CN103412568A - Method for obtaining remote-sensing images by same-sortie variable-flight-height unmanned aerial vehicle - Google Patents
Method for obtaining remote-sensing images by same-sortie variable-flight-height unmanned aerial vehicle Download PDFInfo
- Publication number
- CN103412568A CN103412568A CN2013103783687A CN201310378368A CN103412568A CN 103412568 A CN103412568 A CN 103412568A CN 2013103783687 A CN2013103783687 A CN 2013103783687A CN 201310378368 A CN201310378368 A CN 201310378368A CN 103412568 A CN103412568 A CN 103412568A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- flying height
- ground
- control module
- boat
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 25
- 230000008569 process Effects 0.000 claims abstract description 8
- 230000001105 regulatory effect Effects 0.000 claims description 29
- 230000008859 change Effects 0.000 claims description 8
- 230000001276 controlling effect Effects 0.000 claims description 7
- 230000009467 reduction Effects 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000013507 mapping Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Provided is a method for obtaining remote-sensing images by a same-sortie variable-flight-height unmanned aerial vehicle. The method comprises an unmanned aerial vehicle body, an unmanned aerial vehicle flight height control module and aerial photography equipment carried by the unmanned aerial vehicle body. The method is characterized in that in the flying process of the unmanned aerial vehicle, the flight height of the unmanned aerial vehicle is dynamically adjusted according to changes of heights of terrains. The method has the advantages that under the condition that the take-off and landing times are reduced, the situation that the ground resolution of the images is in a good state is effectively guaranteed, meanwhile, consistency of the ground resolution of the different images is good, and processing difficulty of the images in the later period is reduced.
Description
Technical field
The present invention relates to a kind of employing unmanned plane and carry out aerophotographic technology, relate in particular to a kind of same sortie and become flying height unmanned aerial vehicle remote sensing images acquisition methods.
Background technology
Undertaking of surveying and mapping is as one in social development and economic construction early stage property, basic work, and the town and country overall planning in area, mountain region and new countryside construction etc. all are of great practical significance; The unmanned plane technology is the emerging technology of rising in recent years, than before boat take the photograph the operation means, adopt unmanned plane to navigate and take the photograph have low cost, easy to operate advantage;
In prior art, the unmanned plane technology has been used in the mapping operation, but current applied environment also only limits to the remote sensing image of plains region is obtained, this is mainly because the plains region landform is comparatively mild, under the condition of not considering weather effect, unmanned plane is navigating to plains region while taking the photograph, and the relative height on unmanned plane and ground can maintain metastable height, obtaining the ground resolution of image can be controlled preferably, and interior industry is processed relatively easy;
For Mountainous Regions, because topographic relief is larger, the relative height on unmanned plane and ground is the dynamic change state, and relative height is the key factor that affects image resolution, therefore, in prior art, when unmanned plane is taken the photograph for the mountain area boat, exist the ground resolution ginseng of aerial stereo images inferior uneven, in-and-out situation, this has not only increased the difficulty of interior industry Image Matching, and in order to guarantee the consistance of ground resolution, need to drive more time ground frequently the landing unmanned plane to what the same area carried out differing heights, repeat to take operation, troublesome poeration, equipment loss is serious, and the increase of driving along with taking off time, the probability of appearance accident also increases relatively.
Summary of the invention
For the problem in background technology, the present invention proposes a kind of boat takes the photograph in unmanned plane aeroplane photography with sortie change flying height control method, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, its innovation is: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
After adopting aforementioned schemes, can be in the unmanned plane during flying process, according to theoretical ground resolution, dynamically regulate the flying height of unmanned plane, make the relative height on unmanned plane and ground maintain metastable state, guarantee that ground resolution meets the demands, avoid the same area is repeatedly repeated to take, the ground resolution that has also guaranteed simultaneously different images is relatively consistent, the difficulty of industry image processing in reducing.For the concrete regulating measure of unmanned plane during flying height, adopt existing unmanned plane during flying attitude control technology to realize, do not repeat them here.
In order further to improve the relative stability of the relative height on unmanned plane and ground, the present invention has also done following improvement: when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H in step 3):
ΔH＝h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1＝H0+ΔH。
After adopting this to improve, unmanned plane during flying height control module can be regulated the flying height of unmanned plane quantitatively according to Δ H, accurately controlled with the flying height that guarantees unmanned plane.
