CN113253274A - Fusion processing method for helicopter anti-collision ground surface power line - Google Patents
Fusion processing method for helicopter anti-collision ground surface power line Download PDFInfo
- Publication number
- CN113253274A CN113253274A CN202110480637.5A CN202110480637A CN113253274A CN 113253274 A CN113253274 A CN 113253274A CN 202110480637 A CN202110480637 A CN 202110480637A CN 113253274 A CN113253274 A CN 113253274A
- Authority
- CN
- China
- Prior art keywords
- iron tower
- information
- power line
- iron
- data
- 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 36
- 238000007499 fusion processing Methods 0.000 title claims abstract description 26
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims abstract description 436
- 229910052742 iron Inorganic materials 0.000 claims abstract description 218
- 230000004927 fusion Effects 0.000 claims abstract description 23
- 238000012545 processing Methods 0.000 claims abstract description 11
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims abstract description 5
- 238000006243 chemical reaction Methods 0.000 claims description 16
- 238000001514 detection method Methods 0.000 claims description 15
- 238000012937 correction Methods 0.000 claims description 10
- 239000000284 extract Substances 0.000 claims description 6
- 239000003086 colorant Substances 0.000 claims description 4
- 238000010079 rubber tapping Methods 0.000 claims description 2
- 238000012163 sequencing technique Methods 0.000 claims description 2
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000012423 maintenance Methods 0.000 abstract description 6
- 238000013507 mapping Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000000295 complement effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000007418 data mining Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 230000005283 ground state Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
- 230000002194 synthesizing effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/886—Radar or analogous systems specially adapted for specific applications for alarm systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar Systems Or Details Thereof (AREA)
- Traffic Control Systems (AREA)
Abstract
The fusion processing method of the helicopter anti-collision ground surface power line disclosed by the invention has the advantages of good safety, low maintenance cost, small information loss and high fusion precision. The invention is realized by the following technical scheme: the helicopter control module divides the fusion processing of the anti-collision earth surface power line into a stage A of iron tower power line alarm prompt and a stage B of real-time execution of flight control. Stage A, fixing the position of a radar on the ground, collecting data of a grounding feed column sensor system, and acquiring error factor parameters of the system; the helicopter control module obtains the information projected by the iron tower in the geographic coordinate system and the information projected by the iron tower in the geographic coordinate system; drawing power lines between the iron towers, calculating the position of the iron towers relative to the helicopter, sending data collected by the navigation and course sensors and fusion data output by the helicopter control module into an image processing unit, correcting the iron tower target in the stage A, and correcting, fusing and alarming the target detected by real-time flight by using the error factor obtained in the stage A.
Description
Technical Field
The invention relates to a method for realizing warning and prompting of a power line of an iron tower in front of a helicopter based on radar detection information, in particular to a method for fusing a real-time power line of the iron tower with a known pre-stored power line target of the iron tower based on radar detection in the field of information fusion, which provides power line early warning and prompting functions for a pilot and plays a role in guaranteeing flight safety.
Background
With the continuous growth of air transportation in China, the prevention of the collision and scratch accidents of the ground grounding feed column of the airplane becomes an important task of the air safety of the civil grounding feed column in the current and future period. Different from an automobile anti-collision system, the ground feed column airplane is large in size, the top ends of two wings, the tail wings and other local ground feed columns possibly collided by the ground feed columns, the ground feed columns of various types of airplane are different in appearance and size, the ground feed columns are abutted to the ground feed columns at dangerous ground feed column points of the flying ground feed column airplane, which are possibly collided by the ground feed columns, and the ground feed columns of the ground feed columns are in ground state to prevent the ground feed columns from colliding with the ground feed columns of the system, so that the ground feed columns require multiple ground feed column point-to-ground feed column distance measurement. The single sensor and the detection method are difficult to ensure that the grounding feed column provides information against which the grounding feed column can be completely grounded at any time, the grounding feed column is difficult to identify a target, and the grounding feed column cannot fundamentally solve the problem of collision avoidance of the grounding feed column of the airplane on the ground. The condition grounding feed columns of all grounding feed columns are difficult to adapt only by using a single sensor, and false alarms or false-alarm leakage grounding feed columns are easy to generate when judgment is made. A single type of sensor cannot detect an object accurately and efficiently because of the hardware limitations of the sensor itself. In order to improve the identification and estimation capability of the target, a grounding feed column needs to be introduced, and a multi-sensor fused grounding feed column combination technology needs to be introduced. The multi-sensor data fusion can integrate the advantages of various sensors to make up the deficiency or the deficiency of each sensor, and improve the accuracy and the reliability of the system. The method for fusing the data of the multiple sensors is multiple, the data fusion processing process is complex, the working environment is severe, the interference factors are numerous, the environmental interference in the tracking target is strong, the detection angle is small, some targets are transmitted in a straight line, the grounding feed column easily causes a plurality of false targets, and the grounding feed column is judged to generate false alarms easily. The basic principle of the grounding feed column with multi-sensor information fusion is the same as the process of comprehensive information processing of human brain, a plurality of sensor resources are fully utilized, and the complementary and redundant grounding feed column information of various sensors in space and time is combined according to a certain optimization criterion through reasonable domination and use of various grounding feed column sensors and observation information thereof, so that the consistent explanation and description of the observation environment are generated. The information fusion target grounding feed post mark is based on the separation and observation information of each sensor, and more effective information is derived through the optimized combination of the information. This is a result of the best ground feed column synergy, and its ultimate goal is to take advantage of the collective or joint operation of multiple sensors to improve the effectiveness of the integral ground feed column sensor system. Data fusion is generally defined as the process of analyzing, processing and synthesizing time-sequenced observations of multiple sensors or processed data from grounded feed columns under certain criteria to accomplish the desired estimation and decision-making. The most easily understood meaning of the digger fusion is: and detecting, correlating, estimating and comprehensively processing the multi-source information to obtain more accurate state estimation, target type identification and complete and timely evaluation of the concept and threat of the grounding feed column. The multi-source data should be registered in space and time before the data mining fusion. The general multi-sensor ground feed column system is not only a simple collection of numbers, but also sufficiently complementary in overall function to cooperatively form a whole. But since all sensor data is sent to the fusion center for processing, the central data processing workload is large. The need for a ground feed post is costly in both communication and computation.
