CN112484692A - Visual detection method and device for relative height of aircraft and cloud layer - Google Patents
Visual detection method and device for relative height of aircraft and cloud layer Download PDFInfo
- Publication number
- CN112484692A CN112484692A CN202011228039.0A CN202011228039A CN112484692A CN 112484692 A CN112484692 A CN 112484692A CN 202011228039 A CN202011228039 A CN 202011228039A CN 112484692 A CN112484692 A CN 112484692A
- Authority
- CN
- China
- Prior art keywords
- aircraft
- horizontal position
- cloud layer
- position line
- image
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention provides a relative height visual detection method and device of an aircraft and a cloud layer, wherein the method comprises the following steps: acquiring an image shot by an imaging system on an aircraft servo frame; detecting the upper boundary and the lower boundary of a cloud layer in the image by using a cloud layer image detection algorithm; determining a horizontal position line in the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame; and determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relation between the upper boundary and the lower boundary of the cloud layer. According to the method and the device for visually detecting the relative height of the aircraft and the cloud layer, the relative height of the aircraft and the cloud layer can be detected by using the self-contained optical imaging system and the servo frame, and a detection basis is provided for the aircraft to actively avoid the cloud layer from shielding a target.
Description
Technical Field
The invention belongs to the technical field of vision measurement, and particularly relates to a method and a device for visually detecting the relative height of an aircraft and a cloud layer.
Background
In the field of vision measurement, a cloud base height detection technology is adopted, and the height of a cloud base relative to the ground can be measured.
However, when the aircraft flies, the relative height between the aircraft and the cloud layer cannot be directly and rapidly determined only according to the height of the cloud base relative to the ground, and the thickness of the cloud layer cannot be determined in the prior art, so that the judgment of the relative height between the aircraft and the cloud layer is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention provides a method and a device for visually detecting the relative height of an aircraft and a cloud layer, which solve the problem that the relative height of the aircraft and the cloud layer cannot be quickly and accurately judged in the prior art.
The technical scheme of the invention is as follows:
the invention provides a relative height visual detection method of an aircraft and a cloud layer, which comprises the following steps:
acquiring an image shot by an imaging system on an aircraft servo frame;
detecting the upper boundary and the lower boundary of a cloud layer in the image by using a cloud layer image detection algorithm;
determining a horizontal position line in the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
and determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relation between the upper boundary and the lower boundary of the cloud layer.
Optionally, determining a horizontal position line in the image according to the pitch angle of the aircraft attitude and the pitch angle of the servo frame includes:
determining the number of pixels of deviation between a horizontal position line in the image and a central horizontal position line of the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
when the number of the deviation pixels is positive, determining that the horizontal position line is positioned below a central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the number of the deviation pixels;
and when the number of the deviation pixels is negative, determining that the horizontal position line is above the central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the absolute value of the number of the deviation pixels.
Optionally, the number of offset pixels is (fsin θ)/(pixel × cos γ);
wherein theta is the sum of the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame; f is the focal length of the optical imaging system, pixel is the pixel size of a detector in the optical imaging system, and gamma is the included angle between the central horizontal position line and the ground horizontal plane.
Optionally, the method further includes:
if the cloud layer is not detected in the image by using a cloud layer image detection algorithm, changing a course angle and/or a pitch angle of a servo frame of the imaging system to obtain a new image;
and determining the relative height of the aircraft and the cloud layer according to the new image.
Optionally, the method further includes:
and if the cloud layer is not detected in the images shot at all angles of the servo frame of the imaging system by using a cloud layer image detection algorithm and the total gray level change of each image is within a preset range, determining that the flying height of the aircraft is equivalent to the height of the cloud layer.
Optionally, the determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relationship between the upper boundary and the lower boundary of the cloud layer includes:
when the horizontal position line is above the upper boundary of the cloud layer, determining that the flying height of the aircraft is higher than the height of the cloud layer;
when the horizontal position line is below the lower boundary of the cloud layer, determining that the flying height of the aircraft is lower than the height of the cloud layer;
when the horizontal position line is between the upper cloud boundary and the lower cloud boundary, determining that the flying height of the aircraft is equivalent to the cloud height.