For fear of frequent adjusting of flying height caused controlling difficulty, increase, the present invention has also done following improvement: in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
Based on aforementioned schemes, the invention allows for a kind of same sortie and become flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of its flying height so:
ΔH＝h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
Preferably, in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
Useful technique effect of the present invention is: under the condition that reduces the landing number of times, guarantee that effectively visual ground resolution is in better state, simultaneously, also make the consistance of the visual ground resolution of ground difference better, reduce the difficulty of later stage image processing.
Embodiment
A kind of boat is taken the photograph in unmanned plane aeroplane photography and is become the flying height control method with sortie, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, its innovation is: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
Further, in step 3), when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H:
ΔH＝h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1＝H0+ΔH。
Further, in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
A kind of same sortie becomes flying height unmanned aerial vehicle remote sensing images acquisition methods, the steps include:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of its flying height so:
ΔH＝h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
Further, in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
Claims (5)
1. a boat is taken the photograph in unmanned plane aeroplane photography and is become the flying height control method with sortie, comprise that unmanned plane, unmanned plane during flying height control module, the boat of carrying on unmanned plane take the photograph equipment, it is characterized in that: establishing the lens focus that described boat takes the photograph equipment is that f, pixel dimension are a, and f and a are known quantity; In single sortie boat of a certain unmanned plane is flown over journey, the flying height of regulating as follows unmanned plane:
1) in unmanned plane during flying height control module, be preset with theoretical ground resolution GSD, while just taking off, unmanned plane during flying height control module solves the theoretical relative height H on unmanned plane and ground by following formula, and presses the Initial Flight Level that H regulates unmanned plane:
After reaching Initial Flight Level and arriving territory, predetermined air cover, boat is taken the photograph equipment and is started working;
2) in the unmanned plane during flying process, the flying height of regulating unmanned plane according to the fluctuating quantity on ground; If before uprising, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h;
3) unmanned plane during flying height control module reads high variable quantity h in real time, if h > 0, be that ground elevation increases, unmanned plane during flying height control module is controlled unmanned plane increases flying height, if h<0, namely ground elevation reduces, and unmanned plane during flying height control module is controlled unmanned plane reduction flying height, thereby the actual relative height on unmanned plane and ground is maintained near theoretical relative height H all the time, and then guarantee that the image resolution obtained is consistent.
2. boat according to claim 1 is taken the photograph with unmanned plane and is become the flying height control method with sortie, it is characterized in that: when regulating the flying height of unmanned plane, regulate as follows unmanned plane during flying height Δ H in step 3):
ΔH＝h
If Δ H is negative value, be that the ground elevation value reduces, the unmanned plane during flying height control module flying height of controlling unmanned plane reduces | Δ H|, if Δ H be on the occasion of, be that the ground elevation value increases, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|; In flight course, the practical flight height H 1 of unmanned plane is as follows:
H1＝H0+ΔH。
3. boat according to claim 1 is taken the photograph with unmanned plane and is become the flying height control method with sortie, it is characterized in that: in described unmanned plane during flying height control module, also be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step 3), the flying height of unmanned plane is regulated.
4. one kind becomes flying height unmanned aerial vehicle remote sensing images acquisition methods with sortie, it is characterized in that:
A, according to boat, take the photograph project demands and set theoretical ground resolution;
B, according to the preliminary survey of actual landform, cook up the unmanned plane during flying circuit;
C, while just taking off, by following formula, solve the theoretical relative height H on unmanned plane and ground, and press the Initial Flight Level that H regulates unmanned plane:
Wherein, f takes the photograph the lens focus of equipment for the boat of lift-launch on unmanned plane, and a takes the photograph the pixel dimension of equipment for the boat of lift-launch on unmanned plane, and GSD is theoretical ground resolution;
After reaching Initial Flight Level and arriving territory, predetermined air cover, start boat and take the photograph operation;
D, in the unmanned plane during flying process, according to the fluctuating quantity on ground, regulate the flying height of unmanned plane; Before if unmanned plane uprises, the flying height of unmanned plane is H0, and the high variable quantity of current landform is h, and unmanned plane during flying height control module is as follows to the regulated value Δ H of flying height so:
ΔH＝h
If floor level reduces, h is negative value, if floor level increases, h be on the occasion of, now can obtain unmanned plane during flying height regulated value Δ H;
When Δ H was negative value, the unmanned plane during flying height control module flying height of controlling unmanned plane reduced | Δ H|, when Δ H be on the occasion of the time, unmanned plane during flying height control module is controlled the flying height raising of unmanned plane | Δ H|.