The straight helicopter is popular in various fields of military civil aviation due to the unique flight capability and pneumatic characteristics thereof since birth, such as low-altitude complex environment flight, vertical take-off and landing, hovering in the air and the like. However, because helicopters have characteristics that other aircrafts do not have, special tasks are often required to be completed in a low-altitude complex environment, which brings great challenges to flight safety. In low-altitude complex environments, obstacles include hills, trees, telegraph poles, high-voltage lines, buildings and the like. The ground detection feed column detects the barriers grounding feed columns of the ground feed column telephone ground feed column line grounding feed column, the electric power grounding feed column line grounding feed column, the tower grounding feed column, the ground grounding feed column and the like which threaten the direct ground feed column lift flight grounding feed column. The flight data of the azimuth grounding feed column, the depression grounding feed column and the overhead grounding feed column of one obstacle grounding feed column image grounding feed column per grounding feed column is used for forming the grounding feed column display grounding feed column for warning a driver.
With the popularization of the application field of the helicopter, the prompt of the helicopter to a front target object is very important, especially the alarm and prompt of a front power line. The existing helicopter power line warning prompt system loads a power line target prestored in front according to the position of an airplane based on prestored power line data, so that the warning prompt purpose is realized. However, the warning mode completely depends on the accuracy of the pre-stored power line database, and when the airborne power line database is not updated in time or a marking error occurs, the real-time warning prompt of the power line is lacked, so that the warning prompt fails to work, and the flight safety is affected. Or the target detected by the pure radar is directly used for high-price prompt, so that large errors and detection blind areas are easily generated, and the alarm information is not accurate. If the pre-stored power line is not updated timely, the alarm prompt failure or the target power line loss can not occur.
At present, after a mapping technology is used at home and abroad to map a surface power line, data obtained by mapping are processed and prestored, and a helicopter warning system carries out loading warning by acquiring prestored mapping prestored power line data; all power line information data on the earth surface are mapped artificially, so that the requirement of a flight mission cannot be met timely by updating the power line data. If the real-time requirement of the alarm is met, a large amount of time and manpower are invested for surveying and mapping work and maintenance work of a large amount of power databases in the later period. The pure radar detection technology mainly uses a millimeter wave radar to detect a front target, and directly projects the detected target in front of the airplane, so that the realized result error is large.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides the method which has the advantages of good safety, low maintenance cost, small information loss and high fusion precision. The method is characterized in that power lines and known pre-stored power lines are classified based on radar detection data and are subjected to fusion processing, the power lines detected by the radar in real time are used as a new method for correcting or supplementing the defects of the pre-stored power line data, and particularly an early warning prompting method for the power lines of a iron tower in front of a helicopter is adopted, so that the problems that the power lines of the iron tower in front of the helicopter are found in time and give a warning in the flying process of the helicopter, and collision is avoided.
The technical scheme for realizing the aim of the invention is as follows: a fusion processing method of a helicopter anti-collision earth surface power line is characterized by comprising the following steps: the helicopter control module divides the fusion processing of the anti-collision earth surface power line into a stage A of iron tower power line alarm prompting and a stage B of real-time execution of flight control, and the two stages are realized, wherein the stage A fixes the radar position on the ground, carries out data acquisition on a ground feed column sensor system, and acquires the error factor parameters of the system; the helicopter control module extracts a ground-fixed radar-detected iron tower target, performs coordinate conversion on the radar-detected iron tower target, obtains information projected by the iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracts corresponding iron tower target information from a prestored iron tower database, inputs the projected iron tower coordinate and the extracted prestored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; performing coordinate conversion on the iron tower target detected by the radar to realize the conversion from a radar coordinate system to a geographic coordinate system, and acquiring the projection of the iron tower in the geographic coordinate system; correcting and compensating the iron tower coordinates by using error factors to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data prestored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and fusing the iron tower coordinate information and prestored and extracted data to obtain final iron tower target information; the helicopter module carries out modeling operation on an iron tower, two iron tower models with different colors are established, the iron tower models are drawn in a three-dimensional terrain, power lines between the iron towers are drawn, the position of the iron tower relative to the helicopter is calculated, whether warning prompt is carried out on the power lines is judged according to the system errors of the posture, the speed and the position of the airplane, a warning prompt box is drawn, the warning distance, the height and the collision time are displayed, data collected by a navigation sensor and a course sensor and fused data output by a helicopter control module are sent to an image processing unit, an iron tower target in a stage A is corrected, and an error factor obtained in the stage A is used for correcting and fusing a target detected in real-time flight and displaying a warning.
Compared with the prior art, the invention has the following beneficial effects
The fusion processing of the anti-collision earth surface power line is divided into a stage A of iron tower power line alarm prompting and a stage B of real-time execution of flight control, wherein the two stages are realized, the stage A fixes the radar position on the ground, carries out data acquisition on a ground feed column sensor system, and acquires the error factor parameters of the system; compared with the traditional iron tower alarming method, the method has the advantages of high accuracy, good safety and low maintenance cost.
The method comprises the steps of extracting a ground-fixed radar-detected iron tower target by adopting a helicopter control module, carrying out coordinate conversion on the radar-detected iron tower target, obtaining information projected by the iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracting corresponding iron tower target information from a prestored iron tower database, inputting a projected iron tower coordinate and a prestored iron tower coordinate into a system error solving equation, and obtaining a group of system error factors; and the radar detection data and the prestored iron tower power line data are used for information fusion, so that errors generated by the system are corrected, and the accuracy of the data is improved.