The invention also provides a relative height visual detection device of the aircraft and the cloud layer, which comprises:
the image acquisition module is used for acquiring an image shot by an imaging system on the aircraft servo frame;
the boundary acquisition module is used for detecting the upper boundary and the lower boundary of a cloud layer in the image by using a cloud layer image detection algorithm;
the horizontal position line determining module is used for determining a horizontal position line in the image according to the pitching angle of the attitude of the aircraft and the pitching angle of the servo frame;
and the relative height determining module is used for determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relation between the upper boundary and the lower boundary of the cloud layer.
Optionally, the horizontal position line determining module is specifically configured to:
determining the number of pixels of deviation between a horizontal position line in the image and a central horizontal position line of the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
and determining a horizontal position line in the image according to the deviation pixel number and the central horizontal position line of the image.
The invention has the advantages that:
the invention provides a relative height visual detection method and device of an aircraft and a cloud layer, which can detect the relative height of the aircraft and the cloud layer by using an optical imaging system and a servo frame, and provide a detection basis for the aircraft to actively avoid the cloud layer from shielding a target.
Drawings
FIG. 1 is a schematic flow chart of a relative altitude visual inspection method for an aircraft and a cloud layer provided by the invention;
FIG. 2 is a schematic diagram of the sum of the horizontal position line and the pitch angle in the image provided by the present invention;
fig. 3 is a schematic diagram of the detection of the relative heights of the aircraft and the cloud layer provided by the invention.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
Fig. 1 is a schematic flow chart of a method for visually inspecting the relative altitude of an aircraft and a cloud layer provided by the present invention, and as shown in fig. 1, the method for visually inspecting the relative altitude of an aircraft and a cloud layer provided by the present invention includes the following steps:
s1, mounting the servo frame on the aircraft, mounting the optical imaging system with the focal length f on the servo frame, and enabling the sum of the pitching angle of the attitude of the aircraft and the pitching angle of the servo frame to be 0 degree when the optical axis of the optical system is in a horizontal state; marking a central horizontal position line in the image; the center-horizontal position line passes through the image center point, see fig. 2.
S2, flying by the aircraft, and clearly imaging by the optical imaging system in real time;
it will be appreciated that both the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame may change during flight.
And S3, searching the cloud layer in the image imaged by the optical imaging system, and detecting the upper boundary and the lower boundary of the cloud layer.
S4, marking a horizontal position line in an image imaged by the optical imaging system, wherein the relation between the number of pixels of the position line moving relative to the central horizontal position line and the sum theta of the pitch angles is (fsin theta)/(pixel multiplied by cos gamma) pixels;
wherein theta is the sum of the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame; f is the focal length of the optical imaging system, pixel is the pixel size of a detector in the optical imaging system, and gamma is the included angle between the central horizontal position line and the ground horizontal plane.
When the number of the deviation pixels is positive, determining that the horizontal position line is positioned below a central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the number of the deviation pixels;
and when the number of the deviation pixels is negative, determining that the horizontal position line is above the central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the absolute value of the number of the deviation pixels.
And S5, determining the relative height according to the horizontal position line and the upper boundary and the lower boundary of the cloud layer.
For example, referring to fig. 3, when the horizontal position line is above the upper boundary of the cloud layer, the aircraft flies above the cloud layer, and the flying height of the aircraft is higher than the cloud layer height;
when the horizontal position line is below the lower boundary of the cloud layer, the aircraft flies below the cloud layer, and the flying height of the aircraft is lower than the height of the cloud layer;
when the horizontal position line is between the upper boundary and the lower boundary of the cloud layer, the aircraft flies in the height range of the cloud layer, and the flying height of the aircraft is equivalent to the height of the cloud layer.
Alternatively, when the cloud layer is not searched in S3, the pitch frame angle and the heading frame angle of the servo frame are changed to search for the cloud layer around the aircraft. It can be understood that the cloud layer cannot be searched, the total gray level change of the image in each searching direction is not obvious, and the gray level distribution of the image is relatively uniform, which indicates that the aircraft flies in the cloud layer at the moment, and the flying height of the aircraft is equivalent to the height of the cloud layer.
Optionally, the method for obtaining the image captured by the imaging system on the servo frame of the aircraft may be simplified by removing the servo frame to fixedly mount the imaging system on the aircraft, at this time, the pitch angle of the servo frame is replaced by the fixedly mounted pitch angle, and the θ is the sum of the pitch angle of the attitude of the aircraft and the fixedly mounted pitch angle.