5. same sortie according to claim 4 becomes flying height unmanned aerial vehicle remote sensing images acquisition methods, it is characterized in that: in described unmanned plane during flying height control module, be preset with ground and change altitude datum h
0If, h≤h
0, the flying height of unmanned plane is not regulated, if h>h
0, by mode in step D, the flying height of unmanned plane is regulated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310378368.7A CN103412568B (en) | 2013-08-27 | 2013-08-27 | Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310378368.7A CN103412568B (en) | 2013-08-27 | 2013-08-27 | Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103412568A true CN103412568A (en) | 2013-11-27 |
| CN103412568B CN103412568B (en) | 2016-01-20 |
Family
ID=49605593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310378368.7A Active CN103412568B (en) | 2013-08-27 | 2013-08-27 | Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103412568B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN107065932A (en) * | 2017-06-15 | 2017-08-18 | 西安电子科技大学 | A kind of the condition of a disaster detects the control method of four rotor wing unmanned aerial vehicles |
| CN107131877A (en) * | 2016-02-29 | 2017-09-05 | 星克跃尔株式会社 | Unmanned vehicle course line construction method and system |
| WO2018112831A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, and control method thereof |
| CN108475071A (en) * | 2017-06-29 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method, control terminal and its control method |
| CN108562279A (en) * | 2018-03-06 | 2018-09-21 | 平湖市城工建设测绘设计有限责任公司 | A kind of unmanned plane mapping method |
| CN109000524A (en) * | 2018-08-09 | 2018-12-14 | ***电子综合勘察研究院 | The boundary Control blasting method of digging is backbreak and is owed in a kind of reduction |
| CN111367302A (en) * | 2020-03-03 | 2020-07-03 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19709097A1 (en) * | 1997-03-06 | 1998-10-01 | Dornier Gmbh | Flight guidance system for low-flying aircraft |
| CN101067552A (en) * | 2007-02-02 | 2007-11-07 | 北京航空航天大学 | RVSM airspace aeronautical device height holding performance monitoring system and method |
| CN101270994A (en) * | 2008-03-27 | 2008-09-24 | 北京航空航天大学 | Unmanned aerial vehicle radio-altimeter height and lifting speed self-correcting method |
| KR20110126898A (en) * | 2010-05-18 | 2011-11-24 | 한국항공우주산업 주식회사 | Portable land control apparatus |
-
2013
- 2013-08-27 CN CN201310378368.7A patent/CN103412568B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19709097A1 (en) * | 1997-03-06 | 1998-10-01 | Dornier Gmbh | Flight guidance system for low-flying aircraft |
| CN101067552A (en) * | 2007-02-02 | 2007-11-07 | 北京航空航天大学 | RVSM airspace aeronautical device height holding performance monitoring system and method |
| CN101270994A (en) * | 2008-03-27 | 2008-09-24 | 北京航空航天大学 | Unmanned aerial vehicle radio-altimeter height and lifting speed self-correcting method |
| KR20110126898A (en) * | 2010-05-18 | 2011-11-24 | 한국항공우주산업 주식회사 | Portable land control apparatus |
Non-Patent Citations (3)
| Title |
|---|
| 张永年等: "地形起伏对无人机低空航测影响分析-以东桥镇、龙海市为例", 《测绘与空间地理信息》 * |
| 熊盛青等: "直升机大比例尺航空物探在深部找矿中的应用前景", 《地球科学进展》 * |
| 胡开全等: "固定翼无人机低空遥感***在山地区域影像获取研究", 《北京测绘》 * |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107131877A (en) * | 2016-02-29 | 2017-09-05 | 星克跃尔株式会社 | Unmanned vehicle course line construction method and system |
| CN107131877B (en) * | 2016-02-29 | 2021-07-02 | 星克跃尔株式会社 | Unmanned aerial vehicle route construction method and system |
| WO2018112831A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, and control method thereof |
| CN106774406A (en) * | 2016-12-30 | 2017-05-31 | 武汉大势智慧科技有限公司 | A kind of unmanned plane image automated collection systems and method |
| CN107065932A (en) * | 2017-06-15 | 2017-08-18 | 西安电子科技大学 | A kind of the condition of a disaster detects the control method of four rotor wing unmanned aerial vehicles |