The method adopts the iron tower target detected by the radar to perform coordinate conversion, realizes the conversion from a radar coordinate system to a geographic coordinate system, and obtains the projection of the iron tower in the geographic coordinate system; correcting and compensating the iron tower coordinate by using the error factor to obtain corrected geographic coordinate information data, finding out corresponding iron tower coordinate data by reading iron tower coordinate data and radar detection data prestored in an iron tower database and a terrain database, and fusing the iron tower coordinate information with prestored and extracted data to obtain final iron tower target information; the information loss is small, and the fusion precision is high. The alarm prompt is realized by using the fusion processing of the two data, so that the safety of the flight is improved; the maintenance period of the prestored power line data of the iron tower can be greatly prolonged on the premise of confirming accurate safety alarm, and even the safety of the flight is not influenced by surveying, mapping and updating in the coming years.
The method comprises the steps of carrying out modeling operation on an iron tower by adopting a helicopter module, establishing two iron tower models with different colors, drawing the iron tower models into a three-dimensional terrain, drawing power lines between the iron towers, calculating the position of the iron tower relative to a helicopter, judging whether to carry out alarm prompt on the power lines according to the system errors of the posture, the speed and the position of the helicopter, drawing an alarm prompt frame, displaying the alarm distance, the height and the collision time, sending data collected by a navigation sensor and a course sensor and fusion data output by a helicopter control module into an image processing unit, correcting a stage A iron tower target, and carrying out correction fusion alarm display on a target detected by real-time flight by using an error factor obtained in a stage A. The purpose of accurate and real-time warning and prompting of the front power line is achieved, and safety of flight tasks is fully guaranteed. The working efficiency and the safety of the flight task of the helicopter are improved, the technical problems of detection blind areas and the like of a traditional single radar are solved by adopting a mutual compensation technology, the warning prompt function of the helicopter can be realized by using prestored iron tower data even under the condition that the radar fails accidentally, the radar technology is combined with the known prestored power line database information, the problems that the ground surface power line information data is not updated timely and the mapping is not accurate or the radar fails accidentally and the warning fails or the warning is not timely performed under the condition of large error are solved, the mapped iron tower data is maintained once every several years, compared with the prior art, the data updating in each time needs to be paid for purchase, the data time cost and the subsequent maintenance cost are increased, and the cost is greatly reduced.
The method uses the error factors of the stage A to perform fusion calculation on the iron tower target detected by the radar and the pre-stored iron tower target to obtain the final iron tower target. The method for realizing the fusion of the two groups of iron tower targets by using the distance for solving the geographical position solves the projection intersection point of the power line and the aircraft course direction under the airborne plane by using the azimuth and altitude information of the iron tower in the aircraft, obtains the collision point of the aircraft and sends an alarm prompt. (the intersection point of two straight lines in the direction of the power line and the direction of the airplane is obtained by using the method, and then the power line is projected back to the power line, so that accurate fusion is realized, and false alarms are reduced.
Drawings
FIG. 1 is a flow chart of a fusion process of a helicopter crash surface power line of the present invention;
FIG. 2 is a flow chart of solving the error factor of the grounded feed post sensor system at stage A of FIG. 1;
FIG. 3 is a flow chart of target fusion of iron tower B in FIG. 1;
fig. 4 is a functional block diagram of the implementation stage of fig. 3.
Detailed Description
See fig. 1. According to the method, a helicopter control module divides fusion processing of an anti-collision earth surface power line into a stage A of warning prompt of the power line of the iron tower and a stage B of executing flight control in real time, and the two stages are realized, wherein the stage A fixes the radar position on the ground, carries out data acquisition on a ground feed column sensor system, and acquires the error factor parameters of the system; the helicopter control module extracts a radar-detected iron tower target fixed on the ground, performs coordinate conversion on the radar-detected iron tower target, obtains information projected by the iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracts corresponding iron tower target information from a prestored iron tower database, inputs the projected iron tower coordinate and the extracted prestored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; performing coordinate conversion on the iron tower target detected by the radar to realize the conversion from a radar coordinate system to a geographic coordinate system, and acquiring the projection of the iron tower in the geographic coordinate system; correcting and compensating the iron tower coordinates by using error factors to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data prestored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and fusing the iron tower coordinate information and the prestored and extracted data to obtain final iron tower target information; the helicopter module carries out modeling operation on an iron tower, two iron tower models with different colors are established, the iron tower models are drawn in a three-dimensional terrain, power lines between the iron towers are drawn, the position of the iron tower relative to a helicopter is calculated, whether warning prompt is carried out on the power lines or not is judged according to the system errors of the attitude, the speed and the position of the helicopter, a warning prompt frame is drawn, warning distance, height and collision time are displayed, data collected by a navigation sensor and a course sensor and fused data output by the helicopter control module are sent to an image processing unit, a stage A iron tower target is corrected, and error factors obtained in a stage A are used for correcting and fusing warning display on a target of real-time flight detection.
And the phase A is used for fixing the radar position on the ground and carrying out data acquisition on the ground feed column sensor system so as to obtain the error factor parameters of the system, and the phase B is used for correcting, fusing and alarming the target detected by real-time flight by using the error factor obtained in the phase A when the airplane carries out the flight task in real time.