Finally, it should be noted that the above examples are only illustrative of the implementation of the present invention and are not limiting. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical proposal described in the embodiments can be modified, or some technical features can be equally replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the present invention, and are intended to be included within the scope of the appended claims.
Claims (8)
1. A relative height visual detection method of an aircraft and a cloud layer is characterized by comprising the following steps:
acquiring an image shot by an imaging system on an aircraft servo frame;
detecting the upper boundary and the lower boundary of a cloud layer in the image by using a cloud layer image detection algorithm;
determining a horizontal position line in the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
and determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relation between the upper boundary and the lower boundary of the cloud layer.
2. The method of claim 1, wherein determining a horizontal position line in the image from a pitch angle of an aircraft attitude and a pitch angle of a servo frame comprises:
determining the number of pixels of deviation between a horizontal position line in the image and a central horizontal position line of the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
when the number of the deviation pixels is positive, determining that the horizontal position line is positioned below a central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the number of the deviation pixels;
and when the number of the deviation pixels is negative, determining that the horizontal position line is above the central horizontal position line, and the distance from the horizontal position line to the lower part of the central horizontal position line is the absolute value of the number of the deviation pixels.
3. The method according to claim 1, wherein the number of offset pixels is (fsin θ)/(pixel x cos γ);
wherein theta is the sum of the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame; f is the focal length of the optical imaging system, pixel is the pixel size of a detector in the optical imaging system, and gamma is the included angle between the central horizontal position line and the ground horizontal plane.
4. The method of claim 1, further comprising:
if the cloud layer is not detected in the image by using a cloud layer image detection algorithm, changing a course angle and/or a pitch angle of a servo frame of the imaging system to obtain a new image;
and determining the relative height of the aircraft and the cloud layer according to the new image.
5. The method of claim 4, further comprising:
and if the cloud layer is not detected in the images shot at all angles of the servo frame of the imaging system by using a cloud layer image detection algorithm and the total gray level change of each image is within a preset range, determining that the flying height of the aircraft is equivalent to the height of the cloud layer.
6. The method of claim 1, wherein determining the relative altitude of the aircraft and the cloud layer according to the position relationship between the horizontal position line and the upper and lower boundaries of the cloud layer comprises:
when the horizontal position line is above the upper boundary of the cloud layer, determining that the flying height of the aircraft is higher than the height of the cloud layer;
when the horizontal position line is below the lower boundary of the cloud layer, determining that the flying height of the aircraft is lower than the height of the cloud layer;
when the horizontal position line is between the upper cloud boundary and the lower cloud boundary, determining that the flying height of the aircraft is equivalent to the cloud height.
7. A relative altitude visual inspection device of aircraft and cloud cover, characterized by includes:
the image acquisition module is used for acquiring an image shot by an imaging system on the aircraft servo frame;
the boundary acquisition module is used for detecting the upper boundary and the lower boundary of a cloud layer in the image by using a cloud layer image detection algorithm;
the horizontal position line determining module is used for determining a horizontal position line in the image according to the pitching angle of the attitude of the aircraft and the pitching angle of the servo frame;
and the relative height determining module is used for determining the relative height of the aircraft and the cloud layer according to the horizontal position line and the position relation between the upper boundary and the lower boundary of the cloud layer.