| CN108475071A (en) * | 2017-06-29 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Unmanned plane and its control method, control terminal and its control method |
| CN108562279A (en) * | 2018-03-06 | 2018-09-21 | 平湖市城工建设测绘设计有限责任公司 | A kind of unmanned plane mapping method |
| CN108562279B (en) * | 2018-03-06 | 2021-06-22 | 平湖市城工建设测绘设计有限责任公司 | Unmanned aerial vehicle surveying and mapping method |
| CN109000524A (en) * | 2018-08-09 | 2018-12-14 | ***电子综合勘察研究院 | The boundary Control blasting method of digging is backbreak and is owed in a kind of reduction |
| CN109000524B (en) * | 2018-08-09 | 2021-11-05 | 长安大学 | Boundary control blasting method for reducing over-excavation and under-excavation |
| CN111367302A (en) * | 2020-03-03 | 2020-07-03 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
| CN111367302B (en) * | 2020-03-03 | 2023-03-21 | 大连海洋大学 | Unmanned aerial vehicle self-adaptive height-fixing method for offshore cage culture inspection |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103412568B (en) | 2016-01-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103412568B (en) | Flying height unmanned aerial vehicle remote sensing images acquisition methods is become with sortie | |
| CN106774431B (en) | Method and device for planning air route of surveying and mapping unmanned aerial vehicle | |
| CN105549603B (en) | A kind of Intelligent road inspection control method of multi-rotor unmanned aerial vehicle | |
| CN107672817A (en) | A kind of intelligent landing system of mobile vehicle-mounted unmanned plane | |
| CN102508493B (en) | Flight control method for small unmanned aerial vehicle | |
| CN103217987B (en) | Agile satellite dynamic imaging posture adjustment method | |
| DE102018132982A1 (en) | SYSTEMS AND METHOD FOR ORIENTING AN ANNULAR MEASURING UNIT IN A VEHICLE | |
| DE102017115128A1 (en) | Vehicle and control method thereof and autonomous-driving system using same | |
| CN106155086A (en) | A kind of Road Detection unmanned plane and automatic cruising method thereof | |
| CN104590576A (en) | Flight control system and method for ship-borne unmanned aerial vehicle autonomous landing | |
| WO2013072096A1 (en) | Device and method for operating a vehicle | |
| WO2008027026A3 (en) | Method and system for geophysical data acquisition on an airship | |
| US20190315486A1 (en) | Adaptive Voxels for Aerial Light Shows | |
| CN108496130A (en) | Flight control method, equipment, control terminal and its control method, unmanned plane | |
| CN102322859A (en) | Aerial inertial navigation measurement system and attitude correction method | |
| CN104035445A (en) | Remote control device, control system and control method | |
| CN104897159A (en) | Aircraft full-course navigation method based on sequence image matching | |
| CN104865969A (en) | Control system designing and flight testing method based on unmanned aerial vehicle flight mode | |
| CN112000129A (en) | Improved ground-imitating flight control method for unmanned aerial vehicle | |
| WO2015101102A1 (en) | Vehicle speed control method and device | |
| CN111325836A (en) | Method, computer program product and apparatus for generating a three-dimensional representation of a terrain | |
| CN107782308A (en) | A kind of vehicular automatically controls UAS, localization method and control method | |
| CN105432196A (en) | Unmanned transplanter | |
| CN105717930A (en) | Method, device and system for controlling drone | |
| KR101985202B1 (en) | Precision altitude control system of unmanned aerial vehicle using altimeter |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240320 Address after: No. 6 Qingzhu East Road, Dazhulin Street, Yubei District, Chongqing, 400000 Patentee after: Chongqing Institute of Surveying and Mapping Science and Technology (Chongqing Map Compilation Center) Country or region after: China Address before: 400020 Jiangbei District, Chongqing electric measuring Village No. 231 Patentee before: CHONGQING SURVEY INSTITUTE Country or region before: China |
|
| TR01 | Transfer of patent right |