solving the speed of the bullets penetrating through the targets and two coordinates of cross points of the bullets with the second path of light screen on the vertical planes of the first path of light screen, the second path of light screen and the third path of light screen according to the time difference and the target body size; obtaining the positions of the bullets for shielding the light rays through the photodetector, i.e. obtaining coordinates of cross points of the bullets with the second path of light screen in the array direction of a photosensitive element of the photodetector; and transmitting a measuring result to display equipment or a computer for further processing. The invention can be used for conveniently measuring target landing point coordinates of the bullets and the bullet speed at one step.

The invention discloses a landing method and system for an unmanned aerial vehicle. By using visual identification, GPS position information which is sent out by a mobile carrier can also be combinedto conduct combined navigation, and accordingly the problems are effectively solved that the mobile carrier moves extremely quickly, and a visual system loses a target and cannot quickly track the target; a position-time relation and a gesture-time relation of a landing platform are estimated through a digital information filtering fusion algorithm, and a prediction function of the mobile carrierabout the gesture, position and time is obtained; according to the prediction function of the mobile carrier about the gesture, position and time, the flying target of the unmanned aerial vehicle is updated in real time and comprises the position, speed and gesture, the landing point, landing speed and landing time of the unmanned aerial vehicle are precisely controlled, and accordingly the problems are solved that three-dimensional shifting is caused when a ship floats on the water surface, the landing platform of a deck surface can also incline left and right continuously, landing of the unmanned aerial vehicle is inaccurate, and even stable landing locking cannot be achieved.

The invention relates to a design of a wheel leg type moving foot of a multi-joint chain link type robot based on modularization. In system composition, the moving foot and a robot body are in an open chain structure relationship and totally have five active degrees of freedom, and each active degree of freedom can be completed by the driving of a steering engine or direct current servo motor. In structural design, the moving foot is in a crank arm structure, and is provided with four rotational joints and one wheel foot. By the front crank arm and rear crank arm of the leg and the wheel type design of the moving foot, the multi-joint chain link type robot has the advantages of good geography adaptability of a leg-type robot and strong mobility of a wheel-type robot, and a landing end of the moving foot can be landed in any position in a three-dimensional space of a reachable area of the moving foot. By a bevel gear at the end part of a moving output shaft of the steering engine, radial load directly borne by a motor can be avoided, and the service life of the motor is prolonged. By the special curvature design of a bearing small wheel at the bottom of the moving foot, the bending angle of the leg when the robot moves laterally horizontally just makes the landing point of the small wheel tangential with the ground so as to realize efficient gait walking.

The invention discloses a complete autonomous super remote distance flight system for an unmanned plane, and a control method thereof. The complete autonomous super remote distance flight system for an unmanned plane includes an unmanned plane and a plurality of charging base stations. The control method of the complete autonomous super remote distance flight system includes the steps: 1) when battery capacity is less than 10%, a flight control system determines the charging base station being nearest to the unmanned plane; 2) the flight control system controls the vertical height between the unmanned plane and the charging base station within the range of h-H meter, and a camera shoots the charging base station; 3) the flight control system performs RGB identification on the shot image, and capturing a landing point; 4) the flight control system controls the unmanned plane to land, and exchanges the battery, and then controls the unmanned plane to take off again; and 5) the step 1 to the step 4 are repeated until super remote distance flight is completed. During the flying process of the unmanned plane, the flight control system monitors the battery capacity in real time, and when the battery capacity is less than 10%, the unmanned plane selects the nearest charging base station to land, and then the battery is exchanged so that super remote distance flight of the unmanned plane is realized. For the complete autonomous super remote distance flight system for an unmanned plane and the control method thereof, a solar cell panel is utilized to charge the battery, so that the complete autonomous super remote distance flight system for an unmanned plane and the control method thereof use green energy and are environmentally friendly.

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.