8. The apparatus of claim 7, wherein the horizontal position line determination module is specifically configured to:
determining the number of pixels of deviation between a horizontal position line in the image and a central horizontal position line of the image according to the pitch angle of the attitude of the aircraft and the pitch angle of the servo frame;
and determining a horizontal position line in the image according to the deviation pixel number and the central horizontal position line of the image.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011228039.0A CN112484692B (en) | 2020-11-05 | 2020-11-05 | Visual detection method and device for relative height of aircraft and cloud layer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011228039.0A CN112484692B (en) | 2020-11-05 | 2020-11-05 | Visual detection method and device for relative height of aircraft and cloud layer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112484692A true CN112484692A (en) | 2021-03-12 |
| CN112484692B CN112484692B (en) | 2023-01-03 |
Family
ID=74928674
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011228039.0A Active CN112484692B (en) | 2020-11-05 | 2020-11-05 | Visual detection method and device for relative height of aircraft and cloud layer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112484692B (en) |
Citations (32)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4016658A (en) * | 1971-04-02 | 1977-04-12 | Redifon Limited | Video ground-based flight simulation apparatus |
| GB2019336A (en) * | 1978-04-22 | 1979-10-31 | Redifon Simulation Ltd | Visual display apparatus for flight simulators |
| JP2002140696A (en) * | 2000-11-06 | 2002-05-17 | Toyota Central Res & Dev Lab Inc | Image pickup and image conversion device |
| US6489915B1 (en) * | 1999-11-11 | 2002-12-03 | Raytheon Company | Microwave icing avoidance system |
| CN1670478A (en) * | 2004-03-15 | 2005-09-21 | 清华大学 | Method for measuring aircraft attitude parameters based on video images |
| US20060176210A1 (en) * | 2005-02-07 | 2006-08-10 | Yazaki Corporation | Vehicle display apparatus |
| RU2321029C1 (en) * | 2006-07-04 | 2008-03-27 | Институт мониторинга климатических и экологических систем СО РАН | Method of determining height, direction and velocity of bottom boundary of cloudiness |
| CN101310539A (en) * | 2005-11-22 | 2008-11-19 | 松下电器产业株式会社 | Imaging device |
| FR2932306A1 (en) * | 2008-06-10 | 2009-12-11 | Thales Sa | METHOD AND DEVICE FOR AIDING NAVIGATION FOR AN AIRCRAFT WITH RESPECT TO OBSTACLES |
| US20100161158A1 (en) * | 2008-12-18 | 2010-06-24 | Honeywell International Inc. | Systems and methods for enhancing terrain elevation awareness |
| US20110137498A1 (en) * | 2008-12-03 | 2011-06-09 | Satoshi Suzuki | Unmanned aircraft and aerial surveillance system for unmanned aircraft |
| US20120133529A1 (en) * | 2010-11-30 | 2012-05-31 | Honeywell International Inc. | Systems, methods and computer readable media for displaying multiple overlaid images to a pilot of an aircraft during flight |
| CN102530255A (en) * | 2011-12-13 | 2012-07-04 | 江西洪都航空工业集团有限责任公司 | Accurate parachute landing device for traction type unmanned plane and method |
| US20120191350A1 (en) * | 2010-04-29 | 2012-07-26 | Norsk Institutt For Luftforskning | System and method for detecting adverse atmospheric conditions ahead of an aircraft |
| US8515600B1 (en) * | 2007-09-06 | 2013-08-20 | Rockwell Collins, Inc. | System and method for sensor-based terrain avoidance |
| CN103453882A (en) * | 2013-09-27 | 2013-12-18 | 中国人民解放军理工大学 | Cloud layer height measurement system and cloud layer height measurement method based on aircraft |
| EP2731050A1 (en) * | 2012-11-12 | 2014-05-14 | BAE Systems PLC | Cloud feature detection |
| WO2014072737A1 (en) * | 2012-11-12 | 2014-05-15 | Bae Systems Plc | Cloud feature detection |
| CN104052923A (en) * | 2013-03-15 | 2014-09-17 | 奥林巴斯株式会社 | Photographing apparatus, image display apparatus, and display control method of image display apparatus |
| US9070285B1 (en) * | 2011-07-25 | 2015-06-30 | UtopiaCompression Corporation | Passive camera based cloud detection and avoidance for aircraft systems |
| JP2015148887A (en) * | 2014-02-05 | 2015-08-20 | 株式会社リコー | Image processing device, object recognition device, moving body instrument control system and object recognition program |
| US20150338211A1 (en) * | 2014-05-26 | 2015-11-26 | Xiaomi Inc. | Method and terminal for measuring angle |
