Aircraft Ground Slope Detection Using Rangefinders and Attitude Data
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Solution Overview
Problem
Current technologies for detecting ground slope during aircraft landing, especially for smaller-scale platforms like drones, are costly, difficult to maintain, and limited by size and weight, making them unsuitable for safe landing at unknown sites.
Innovation Solution
A ground slope detection method that calculates a unique plane from at least three downward-looking distance detection points in the aircraft's body coordinate system, using three-dimensional attitude data and distance data from rangefinders, and generates a warning signal for excessive ground slope based on the included angle with the geodetic horizontal plane.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a laser radar-based scanner and computing system are installed on the aircraft to obtain accurate radar point cloud data for terrain detection, then measurement precision is improved, but device complexity, weight, and cost increase
Solution Approach 1:
The patent extracts only the essential function of terrain detection from the complex laser radar system. Instead of using a full laser radar scanner, it separates the terrain detection function and implements it through a simpler combination of rangefinder and attitude sensor data processing, eliminating unnecessary hardware complexity while maintaining detection precision
Solution Approach 2:
The patent replaces the mechanical laser radar scanning system with a computational approach. Instead of using physical laser scanning hardware, it substitutes a mathematical model that calculates terrain slope by processing data from existing sensors (rangefinder and attitude sensors), thereby eliminating the need for complex mechanical scanning systems
2Measurement precision
If a laser radar-based scanner and computing system are installed on the aircraft to obtain accurate radar point cloud data for terrain detection, then measurement precision is improved, but weight increases
Solution Approach 1:
The patent extracts only the essential function of terrain detection from the complex laser radar system. Instead of using a full laser radar scanner, it separates the terrain detection function and implements it through a simpler combination of rangefinder and attitude sensor data processing, eliminating unnecessary hardware weight
Solution Approach 2:
The patent replaces the mechanical laser radar scanning system with a computational approach. Instead of using physical laser scanning hardware, it substitutes a mathematical model that calculates terrain slope by processing data from existing sensors (rangefinder and attitude sensors), thereby eliminating the need for heavy mechanical scanning systems
3Measurement precision
If a laser radar-based scanner and computing system are installed on the aircraft to obtain accurate radar point cloud data for terrain detection, then measurement precision is improved, but cost increases
Solution Approach 1:
The patent extracts only the essential function of terrain detection from the complex laser radar system. Instead of using a full laser radar scanner, it separates the terrain detection function and implements it through a simpler combination of rangefinder and attitude sensor data processing, eliminating unnecessary hardware cost
Solution Approach 2:
The patent replaces the mechanical laser radar scanning system with a computational approach. Instead of using physical laser scanning hardware, it substitutes a mathematical model that calculates terrain slope by processing data from existing sensors (rangefinder and attitude sensors), thereby eliminating the need for expensive mechanical scanning systems
4Measurement precision
If a laser radar-based scanner and computing system are installed on the aircraft to obtain accurate radar point cloud data for terrain detection, then measurement precision is improved, but ease of operation and maintenance worsen
Solution Approach 1:
The patent extracts only the essential function of terrain detection from the complex laser radar system. Instead of using a full laser radar scanner, it separates the terrain detection function and implements it through a simpler combination of rangefinder and attitude sensor data processing, eliminating unnecessary operational complexity
Solution Approach 2:
The patent replaces the mechanical laser radar scanning system with a computational approach. Instead of using physical laser scanning hardware, it substitutes a mathematical model that calculates terrain slope by processing data from existing sensors (rangefinder and attitude sensors), thereby eliminating the need for complex mechanical scanning systems that require specialized operation and maintenance
Data Source
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AI summary
A ground slope detection method, device and computer-readable storage medium. The method includes: (S1) during landing of an aircraft, calculating a unique plane of at least three downward-looking distance detection points in a body coordinate system of the aircraft according to three-dimensional attitude data of the aircraft and distance data of at least three downward-looking rangefinders provided on the aircraft; (S2) calculating a rotation matrix of the body coordinate system to a geodetic coordinate system by the three-dimensional attitude data, and calculating a first unit normal vector of the unique plane in the geodetic coordinate system according to the rotation matrix; and (S3) calculating an included angle between a second unit normal vector of a geodetic horizontal plane in the geodetic coordinate system and the first unit normal vector, and generating a warning signal of excessive ground slope when the included angle is greater than or equal to a preset threshold. The method reduces the system hardware cost and maintenance and use difficulty of slope detection, providing effective protection for the safety of aircraft landing.