And (B) stage A: the method for fixing the radar at a certain position on the ground comprises the following steps:
step 1: starting the radar equipment and the navigation course equipment to obtain the current position, height and course information, and carrying out target classification processing on echo data detected by the radar by the helicopter control module to classify the tapping tower target data T (T)1,T2,T3,…Tn) Calculating the height of the iron tower in a radar coordinate system according to the echo amplitude of the radar and the space distance between the airplane and the target iron tower, and then calculating the height of the iron tower in the radar coordinate systemAnd sequentially solving the longitude of each group of iron towers in a radar coordinate system (S1) according to the navigation equipment information: LON, latitude: LAT, height H three-dimensional coordinate information TnRecording the connection relation of the power lines between the iron towers;
step 2: the helicopter control module performs coordinate conversion from a radar coordinate system (S1) to a geographic coordinate system (S2) on all the three-dimensional coordinate information of the iron tower according to the data of the extracted navigation and heading sensors, and converts the radar coordinate information T (T)1，T2，T3，…Tn) Converting each group of data into a projection of a geographic coordinate system, and obtaining three-dimensional coordinate information T ' (T ') of a group of iron towers containing longitude, latitude and altitude information in the geographic coordinate system after conversion '1，T′2，T′3...T′n)；
Step 3: the helicopter control module inquires prestored iron tower database information according to the position information provided by the navigation and course sensor to obtain a group of prestored iron tower information T '(T')1,T″2,T″3…T″n) Finding out the corresponding iron tower of each iron tower in the iron tower information T ' of the three-dimensional coordinate information T ' according to the distance position, wherein the iron tower T 'nCorresponding iron tower T'nInformation ground power supply post, newly arranged T ' (T ') according to corresponding relationship '1,T′2,T′3…T′n) And T' (T ″)1,T″2,T″3…T″n) Sequencing;
step4, the iron tower database sets a group of error systems (alpha, beta 0, delta) according to the error factor alpha influencing the iron tower longitude LON, the error factor beta influencing the iron tower latitude LAT and the system error factor delta influencing the iron tower height H, initializes the error systems (alpha, beta 1, delta), and sets the initialized error (alpha is 0, beta is 0) and the three-dimensional coordinate information T ' (T ') detected by the radar iron tower '1,T′2,T′3…T′n) And prestoring iron tower information T '(T')1,T″2,T″3…T″n) Inputting an error correction equation as a parameter; ground feed post T'n(alpha, beta, delta) is input into the error correction equation as a parameter to generate a new set of errorsThe difference influence factors (alpha ', beta 1') are iterated to (beta 2 ', beta 0', beta 4 ') to be (alpha, beta 3, delta), the grounding feed columns (alpha, beta, delta) are used as new error influence factors to be used as error correction equation parameters, and the system error factors are repeatedly traversed to T'n-ground feed columnAnd T ″)nAnd completing the traversal of each target to obtain the final error influence factors (alpha, beta and delta).
Step5, repeating the steps of Step1, grounding feed column Step2 and grounding feed column Step3, and obtaining two groups of iron tower information T '[ T'1,T′2,T′3……T′n]And T "[ T1,T″2,T″N……T″n]；
The step4 and step5 are key steps for solving the error factor in the stage A, and the solving of the precision of the error factor directly influences the fusion processing of the iron tower in the stage B.
See fig. 3. Step 6: in the real-time flight execution task, the aircraft in the stage B executes the flight task in real time, the system error influence factors obtained in the stage A are used for carrying out correction fusion on the target detected in real time flight, the final error influence factors (alpha, beta, delta) obtained in the Step5 are used as parameters, and T'n＝T′n+ (α, β, δ), iterating to obtain a new set of tower information T '[ T'1，T′2T′3......T′n]For iron tower information T '[ T'1，T′2，T′3......T′n]Error compensation is carried out, and iron tower information T 'after error compensation is obtained'1，T′2，T′3......T′n]And prestored iron tower data information T '[ T')1，T″2，T″N......T″n]Extracting iron tower T 'from iron tower data'nLongitude of
Grounding feed column iron tower T'nLatitude gamma of1Iron tower TnLongitude of
And iron tower TnOf dimension gamma2Go into fusion processing and solving
And
the spatial distance d of the geographical location is,
if solved iron tower T'nAnd T ″)nGeographic distance of
Then is considered to be T'nAnd T ″)nIs the same iron tower in the geographical position, and keeps TnThe position of the coordinates is determined by the position of the coordinates,
grounding feed column
Get iron tower T'nHeight T'n(h1) Grounding feed column, grounding feed column iron tower TnHeight T ″)n(h2) Ground feed column if T'n(h1)-T″n(h2) λ, then
If T'n(h1)-T″n(h2) Lambda, grounding feed column Tn(h2) Ground feeding post T ″)n(h2) Will be
Added to the iron tower information group, M ground feed column [ M1，M2，M3……MN]]Obtaining the latest number of coordinate information of the iron towerAccording to
If solved iron tower T'nAnd T ″)nGeographic distance of
Then is considered to be T'nAnd T ″)nAre two target iron towers of different geographic positions, will T'nTo M' [ M ]1’，M2，’，M3’……MN’]；T″nAdding to iron tower information group M [ M ]1，M2，M3……MN]In (1),
ground feeding post ═ ground feeding post
Obtain the iron tower target
And
see fig. 4. Step 7: stage B, obtaining the grounding feed column [ M ] of the iron tower M1，M2，M3……MN]And M' [ M1’， M2，’，M3’……MN’]Data, extracting longitude, latitude and altitude information of each iron tower target, establishing a loaded iron tower model, loading each iron tower model into a three-dimensional terrain, using OpenGL drawing language to realize that the iron tower model projects and draws power lines between the iron towers in geography, and grounding M in a feed column [ M1，M2，M3……MNThe iron tower model and the power line are projected on an airborne plane to obtain a linear equation y1＝k1x1+b1And solving the intersection point of the linear equation according to the linear equation of the plane on the plane of the airplane.
Stetp 8: taking the current position O (Lon, Lat, Alt) and the attitude P (theta) of the airplane1，θ2，θ3) Ground feed column [ M ] for center computer airplane and iron tower M1，M2，M3……MN]、M’[M1’，M2，’，M3’……MN’]And the relative position of the power line, judging whether an intersection point exists, comparing the difference value between the height O (alt) of the airplane and the height H of the power line, wherein H is the grounding feed column M
If the O (alt) -H grounding feed column is more than 50 meters, the height of the airplane is higher than the front power line, no warning is needed to be given to the front power line, and if the O (alt) -H grounding feed column is less than 50 meters, the height of the front power line of the airplane is higher than the height of the airplane, the position of the airplane is taken as a starting point, and a heading angle P (theta) in the attitude is formed3) Obtaining a linear equation y of the current aircraft track direction on an airborne plane for an included angle2＝k2x2+b2(ii) a If k is1＝k2It means that no collision point exists for the power line parallel to the aircraft, e.g. k1≠k2Then find out
And the projection position of the intersection point on the power line is drawn by OpenGL, and a square frame prompts warning.
The ground feed column projects the airborne plane intersection point (x ', y') into the power line to obtain the collision point of the aircraft and the power line, and the collision point of the power line is marked by drawing a square frame through OpenGL; finding the distance between the plane coordinate O (x, the grounding feed column y) and the intersection point (x ', y') of the plane
And calculating the data of the airplane to collision point, and displaying warning prompts in characters. And the ground speed of the airplane is GS, and the time T from the airplane to the collision point is calculated as d/GS. Drawing the alarm time T and the alarm distance d by using OpenGL, and sending characters to a pilotAnd displaying an alarm prompt.
Under the condition of the real-time flight stage of the stage B, firstly, the radar equipment is started, target data is detected by the radar equipment, then, the target data is classified and processed, the targets of the iron tower are classified, then, the coordinate transformation is carried out on all the iron tower targets according to the information of the navigation and course sensor, the iron tower is projected into a ground-to-ground coordinate system, obtaining the information of the iron tower in a geographic coordinate system, then correcting the iron tower information by applying the system error influence factor obtained in the stage A to generate new iron tower information after error compensation, and finally, the iron tower information detected by the radar and corrected by the error influence factor is fused with the iron tower information in the iron tower database to obtain the final iron tower information.
In the stage B, after the final iron tower information is obtained, firstly, drawing the direct power line of the iron tower according to the direct connection relation of the iron tower, projecting the power line to an airborne plane, obtaining a group of linear equations of the power line on the airborne plane, obtaining a group of linear equations taking the aircraft as a point course as a slope, then obtaining the intersection point of the linear equations of the power line and the aircraft course linear equation, if the two groups of linear equations are not right ahead, not making alarm display if the intersection point is not available, if the intersection point is available, obtaining the intersection point, obtaining the position of the intersection point on the straight line, drawing a square frame by using an openGL interface, marking the position of the intersection point, sending an alarm prompt, displaying the alarm prompt in a geographic coordinate system screen, obtaining the position of the aircraft to the intersection point, calculating the time of the aircraft to a collision point according to the attitude and the speed of the aircraft, then performing character display and sending the alarm prompt in the screen, and modeling the iron tower information according to the iron tower information, and finally drawing the model into a ground-in coordinate system for display.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are given by way of illustration of the principles of the present invention, and that various changes and modifications may be made without departing from the spirit and scope of the invention as defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A fusion processing method of a helicopter anti-collision earth surface power line is characterized by comprising the following steps: the helicopter control module divides the fusion processing of the anti-collision earth surface power line into a stage A of iron tower power line alarm prompting and a stage B of real-time execution of flight control, and the two stages are realized, wherein the stage A fixes the radar position on the ground, carries out data acquisition on a ground feed column sensor system, and acquires the error factor parameters of the system; the helicopter control module extracts a ground-fixed radar-detected iron tower target, performs coordinate conversion on the radar-detected iron tower target, obtains information projected by the iron tower in a geographic coordinate system and information projected by the iron tower in the geographic coordinate system, extracts corresponding iron tower target information from a prestored iron tower database, inputs the projected iron tower coordinate and the extracted prestored iron tower coordinate into a system error solving equation, and obtains a group of system error factors; performing coordinate conversion on the iron tower target detected by the radar to realize the conversion from a radar coordinate system to a geographic coordinate system, and acquiring the projection of the iron tower in the geographic coordinate system; correcting and compensating the iron tower coordinates by using error factors to obtain corrected geographic coordinate information data, reading iron tower coordinate data and radar detection data prestored in an iron tower database and a terrain database, finding out corresponding iron tower coordinate data, and fusing the iron tower coordinate information and prestored and extracted data to obtain final iron tower target information; the helicopter module carries out modeling operation on an iron tower, two iron tower models with different colors are established, the iron tower models are drawn in a three-dimensional terrain, power lines between the iron towers are drawn, the position of the iron tower relative to the helicopter is calculated, whether warning prompt is carried out on the power lines or not is judged according to the system errors of the posture, the speed and the position of the airplane, a warning prompt frame is drawn, the warning distance, the height and the collision time are displayed, data collected by a navigation sensor and a course sensor and fusion data output by a helicopter control module are sent to an image processing unit, a stage A iron tower target is corrected, and the error factor obtained in a stage A is used for correcting and fusing warning display on a target detected in real-time flight.
2. The fusion processing method of the helicopter crash-proof earth surface power line according to claim 1, characterized in that: the method comprises the following steps that A, a radar position is fixed on the ground, data acquisition is carried out on a ground feed column sensor system, error factor parameters of the system are obtained, and B, correction, fusion and alarm display are carried out on a target detected in real time by using the error factors obtained in the A when the airplane carries out a flight task in real time;
3. the fusion processing method of the helicopter crash-proof earth surface power line according to claim 1, characterized in that: starting the radar equipment and the navigation course equipment to acquire current position, height and course information, and carrying out target classification processing on echo data detected by the radar by the helicopter control module to classify the tapping tower target data T (T)1,T2,T3,…Tn) Calculating the height of the iron tower in a radar coordinate system according to the echo amplitude of the radar and the space distance from the airplane to the target iron tower, and then sequentially calculating the longitude of each group of iron towers in the radar coordinate system (S1) according to the navigation equipment information: LON, latitude: LAT, height H three-dimensional coordinate information TnRecording the connection relation of the power lines between the iron towers; the helicopter control module performs coordinate conversion from a radar coordinate system (S1) to a geographic coordinate system (S2) on all the three-dimensional coordinate information of the iron tower according to the data of the extracted navigation and heading sensors, and converts the radar coordinate information T (T)1,T2,T3,…Tn) Converting each group of data into projection of a geographic coordinate system, and obtaining three-dimensional coordinate information T (T) of a group of iron towers containing longitude, latitude and altitude information in the geographic coordinate system after conversion1,T2,T3,…Tn) Converting each group of data into projection of a geographic coordinate system, and obtaining geographic coordinates of a group of iron towers after conversionThree-dimensional coordinate information T ' (T ') including three kinds of information of longitude, latitude and altitude '1,T′2,T′3…T′n)。
4. The fusion processing method of the helicopter crash-proof earth surface power line according to claim 3, characterized in that: the helicopter control module inquires prestored iron tower database information according to the position information provided by the navigation and course sensor to obtain a group of prestored iron tower information T '(T')1,T″2,T″3…T″n) Finding out the corresponding iron tower of each iron tower in the iron tower information T ' of the three-dimensional coordinate information T ' according to the distance position, wherein the iron tower T 'nCorresponding iron tower T'nInformation ground power supply post, newly arranged T ' (T ') according to corresponding relationship '1,T′2,T′3…T′n) And T' (T ″)1,T″2,T″3…T″n) And (4) sequencing.
5. The fusion processing method of the helicopter crash-proof earth surface power line according to claim 4, characterized in that: the tower database sets a set of error systems (alpha, beta 0, delta) according to an error factor alpha affecting tower longitude LON, an error factor beta affecting tower latitude LAT and a system error factor delta affecting tower height H, initializes the error systems (alpha, beta 1, delta), and sets an initialization error (alpha ═ 0, beta ═ 0) and three-dimensional coordinate information T '(T'1,T′2,T′3…T′n) And prestoring iron tower information T '(T')1,T″2,T″3…T″n) Inputting an error correction equation as a parameter; ground feed post T'n 
(α, β, β 1) is input as a parameter to the error correction equation, a new set of error influencing factors (β 2 ', β 0 ', β 4 ') is generated, and (β 5 ', β 3 ', β 7 ') is iterated to (α, β 6, δ), and the ground feed column (α, β, δ) ═ α ', β ', δ ') is used as a new error influencing factorRepeatedly traversing the system error factors to T 'as the parameters of the error correction equation'n-ground feed columnAnd T ″)nAnd completing the traversal of each target to obtain the final error influence factors (alpha, beta and delta).
6. The fusion processing method of the helicopter crash-proof surface power line according to claim 5, characterized in that: in the real-time flight execution task, the aircraft in the stage B executes the flight task in real time, the system error influence factors obtained in the stage A are used for carrying out correction fusion on the target detected in real time flight, the final error influence factors (alpha, beta, delta) obtained in the Step5 are used as parameters, and T'n＝T′n+ (α, β, δ), iterating to obtain a new set of tower information T '[ T'1,T′2T′3……T′n]For iron tower information T '[ T'1,T′2,T′3……T′n]Error compensation is carried out, and iron tower information T 'after error compensation is obtained'1,T′2,T′3……T′n]And prestored iron tower data information T '[ T')1,T″2,T″N……T″n]Extracting iron tower T 'from iron tower data'nLongitude of
Grounding feed column iron tower T'nLatitude gamma of1Iron tower TnLongitude of
And iron tower TnOf dimension gamma2Go through the fusion process and solve
And
the spatial distance d of the geographical location is,
if solved iron tower T'nAnd T ″)nGeographic distance of
Then is considered to be T'nAnd T ″)nIs the same iron tower in the geographical position, and keeps TnThe coordinate position.
7. The fusion processing method of the helicopter crash-proof surface power line according to claim 6, characterized by comprising the steps of: ,
grounding feed column
Get iron tower T'nHeight T'n(h1) Grounding feed column, grounding feed column iron tower TnHeight T ″)n(h2) Ground feed column if T'n(h1)-T″n(h2)|<λ, then
If T'n(h1)-T″n(h2)|>Lambda, ground feed column Tn(h2) Ground feeding post T ″)n(h2) Will be
Added to the iron tower information group, M ground feed column [ M1,M2,M3……MN]]Obtain the latest coordinate information data of the iron tower
If solved iron tower T'nAnd T ″)nGeographic distance of
Then is considered to be T'nAnd T ″)nAre two target iron towers in different geographic positions, and are T'nIs added to
T″nAdding to iron tower information group M [ M ]1,M2,M3……MN]In (1),
grounding feed column
Obtain the iron tower target
And
8. the fusion processing method of the helicopter crash-proof surface power line of claim 7, characterized by comprising: stage B, obtaining the grounding feed column [ M ] of the iron tower M1,M2,M3……MN]And
data, extracting longitude, latitude and altitude information of each iron tower target, establishing a loaded iron tower model, loading each iron tower model into a three-dimensional terrain, using OpenGL drawing language to realize the projection of objects of the iron tower model on geography to draw power lines between the iron towers, and connecting M in the grounding feed columnM1,M2,M3……MNProjecting the iron tower model and the power line on an airborne plane to obtain a linear equation y1＝k1x1+b1And solving the intersection point of the linear equation according to the linear equation of the plane on the plane of the airplane.
9. The fusion processing method of the helicopter crash-proof surface power line of claim 8, characterized by comprising: taking the current position O (Lon, Lat, Alt) and the attitude P (theta) of the airplane1,θ2,θ3) Center computing aircraft and iron tower M grounding feed column [ M ]1,M2,M3……MN]、
And the relative position of the power line, judging whether an intersection point exists, comparing the difference value between the height O (alt) of the airplane and the height H of the power line, wherein H is the grounding feed column M
h
If O (Alt) -H ground feeding column>If the height of the airplane is 50 meters, the height of the airplane is higher than the front power line, no warning is needed to be given to the front power line, and if the O (alt) -H grounding feed column is used, the height of the airplane is higher than the front power line<50 m, the power line in front of the airplane is higher than the height of the airplane, the position of the airplane is taken as a starting point, and the heading angle P (theta) in the attitude is3) Obtaining a linear equation y of the current aircraft track direction on an airborne plane for an included angle2＝k2x2+b2(ii) a If k is1＝k2It means that no collision point exists for the power line parallel to the aircraft, e.g. k1≠k2Then find out
And (x ', y') drawing the projection position of the intersection point on the power line by OpenGL, and prompting warning by a square frame.
10. The fusion processing method of the helicopter crash surface power line of claim 9 further comprising: the ground feed column projects the airborne plane intersection point (x ', y') into the power line to obtain the collision point of the aircraft and the power line, and the collision point of the power line is marked by drawing a square frame through OpenGL; finding the distance between the plane coordinate O (x, the grounding feed column y) and the intersection point (x ', y') of the plane
And calculating the data of the airplane to collision point, and displaying warning prompts in characters. The ground speed of the airplane is GS, the time T from the airplane to a collision point is calculated to be d/GS, the warning time T and the warning distance d are drawn by using OpenGL, and a character display warning prompt is sent to a pilot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480637.5A CN113253274B (en) | 2021-04-30 | 2021-04-30 | Fusion processing method for anti-collision ground surface power line of helicopter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110480637.5A CN113253274B (en) | 2021-04-30 | 2021-04-30 | Fusion processing method for anti-collision ground surface power line of helicopter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113253274A true CN113253274A (en) | 2021-08-13 |
| CN113253274B CN113253274B (en) | 2024-02-06 |
Family
ID=77223378
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110480637.5A Active CN113253274B (en) | 2021-04-30 | 2021-04-30 | Fusion processing method for anti-collision ground surface power line of helicopter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113253274B (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5892462A (en) * | 1995-06-20 | 1999-04-06 | Honeywell Inc. | Adaptive ground collision avoidance system |
| JP2002087394A (en) * | 2000-09-19 | 2002-03-27 | Toshiba Corp | Obstacle warning device and obstacle warning method |
| US20040189521A1 (en) * | 1999-03-05 | 2004-09-30 | Smith Alexander E. | Method and apparatus for accurate aircraft and vehicle tracking |
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| JP2005265699A (en) * | 2004-03-19 | 2005-09-29 | Chugoku Electric Power Co Inc:The | System and method for inspecting power transmission line using unmanned flying body |
| CN102298147A (en) * | 2011-05-27 | 2011-12-28 | 国网电力科学研究院 | Super-high/ultra-high voltage power transmission line radar remote sensing monitoring method |
| US20120001793A1 (en) * | 2010-07-02 | 2012-01-05 | Jacobs Mark H | Radar registration using targets of opportunity |
| US20120016538A1 (en) * | 2010-06-21 | 2012-01-19 | Waite James W | Uav power line position and load parameter estimation |
| CN102930280A (en) * | 2012-10-05 | 2013-02-13 | 中国电子科技集团公司第十研究所 | Method for identifying overhead high-voltage wire automatically from infrared image |
| US20130120164A1 (en) * | 2011-11-14 | 2013-05-16 | Safe Flight Instrument Corporation | Obstacle detection & notification system |
| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN106056979A (en) * | 2016-03-24 | 2016-10-26 | 南京航空航天大学 | Anti-collision alarm method suitable for helicopter |
| CN106918803A (en) * | 2015-12-28 | 2017-07-04 | 中国航空工业集团公司雷华电子技术研究所 | A kind of airborne weather radar method for processing video frequency |
| CN207934555U (en) * | 2018-01-31 | 2018-10-02 | 昆明市明利丰通信铁塔制造有限公司 | A kind of communication iron tower safety device |
| CN109658500A (en) * | 2018-12-11 | 2019-04-19 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of helicopter Synthetic vision method, system and storage medium based on millimetre-wave radar |
| CN209356806U (en) * | 2018-11-14 | 2019-09-06 | 深圳市善工工业自动化设备有限公司 | Anticollison block in illuminating module |
| CN110716557A (en) * | 2019-11-18 | 2020-01-21 | 河北工业大学 | Machine parameter identification and contact force monitoring method based on priori dynamics knowledge |
| WO2020151468A1 (en) * | 2019-01-22 | 2020-07-30 | 岳秀兰 | Vehicle remote driving system established by primary and secondary wireless devices by means of internet of things connection |
| CN111665508A (en) * | 2020-04-28 | 2020-09-15 | 北京安达维尔航空设备有限公司 | Helicopter-mounted terrain following and avoiding visual navigation system and navigation method |
| CN112017481A (en) * | 2020-09-11 | 2020-12-01 | 中国航空工业集团公司雷华电子技术研究所 | Helicopter self-adaptive forward-looking warning method and device and helicopter |
-
2021
- 2021-04-30 CN CN202110480637.5A patent/CN113253274B/en active Active
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5892462A (en) * | 1995-06-20 | 1999-04-06 | Honeywell Inc. | Adaptive ground collision avoidance system |
| US20040189521A1 (en) * | 1999-03-05 | 2004-09-30 | Smith Alexander E. | Method and apparatus for accurate aircraft and vehicle tracking |
| JP2002087394A (en) * | 2000-09-19 | 2002-03-27 | Toshiba Corp | Obstacle warning device and obstacle warning method |
| JP2005265699A (en) * | 2004-03-19 | 2005-09-29 | Chugoku Electric Power Co Inc:The | System and method for inspecting power transmission line using unmanned flying body |
| CN1645284A (en) * | 2004-12-17 | 2005-07-27 | 华北电力大学（北京） | Power circuit scanning test robot airplane and controlling system |
| US20120016538A1 (en) * | 2010-06-21 | 2012-01-19 | Waite James W | Uav power line position and load parameter estimation |
| US20120001793A1 (en) * | 2010-07-02 | 2012-01-05 | Jacobs Mark H | Radar registration using targets of opportunity |
| CN102298147A (en) * | 2011-05-27 | 2011-12-28 | 国网电力科学研究院 | Super-high/ultra-high voltage power transmission line radar remote sensing monitoring method |
| US20130120164A1 (en) * | 2011-11-14 | 2013-05-16 | Safe Flight Instrument Corporation | Obstacle detection & notification system |
| CN102930280A (en) * | 2012-10-05 | 2013-02-13 | 中国电子科技集团公司第十研究所 | Method for identifying overhead high-voltage wire automatically from infrared image |
| CN105173095A (en) * | 2015-09-07 | 2015-12-23 | 国网通用航空有限公司 | Barrier avoiding system of helicopter |
| CN106918803A (en) * | 2015-12-28 | 2017-07-04 | 中国航空工业集团公司雷华电子技术研究所 | A kind of airborne weather radar method for processing video frequency |
| CN106056979A (en) * | 2016-03-24 | 2016-10-26 | 南京航空航天大学 | Anti-collision alarm method suitable for helicopter |
| CN207934555U (en) * | 2018-01-31 | 2018-10-02 | 昆明市明利丰通信铁塔制造有限公司 | A kind of communication iron tower safety device |
| CN209356806U (en) * | 2018-11-14 | 2019-09-06 | 深圳市善工工业自动化设备有限公司 | Anticollison block in illuminating module |
| CN109658500A (en) * | 2018-12-11 | 2019-04-19 | 中国航空工业集团公司西安航空计算技术研究所 | A kind of helicopter Synthetic vision method, system and storage medium based on millimetre-wave radar |
| WO2020151468A1 (en) * | 2019-01-22 | 2020-07-30 | 岳秀兰 | Vehicle remote driving system established by primary and secondary wireless devices by means of internet of things connection |
| CN110716557A (en) * | 2019-11-18 | 2020-01-21 | 河北工业大学 | Machine parameter identification and contact force monitoring method based on priori dynamics knowledge |
| CN111665508A (en) * | 2020-04-28 | 2020-09-15 | 北京安达维尔航空设备有限公司 | Helicopter-mounted terrain following and avoiding visual navigation system and navigation method |
| CN112017481A (en) * | 2020-09-11 | 2020-12-01 | 中国航空工业集团公司雷华电子技术研究所 | Helicopter self-adaptive forward-looking warning method and device and helicopter |
Non-Patent Citations (5)
| Title |
|---|
| XIE, XIAOWEI等: "A Multiple Sensors Platform Method for Power Line Inspection Based on a Large Unmanned Helicopter", SENSORS, vol. 17, no. 6 * |
| YONEMOTO, NARUTO等: "Performance of obstacle detection and collision warning system for civil helicopters", ENHANCED AND SYNTHETIC VISION 2006 * |
| 张清源;李丽;李全熙;董光焰;: "直升机防撞激光雷达综合信息处理***", 中国光学, no. 01 * |
| 楼勇;: "关于塔机安全监控管理***安装使用管理现状的分析", 建筑安全, no. 10 * |
| 郑琪: "输电线路电场信息在巡线无人机避障中应用的研究", 中国优秀硕士学位论文全文数据库工程科技Ⅱ辑 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113253274B (en) | 2024-02-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10962650B2 (en) | Polyhedral geofences | |
| CN110631593B (en) | Multi-sensor fusion positioning method for automatic driving scene | |
| CN109911188B (en) | Bridge detection unmanned aerial vehicle system in non-satellite navigation and positioning environment | |
| Ruzgienė et al. | The surface modelling based on UAV Photogrammetry and qualitative estimation | |
| CN107783545B (en) | Obstacle avoidance system of post-disaster rescue rotor unmanned aerial vehicle based on OODA (object oriented data acquisition) ring multi-sensor information fusion | |
| CN105759829A (en) | Laser radar-based mini-sized unmanned plane control method and system | |
| CN111426320B (en) | Vehicle autonomous navigation method based on image matching/inertial navigation/milemeter | |
| CN108132675A (en) | Unmanned plane is maked an inspection tour from main path cruise and intelligent barrier avoiding method by a kind of factory | |
| CN110208783B (en) | Intelligent vehicle positioning method based on environment contour | |
| CN103697883B (en) | A kind of aircraft horizontal attitude defining method based on skyline imaging | |
| CN111508282B (en) | Low-altitude unmanned farmland operation flight obstacle conflict detection method | |
| CN107783119A (en) | Apply the Decision fusion method in obstacle avoidance system | |
| Luongo et al. | Automatic collision avoidance system: design, development and flight tests | |
| WO2023283987A1 (en) | Sensor security detection method and device for unmanned system, and storage medium | |
| CN105738909B (en) | One kind being suitable for low latitude plant protection unmanned helicopter operation boundary extraction method | |
| Minghui et al. | Deep learning enabled localization for UAV autolanding | |
| CN115902930A (en) | Unmanned aerial vehicle room built-in map and positioning method for ship detection | |
| CN111089580B (en) | Unmanned war chariot simultaneous positioning and map construction method based on covariance intersection | |
| CN113253274A (en) | Fusion processing method for helicopter anti-collision ground surface power line | |
| CN114200527B (en) | Unmanned aerial vehicle aeromagnetic measurement method and system based on oblique photography | |
| Subramanian et al. | Integrating computer vision and photogrammetry for autonomous aerial vehicle landing in static environment | |
| Li et al. | The identification and compensation of static drift induced by external disturbances for LiDAR SLAM | |
| CN115236656B (en) | Multi-source sensor target association method, equipment and medium for airplane obstacle avoidance | |
| Funk et al. | A passive cloud detection system for UAV: Analysis of issues, impacts and solutions | |
| Cappello et al. | Low-cost multi-sensor data fusion for unmanned aircraft navigation and 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 |