| US20160041305A1 (en) * | 2014-08-11 | 2016-02-11 | The Boeing Company | 4d volumetric weather data processing and display |
| CN105572680A (en) * | 2014-10-08 | 2016-05-11 | 上海新跃仪表厂 | High-rise building fire positioning system and high-rise building fire positioning method |
| EP3157255A1 (en) * | 2016-06-01 | 2017-04-19 | Continental Automotive GmbH | Calibration apparatus and calibration method |
| CN107000833A (en) * | 2016-12-26 | 2017-08-01 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| US20170372120A1 (en) * | 2015-01-20 | 2017-12-28 | Bae Systems Plc | Cloud feature detection |
| CN207804230U (en) * | 2017-05-03 | 2018-09-04 | 苏州大学附属第二医院 | A kind of subjective vision gravity line detector |
| CN109933092A (en) * | 2017-12-18 | 2019-06-25 | 北京京东尚科信息技术有限公司 | Aircraft barrier-avoiding method, device and aircraft |
| US20190368891A1 (en) * | 2018-05-30 | 2019-12-05 | Airbus Operations S.A.S. | Device And Method For Desensitizing A Display System To Faults |
| CN110726397A (en) * | 2018-07-16 | 2020-01-24 | 韩国电子通信研究院 | Unmanned aerial vehicle obstacle detection device and method |
| CN110956151A (en) * | 2019-12-10 | 2020-04-03 | 中南大学 | Rail transit foreign matter intrusion detection method and system based on structured light |
-
2020
- 2020-11-05 CN CN202011228039.0A patent/CN112484692B/en active Active
Patent Citations (33)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4016658A (en) * | 1971-04-02 | 1977-04-12 | Redifon Limited | Video ground-based flight simulation apparatus |
| GB2019336A (en) * | 1978-04-22 | 1979-10-31 | Redifon Simulation Ltd | Visual display apparatus for flight simulators |
| US6489915B1 (en) * | 1999-11-11 | 2002-12-03 | Raytheon Company | Microwave icing avoidance system |
| JP2002140696A (en) * | 2000-11-06 | 2002-05-17 | Toyota Central Res & Dev Lab Inc | Image pickup and image conversion device |
| CN1670478A (en) * | 2004-03-15 | 2005-09-21 | 清华大学 | Method for measuring aircraft attitude parameters based on video images |
| US20060176210A1 (en) * | 2005-02-07 | 2006-08-10 | Yazaki Corporation | Vehicle display apparatus |
| CN101310539A (en) * | 2005-11-22 | 2008-11-19 | 松下电器产业株式会社 | Imaging device |
| RU2321029C1 (en) * | 2006-07-04 | 2008-03-27 | Институт мониторинга климатических и экологических систем СО РАН | Method of determining height, direction and velocity of bottom boundary of cloudiness |
| US8515600B1 (en) * | 2007-09-06 | 2013-08-20 | Rockwell Collins, Inc. | System and method for sensor-based terrain avoidance |
| FR2932306A1 (en) * | 2008-06-10 | 2009-12-11 | Thales Sa | METHOD AND DEVICE FOR AIDING NAVIGATION FOR AN AIRCRAFT WITH RESPECT TO OBSTACLES |
| US20110137498A1 (en) * | 2008-12-03 | 2011-06-09 | Satoshi Suzuki | Unmanned aircraft and aerial surveillance system for unmanned aircraft |
| US20100161158A1 (en) * | 2008-12-18 | 2010-06-24 | Honeywell International Inc. | Systems and methods for enhancing terrain elevation awareness |
| US20120191350A1 (en) * | 2010-04-29 | 2012-07-26 | Norsk Institutt For Luftforskning | System and method for detecting adverse atmospheric conditions ahead of an aircraft |
| US20120133529A1 (en) * | 2010-11-30 | 2012-05-31 | Honeywell International Inc. | Systems, methods and computer readable media for displaying multiple overlaid images to a pilot of an aircraft during flight |
| US9070285B1 (en) * | 2011-07-25 | 2015-06-30 | UtopiaCompression Corporation | Passive camera based cloud detection and avoidance for aircraft systems |
| CN102530255A (en) * | 2011-12-13 | 2012-07-04 | 江西洪都航空工业集团有限责任公司 | Accurate parachute landing device for traction type unmanned plane and method |
| EP2731050A1 (en) * | 2012-11-12 | 2014-05-14 | BAE Systems PLC | Cloud feature detection |
| US20160283774A1 (en) * | 2012-11-12 | 2016-09-29 | Bae Systems Plc | Cloud feature detection |
| WO2014072737A1 (en) * | 2012-11-12 | 2014-05-15 | Bae Systems Plc | Cloud feature detection |
| CN104052923A (en) * | 2013-03-15 | 2014-09-17 | 奥林巴斯株式会社 | Photographing apparatus, image display apparatus, and display control method of image display apparatus |
| CN103453882A (en) * | 2013-09-27 | 2013-12-18 | 中国人民解放军理工大学 | Cloud layer height measurement system and cloud layer height measurement method based on aircraft |
| JP2015148887A (en) * | 2014-02-05 | 2015-08-20 | 株式会社リコー | Image processing device, object recognition device, moving body instrument control system and object recognition program |
| US20150338211A1 (en) * | 2014-05-26 | 2015-11-26 | Xiaomi Inc. | Method and terminal for measuring angle |
| US20160041305A1 (en) * | 2014-08-11 | 2016-02-11 | The Boeing Company | 4d volumetric weather data processing and display |
| CN105572680A (en) * | 2014-10-08 | 2016-05-11 | 上海新跃仪表厂 | High-rise building fire positioning system and high-rise building fire positioning method |
| US20170372120A1 (en) * | 2015-01-20 | 2017-12-28 | Bae Systems Plc | Cloud feature detection |
| EP3157255A1 (en) * | 2016-06-01 | 2017-04-19 | Continental Automotive GmbH | Calibration apparatus and calibration method |
| CN107000833A (en) * | 2016-12-26 | 2017-08-01 | 深圳市大疆创新科技有限公司 | Unmanned plane |
| CN207804230U (en) * | 2017-05-03 | 2018-09-04 | 苏州大学附属第二医院 | A kind of subjective vision gravity line detector |
| CN109933092A (en) * | 2017-12-18 | 2019-06-25 | 北京京东尚科信息技术有限公司 | Aircraft barrier-avoiding method, device and aircraft |
| US20190368891A1 (en) * | 2018-05-30 | 2019-12-05 | Airbus Operations S.A.S. | Device And Method For Desensitizing A Display System To Faults |
| CN110726397A (en) * | 2018-07-16 | 2020-01-24 | 韩国电子通信研究院 | Unmanned aerial vehicle obstacle detection device and method |
| CN110956151A (en) * | 2019-12-10 | 2020-04-03 | 中南大学 | Rail transit foreign matter intrusion detection method and system based on structured light |
Non-Patent Citations (2)
| Title |
|---|
| 彭向阳 等: "大型无人直升机电力线路全自动巡检技术及应用", 《南方电网技术》 * |
| 赵海 等: "基于四轴飞行器的单目视觉避障算法", 《光学精密工程》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112484692B (en) | 2023-01-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111260615B (en) | Laser and machine vision fusion-based method for detecting apparent diseases of unmanned aerial vehicle bridge | |
| CN111076880B (en) | Multi-point deflection measuring method of long-span bridge considering camera attitude change | |
| CN107121093A (en) | A kind of gear measurement device and measuring method based on active vision | |
| CN110132226B (en) | System and method for measuring distance and azimuth angle of unmanned aerial vehicle line patrol | |
| CN110470226B (en) | Bridge structure displacement measurement method based on unmanned aerial vehicle system | |
| CN106403900B (en) | Flying object tracking location system and method | |
| CN109269525B (en) | Optical measurement system and method for take-off or landing process of space probe | |
| AU2015367226B2 (en) | Imaging system | |
| CN112197766A (en) | Vision attitude measuring device for mooring rotor platform | |
| CN115546170B (en) | Fan blade defect positioning method and system based on laser ranging | |
| CN110047111A (en) | A kind of airplane parking area shelter bridge butting error measurement method based on stereoscopic vision | |
| CN105953741A (en) | Steel structure local geometric deformation measurement system and method | |
| CN115717867A (en) | Bridge deformation measurement method based on airborne double cameras and target tracking | |
| CN112577708A (en) | High-enthalpy shock tunnel engine push resistance measurement system method based on backlight imaging | |
| CN109751917B (en) | Calibration method for thermal imaging sighting telescope installation reference off-axis degree | |
| CN112484692B (en) | Visual detection method and device for relative height of aircraft and cloud layer | |
| CN107505611B (en) | Real-time correction method for video distance estimation of ship photoelectric reconnaissance equipment | |
| US20200110962A1 (en) | Optics based multi-dimensional target and multiple object detection and tracking method | |
| CN109540084B (en) | Method and device for measuring three-dimensional attitude of part in floating liquid | |
| CN110307829B (en) | Hoisting equipment perpendicularity detection method and system based on unmanned aerial vehicle video | |
| CN113920197A (en) | Method for assisting camera to automatically focus and focus by laser radar | |
| KR20210003518A (en) | Diagnostic apparatus for facilities of power transmission using unmaned aerial vehicle and method thereof | |
| CN110796660A (en) | Image definition evaluation method for airport runway | |
| CN114527551B (en) | Object outer wall overall imaging system based on conical specular reflection | |
| CN114255617B (en) | 3D display method for carrier-based aircraft landing guidance |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |