CN114877876A - Unmanned aerial vehicle hovering precision evaluation method - Google Patents
Unmanned aerial vehicle hovering precision evaluation method Download PDFInfo
- Publication number
- CN114877876A CN114877876A CN202210812561.6A CN202210812561A CN114877876A CN 114877876 A CN114877876 A CN 114877876A CN 202210812561 A CN202210812561 A CN 202210812561A CN 114877876 A CN114877876 A CN 114877876A
- Authority
- CN
- China
- Prior art keywords
- hovering
- unmanned aerial
- aerial vehicle
- target ball
- height
- 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
- 238000011156 evaluation Methods 0.000 title claims abstract description 37
- 238000010586 diagram Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 abstract description 9
- 238000013507 mapping Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses an unmanned aerial vehicle hovering precision evaluation method, and belongs to the technical field of laser tracking measurement evaluation. Hovering the unmanned aerial vehicle at a position with a set height; respectively measuring the space position coordinates of an A target ball, a B target ball and a C target ball on the unmanned aerial vehicle; respectively calculating the standard deviation and the range of the target balls A, B and C in the direction of X, Y, Z under the current hovering height of the unmanned aerial vehicle; respectively calculating the average value of the standard deviations of the target balls A, B and C in the direction of X, Y, Z and the maximum value of the extreme difference in the direction of X, Y, Z under the current hovering height of the unmanned aerial vehicle; realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range; and setting other hovering heights, and repeating the steps to obtain hovering precision evaluation under any hovering height. The invention realizes the accurate assessment of the hovering precision of the unmanned aerial vehicle within the hovering height range of 3-15 meters.
Description
Technical Field
The invention belongs to the technical field of laser tracking measurement and evaluation, and particularly relates to an unmanned aerial vehicle hovering precision evaluation method.
Background
In traditional surveying and mapping work, the field data are generally collected manually by workers by means of various instruments and equipment, a large amount of manpower and material resources are required to be invested, and the traditional surveying and mapping means is difficult to complete for measuring some complicated terrain areas. Along with the development in the unmanned aerial vehicle field, the corresponding aerial survey technique of cooperation contrasts artifical the measurement, and unmanned aerial vehicle can easily accomplish the measurement work to dangerous complex area, has shown huge advantage in the survey and drawing field. However, the existing unmanned aerial vehicle cannot hover at a fixed point with high precision, which undoubtedly brings deviation to the surveying and mapping result, and the hovering precision of the unmanned aerial vehicle must be measured to obtain a surveying and mapping result with higher precision, so that deviation compensation is performed on the surveying and mapping result.
At present, most of relevant technical standards or specifications for unmanned aerial vehicles are focused on design and manufacturing links of unmanned aerial vehicles, and the technical standards for unmanned aerial vehicle detection are mainly focused on electrical and electromagnetic properties, materials, component sizes and the like. In addition, many high-altitude operation unmanned aerial vehicles are based on the GPS positioning technology, and the definition of the position accuracy is to compare the actual position of the unmanned aerial vehicle with a preset position, and does not involve measurement and evaluation of the accuracy in a static hovering state. Therefore, it is necessary to evaluate the low-altitude suspension accuracy of the unmanned aerial vehicle.
Disclosure of Invention
In view of this, the invention provides an unmanned aerial vehicle hovering precision evaluation method, which can evaluate the hovering precision of an unmanned aerial vehicle.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention discloses an unmanned aerial vehicle hovering precision evaluation method, which comprises the following steps:
s1, hovering the unmanned aerial vehicle at a set height;
s2, measuring the space position coordinates of the target ball A, the target ball B and the target ball C on the unmanned aerial vehicle respectively, measuring once every 1 minute, measuring five times in total, and recording the space position coordinates as
、
、
Wherein k =1,2 … 5;
s3, under the hovering height of the step S1, generating a space position schematic diagram of the unmanned aerial vehicle by fitting the position coordinates obtained in the step S2 through a computer;
s4, calculating standard deviations and range deviations of the target balls A, B and C in the direction X, Y, Z under the hovering height of the unmanned aerial vehicle S1 respectively;
s5, calculating the average value of the standard deviation of the A target ball, the B target ball and the C target ball in the direction X, Y, Z and the maximum value of the range in the direction X, Y, Z respectively under the hovering height of the unmanned aerial vehicle at S1;
s6, realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range;
s7, setting other hovering heights, and repeating S1-S6 to obtain the hovering precision evaluation at any hovering height.
The target balls A, B and C are fixed on the unmanned aerial vehicle, the laser tracking head of the laser tracker is used for respectively measuring the space coordinates of the target balls A, B and C fixed on the unmanned aerial vehicle, and the coordinates are recorded in a set file format;
the weight balancing block is the same as any one of the target balls A, B and C so as to offset the influence of the asymmetry of the target balls on the balance of the unmanned aerial vehicle when the unmanned aerial vehicle hovers; wherein A, B, C the three target balls are identical.
And the height of the target ball A is taken as a standard to represent the hovering height of the unmanned aerial vehicle, and the hovering height ranges from 3 meters to 15 meters.
Step S4 specifically includes:
a. calculating the standard deviation of the A target ball in the direction of X, Y, Z at the hovering height
、
、
:
Wherein:
，
b. obtaining the maximum coordinate values of the A target ball in three directions
And minimum coordinate value
Calculating the extreme difference of the target ball A in the direction X, Y, Z
、
、
：
c. Similarly, the standard deviation of the B target ball in the X, Y, Z direction at the hovering height is calculated
、
、
And extreme difference
、
、
；
d. Similarly, the standard deviation of the C target ball in the X, Y, Z direction at the hovering height is calculated
、
、
And extreme difference
、
、
。
Step S5 includes:
respectively calculating the average value of the standard deviation of the target balls A, B and C in the direction X, Y, Z at the hovering height
、
、
：
The maximum value of the extreme difference of X, Y, Z directions is obtained
、
、
：
The step S6 specifically includes:
setting a first threshold and a second threshold for the average value of the standard deviation, and setting a third threshold and a fourth threshold for the maximum value of the range; wherein the first threshold is greater than the second threshold, and the third threshold is greater than the fourth threshold; when any average value
、
、
Greater than a first threshold or any maximum
、
、
When the hovering precision evaluation level is higher than the third threshold value, if the hovering precision evaluation level is low, the control algorithm needs to be optimized again;
when mean value
、
、
Are all less than a second threshold value, and a maximum value
、
、
When the hovering precision evaluation level is higher than the fourth threshold value, the evaluation is finished;
otherwise, the hovering precision evaluation level is middle.
The values of the first threshold, the second threshold, the third threshold and the fourth threshold are respectively 80mm, 30mm, 200mm and 100 mm.
In the step S3, a schematic diagram of the corresponding position of the unmanned aerial vehicle in the space is generated by computer fitting, and the position and the range of deviation of the unmanned aerial vehicle (1) in the height suspension can be intuitively reflected.
The invention has the beneficial effects that:
1. according to the unmanned aerial vehicle suspension coordinate system, the target ball and the balancing weight are fixed below the rotor wing of the unmanned aerial vehicle, the space point coordinate data of the target ball fixed below the rotor wing of the unmanned aerial vehicle is measured and collected through the laser tracker, the standard deviation and the range deviation of the coordinates of the unmanned aerial vehicle during suspension are calculated, the equipment is simple, and the operation is convenient;
2. the measured and collected data are directly imported into a computer, space position schematic diagrams at different moments when the unmanned aerial vehicle hovers are generated through automatic fitting, the range of position transformation and deviation when the unmanned aerial vehicle hovers is visually shown, and high-level, medium-level and low-level hovering precision evaluation is achieved by combining the average value of standard deviation and the maximum value of range deviation.
Drawings
FIG. 1 is a schematic view of the installation positions of a target ball A, a target ball B, a target ball C and a balancing weight;
FIG. 2 is a schematic diagram of a laser tracker measuring hovering precision of an unmanned aerial vehicle;
the reference numbers are respectively as follows: 1. unmanned aerial vehicle, 2, A target ball, 3, B target ball, 4, C target ball, 5, balancing weight, 6, laser tracking head, 7, control box, 8, computer, 9, environmental sensor.
Detailed Description
In order to make the above objects, features and advantages of the present invention more obvious and understandable, the following takes the measurement of the hovering precision of the drone 1 at a height of 5 meters as an embodiment, and the technical solution in the embodiment of the present invention is clearly and completely described with reference to the drawings in the embodiment of the present invention.
As shown in fig. 1, the target balls 2, 3 and 4 are fixed at the positions corresponding to the unmanned aerial vehicle 1, and in order to eliminate the influence on the balance of the unmanned aerial vehicle 1 due to the asymmetry caused by the addition of the three target balls, a counterweight 5 is installed at the other position where no target ball is installed, and the weight is the same as that of any target ball.
As shown in fig. 2, the unmanned aerial vehicle 1 (a target ball 2) is raised to 5 meters height and hovers, the laser tracking head 6 emits laser to the a target ball 2, the B target ball 3 and the C target ball 4, the laser is reflected back to the laser tracking head 6, when the target moves, the laser tracking head 6 adjusts the beam direction to aim at the target, meanwhile, the returned beam is received by the detection system for measuring and calculating the space position of the target, and the measured data is read and displayed on the computer 8 through the control box 7.
The spatial position coordinates of A, B, C target balls on the unmanned aerial vehicle 1 are measured respectively, the measurement is carried out once every 1 minute, and the measurement is carried out five times in total, and the measurement data are as follows:
target ball a 2: (2100.01,3000.02,5049.32)
（2200.23,3100.34,5120.24）
（2230.01,3060.02,5177.28）
（2252.23,3080.34,5130.32）
（2232.23,3180.34,5070.32）
B target ball 3: (2000.01,3200.02,5030.32)
（2010.23,3300.34,5118.24）
（2100.01,3260.02,5198.28）
（2152.23,3230.34,5099.32）
（2032.23,3380.34,5050.32）
C target ball 4: (1900.01,3000.02,5100.32)
（1800.23,3100.34,5120.98）
（1960.23,3060.02,5210.28）
(1940.03,3180.34,5200.16)
(1949.37,3100.16,5080.32)
The data are analyzed and calculated to obtain that the mean values of the standard deviations of the target balls A2, the target balls B3 and the target balls C4 in the X, Y, Z are 63.05, 67.022 and 55.397, and the larger the value of the mean value of the standard deviations is, the larger the deviation of the unmanned aerial vehicle 1 in the direction is, the smaller the value is, and the smaller the deviation of the unmanned aerial vehicle 1 in the direction is.
Determining the coordinate of the maximum and minimum position of the unmanned aerial vehicle 1, and obtaining the coordinates of three target balls at the maximum position of the unmanned aerial vehicle 1 as follows: (2252.23,3180.34,5177.28), (2152.23,3380.34,5198.28), (1960.23,3180.34,5210.28), the coordinates of the three target balls at the minimum position are: (2100.01,3000.02,5049.32), (2000.01,3200.02,5030.32), (1800.23,3000.02,5080.32) which are the two extreme positions at which the drone 1 hovers at this height, so it is known that at this height the drone 1 hovers in the area between these two positions.
The range differences of the target ball 2A in the X, Y, Z direction are calculated to be 152.22, 180.32 and 127.96 respectively; the range of the target ball 3 in the X, Y, Z direction is 152.22, 180.32 and 167.96; the range of the C target ball 4 in the X, Y, Z direction was 160.0, 180.32, 129.96, respectively. The range of the maximum position change of the unmanned aerial vehicle 1 is reflected by the range of the maximum position change of the unmanned aerial vehicle 1, and the larger the range of the maximum position change of the unmanned aerial vehicle 1 is, the larger the range of the maximum position change of the unmanned aerial vehicle 1 is; conversely, the smaller the range of variation of the position of the drone 1.
In order to further realize accurate assessment of hovering precision, the hovering precision is jointly assessed by adopting the average value of the standard deviation and the maximum value of the range. Setting a first threshold value and a second threshold value for the average value of the standard deviation, wherein the first threshold value is 80mm, and the second threshold value is 30 mm; and setting a third threshold and a fourth threshold for the maximum value of the range difference, wherein the third threshold is 200mm, and the fourth threshold is 100 mm. In the application with the hovering height of 5m, X, Y, Z standard deviation averages 63.05, 67.022 and 55.397 in three directions are obtained, and maximum range values of 160.0, 180.32 and 167.96 are obtained. Based on the evaluation table of table 1, the current evaluation grade was found to be medium.
TABLE 1 hover PRECISION EVALUATION LEVEL TABLE
Further, a three-dimensional space position diagram consisting of each group of coordinates of three target balls of the unmanned aerial vehicle 1 and the maximum and minimum coordinates thereof at the height is generated by computer fitting, and the state and the offset degree of the unmanned aerial vehicle 1 during suspension are visually seen through graphs.
The hovering precision when measuring other hovering heights of the unmanned aerial vehicle 1 is consistent with the above process.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (8)
1. An unmanned aerial vehicle hovering precision evaluation method is characterized in that: the method comprises the following steps:
s1, hovering the unmanned aerial vehicle (1) at a set height;
s2, measuring the space position coordinates of the target ball A (2), the target ball B (3) and the target ball C (4) on the unmanned aerial vehicle (1) respectively, measuring once every 1 minute, measuring five times in total, and recording the space position coordinates as
、
、
Wherein k =1,2 … 5;
s3, under the hovering height of the step S1, the position coordinates obtained in the step S2 are fitted through the computer (8) to generate a space position schematic diagram of the unmanned aerial vehicle (1);
s4, calculating the standard deviation and the range of the A target ball (2), the B target ball (3) and the C target ball (4) in the direction X, Y, Z under the hovering height of the unmanned aerial vehicle (1) in the step S1 respectively;
s5, calculating the average value of the standard deviation of the target balls A (2), B (3) and C (4) in the direction X, Y, Z and the maximum value of the range in the direction X, Y, Z under the hovering height of the unmanned aerial vehicle (1) in the step S1;
s6, realizing hovering precision evaluation under the current hovering height based on the average value of the standard deviation and the maximum value of the range;
s7, setting other hovering heights, and repeating S1-S6, namely, the hovering precision evaluation at any hovering height can be measured.
2. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein: the A target ball (2), the B target ball (3) and the C target ball (4) are fixed on the unmanned aerial vehicle (1), the laser tracking head (6) of the laser tracker is utilized to measure the space coordinates of the A target ball (2), the B target ball (3) and the C target ball (4) fixed on the unmanned aerial vehicle (1) respectively, and the coordinates are recorded in a set file format;
the A target ball (2), the B target ball (3), the C target ball (4) and the balancing weight (5) are respectively fixed below four rotors of the unmanned aerial vehicle (1), and the balancing weight (5) is the same as any one of the A target ball (2), the B target ball (3) and the C target ball (4) in weight so as to offset the influence of asymmetry of the target balls on balance when the unmanned aerial vehicle (1) hovers; wherein A, B, C the three target balls are identical.
3. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein:
the height of the target ball A (2) is used as a standard to represent the hovering height of the unmanned aerial vehicle (1), and the hovering height ranges from 3 meters to 15 meters.
4. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein: step S4 specifically includes:
a.calculating the standard deviation of the target ball A (2) in the X, Y, Z direction at the hovering height
、
、
:
Wherein:
，
b. obtaining the maximum coordinate values of the A target ball (2) in three directions
And minimum coordinate value
The range of the target ball (2) in the X, Y, Z direction is calculated
、
、
：
c. Similarly, the standard deviation of the B target ball (3) in the X, Y, Z direction at the hovering height is calculated
、
、
And extreme difference
、
、
；
d. Similarly, the standard deviation of the C target ball (4) in the X, Y, Z direction at the hovering height is calculated
、
、
And extreme difference
、
、
。
5. The unmanned aerial vehicle hovering precision evaluation method according to claim 4, wherein step S5 includes:
respectively calculating the average value of the standard deviation of the target ball A (2), the target ball B (3) and the target ball C (4) in the direction X, Y, Z under the hovering height
、
、
：
The maximum value of X, Y, Z direction range is obtained
、
、
：
6. The unmanned aerial vehicle hovering precision evaluation method according to claim 5, wherein the step S6 specifically includes:
setting a first threshold value and a second threshold value for the average value of the standard deviation, and setting a third threshold value and a fourth threshold value for the maximum value of the range; wherein the first threshold is greater than the second threshold, and the third threshold is greater than the fourth threshold; when any average value
、
、
Greater than a first threshold or any maximum
、
、
When the hovering precision evaluation level is higher than the third threshold value, if the hovering precision evaluation level is low, the control algorithm needs to be optimized again;
when mean value
、
、
Are all less than a second threshold value, and a maximum value
、
、
When the hovering precision evaluation level is higher than the fourth threshold value, the evaluation is finished;
otherwise, the hovering precision evaluation level is middle.
7. The unmanned aerial vehicle hovering precision evaluation method according to claim 6, wherein the first threshold, the second threshold, the third threshold, and the fourth threshold have values of 80mm, 30mm, 200mm, and 100mm, respectively.
8. The unmanned aerial vehicle hovering precision evaluation method according to claim 1, wherein in step S3, a schematic diagram of the corresponding position of the unmanned aerial vehicle (1) in space is generated by fitting with a computer (8), so as to visually reflect the position and the range of deviation of the unmanned aerial vehicle (1) at the height of hovering.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210812561.6A CN114877876B (en) | 2022-07-12 | 2022-07-12 | Unmanned aerial vehicle hovering precision evaluation method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210812561.6A CN114877876B (en) | 2022-07-12 | 2022-07-12 | Unmanned aerial vehicle hovering precision evaluation method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114877876A true CN114877876A (en) | 2022-08-09 |
| CN114877876B CN114877876B (en) | 2022-09-23 |
Family
ID=82683461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210812561.6A Active CN114877876B (en) | 2022-07-12 | 2022-07-12 | Unmanned aerial vehicle hovering precision evaluation method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114877876B (en) |
Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110311099A1 (en) * | 2010-06-22 | 2011-12-22 | Parrot | Method of evaluating the horizontal speed of a drone, in particular a drone capable of performing hovering flight under autopilot |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
| CN104913775A (en) * | 2015-06-19 | 2015-09-16 | 广州快飞计算机科技有限公司 | Method for measuring height of transmission line of unmanned aerial vehicle and method and device for positioning unmanned aerial vehicle |
| CN105424006A (en) * | 2015-11-02 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Unmanned aerial vehicle hovering precision measurement method based on binocular vision |
| CN106020218A (en) * | 2016-05-16 | 2016-10-12 | 国家电网公司 | UAV (unmanned aerial vehicle) hovering precision test method and system |
| CN106742051A (en) * | 2016-11-28 | 2017-05-31 | 歌尔科技有限公司 | A kind of aircraft hovering functional stabilization method of testing and system |
| CN107264834A (en) * | 2017-06-07 | 2017-10-20 | 华南农业大学 | A kind of agricultural unmanned plane indoor test platform and method of testing |
| CN107490375A (en) * | 2017-09-21 | 2017-12-19 | 重庆鲁班机器人技术研究院有限公司 | Spot hover accuracy measuring device, method and unmanned vehicle |
| US20180002011A1 (en) * | 2016-07-01 | 2018-01-04 | Bell Helicopter Textron Inc. | Aircraft with Selectively Attachable Passenger Pod Assembly |
| CN207433795U (en) * | 2017-09-06 | 2018-06-01 | 深圳中坚实业有限公司 | A kind of unmanned plane |
| CN108414238A (en) * | 2018-03-09 | 2018-08-17 | 孙会鸿 | Automatic parking function real steering vectors system and test method |
| CN109211573A (en) * | 2018-09-12 | 2019-01-15 | 北京工业大学 | A kind of evaluating method of unmanned plane hoverning stability |
| WO2019095453A1 (en) * | 2017-11-15 | 2019-05-23 | 北京工业大学 | Unmanned aerial vehicle fixed-point hovering system and method |
| CN109974660A (en) * | 2019-03-18 | 2019-07-05 | 南昌大学 | Method based on unmanned plane hovering video measuring unmanned plane hovering precision |
| CN110766751A (en) * | 2019-10-08 | 2020-02-07 | 南昌大学 | Unmanned aerial vehicle hovering precision self-measuring method based on ground marker |
| WO2020037602A1 (en) * | 2018-08-23 | 2020-02-27 | 深圳市大疆创新科技有限公司 | Return control method and device for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN111688949A (en) * | 2020-06-24 | 2020-09-22 | 天津大学 | Unmanned aerial vehicle hovering attitude measurement device and method |
| CN112141363A (en) * | 2020-11-05 | 2020-12-29 | 云南电力试验研究院(集团)有限公司 | Unmanned aerial vehicle hovering precision testing system and method |
| CN113050695A (en) * | 2021-03-29 | 2021-06-29 | 徐州网递智能科技有限公司 | Plant protection unmanned aerial vehicle hovering stabilizing device and control method thereof |
| CN215264044U (en) * | 2021-07-13 | 2021-12-21 | 韶关宏大勘测规划设计有限公司 | A topography mapping device for geological disasters are administered |
| CN113848000A (en) * | 2021-09-30 | 2021-12-28 | 南京市计量监督检测院 | Feedback automatic calibration system and method based on high-precision standard resistance box |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN114384565A (en) * | 2022-03-24 | 2022-04-22 | 南京市计量监督检测院 | Dynamic positioning coordinate sequence abnormal value identification method based on VMD iterative decomposition |
-
2022
- 2022-07-12 CN CN202210812561.6A patent/CN114877876B/en active Active
Patent Citations (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110311099A1 (en) * | 2010-06-22 | 2011-12-22 | Parrot | Method of evaluating the horizontal speed of a drone, in particular a drone capable of performing hovering flight under autopilot |
| CN104298248A (en) * | 2014-10-08 | 2015-01-21 | 南京航空航天大学 | Accurate visual positioning and orienting method for rotor wing unmanned aerial vehicle |
| CN104913775A (en) * | 2015-06-19 | 2015-09-16 | 广州快飞计算机科技有限公司 | Method for measuring height of transmission line of unmanned aerial vehicle and method and device for positioning unmanned aerial vehicle |
| CN105424006A (en) * | 2015-11-02 | 2016-03-23 | 国网山东省电力公司电力科学研究院 | Unmanned aerial vehicle hovering precision measurement method based on binocular vision |
| CN106020218A (en) * | 2016-05-16 | 2016-10-12 | 国家电网公司 | UAV (unmanned aerial vehicle) hovering precision test method and system |
| US20180002011A1 (en) * | 2016-07-01 | 2018-01-04 | Bell Helicopter Textron Inc. | Aircraft with Selectively Attachable Passenger Pod Assembly |
| CN106742051A (en) * | 2016-11-28 | 2017-05-31 | 歌尔科技有限公司 | A kind of aircraft hovering functional stabilization method of testing and system |
| CN107264834A (en) * | 2017-06-07 | 2017-10-20 | 华南农业大学 | A kind of agricultural unmanned plane indoor test platform and method of testing |
| CN207433795U (en) * | 2017-09-06 | 2018-06-01 | 深圳中坚实业有限公司 | A kind of unmanned plane |
| CN107490375A (en) * | 2017-09-21 | 2017-12-19 | 重庆鲁班机器人技术研究院有限公司 | Spot hover accuracy measuring device, method and unmanned vehicle |
| WO2019095453A1 (en) * | 2017-11-15 | 2019-05-23 | 北京工业大学 | Unmanned aerial vehicle fixed-point hovering system and method |
| CN108414238A (en) * | 2018-03-09 | 2018-08-17 | 孙会鸿 | Automatic parking function real steering vectors system and test method |
| WO2020037602A1 (en) * | 2018-08-23 | 2020-02-27 | 深圳市大疆创新科技有限公司 | Return control method and device for unmanned aerial vehicle, and unmanned aerial vehicle |
| CN109211573A (en) * | 2018-09-12 | 2019-01-15 | 北京工业大学 | A kind of evaluating method of unmanned plane hoverning stability |
| CN109974660A (en) * | 2019-03-18 | 2019-07-05 | 南昌大学 | Method based on unmanned plane hovering video measuring unmanned plane hovering precision |
| CN110766751A (en) * | 2019-10-08 | 2020-02-07 | 南昌大学 | Unmanned aerial vehicle hovering precision self-measuring method based on ground marker |
| CN111688949A (en) * | 2020-06-24 | 2020-09-22 | 天津大学 | Unmanned aerial vehicle hovering attitude measurement device and method |
| CN112141363A (en) * | 2020-11-05 | 2020-12-29 | 云南电力试验研究院(集团)有限公司 | Unmanned aerial vehicle hovering precision testing system and method |
| CN113050695A (en) * | 2021-03-29 | 2021-06-29 | 徐州网递智能科技有限公司 | Plant protection unmanned aerial vehicle hovering stabilizing device and control method thereof |
| CN215264044U (en) * | 2021-07-13 | 2021-12-21 | 韶关宏大勘测规划设计有限公司 | A topography mapping device for geological disasters are administered |
| CN113848000A (en) * | 2021-09-30 | 2021-12-28 | 南京市计量监督检测院 | Feedback automatic calibration system and method based on high-precision standard resistance box |
| CN114228982A (en) * | 2021-11-30 | 2022-03-25 | 重庆交通大学绿色航空技术研究院 | Unmanned aerial vehicle support |
| CN114384565A (en) * | 2022-03-24 | 2022-04-22 | 南京市计量监督检测院 | Dynamic positioning coordinate sequence abnormal value identification method based on VMD iterative decomposition |
Non-Patent Citations (4)
| Title |
|---|
| WEI HE等: ""Stability Parameter Range of a Tethered Unmanned Aerial Vehicle"", 《SHOCK AND VIBRATION》 * |
| 王博等: ""无人机自主巡检***的关键技术研究"", 《计算机工程与应用》 * |
| 王珉等: ""基于干冰低温冷却的大进给铣削TC4钛合金刀具磨损研究"", 《现代制造工程》 * |
| 董保磊等: ""基于双目视觉的无人机悬停精度测量研究"", 《计算机工程与应用》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114877876B (en) | 2022-09-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109001711B (en) | Multi-line laser radar calibration method | |
| CN110501712B (en) | Method, device and equipment for determining position attitude data in unmanned driving | |
| CN107340522A (en) | A kind of method, apparatus and system of laser radar positioning | |
| CN113587835A (en) | Method for checking and accepting bridge engineering quality by using three-dimensional laser scanning technology | |
| CN103217688B (en) | Airborne laser radar point cloud adjustment computing method based on triangular irregular network | |
| JPWO2007069721A1 (en) | 3D shape data storage and display method and apparatus, and 3D shape measurement method and apparatus | |
| CN107462587A (en) | A kind of the precise vision detecting system and method for flexible IC substrates bump mark defect | |
| CN101413785A (en) | Error compensation method of positioning system based on double-rotating laser plane transmitter network | |
| CN101750030A (en) | Curved surface detecting system and method | |
| CN108458710B (en) | Pose measuring method | |
| CN103292773A (en) | Symmetry error evaluation method based on minimum zone | |
| CN113281777A (en) | Dynamic measuring method and device for cargo volume | |
| JP6673504B2 (en) | Information processing device, database generation device, method, program, and storage medium | |
| CN106556383A (en) | A kind of method of RTK slope compensations certainty of measurement checking | |
| CN114877876B (en) | Unmanned aerial vehicle hovering precision evaluation method | |
| CN111895921B (en) | Compensation method for improving measurement precision of system to height difference | |
| CN113702927A (en) | Vehicle sensor calibration method and device and storage medium | |
| CN115883812B (en) | Multi-sensor collaborative station arrangement method based on particle swarm optimization | |
| Valanis et al. | Automatic target identification for laser scanners | |
| Smith et al. | Point laser triangulation probe calibration for coordinate metrology | |
| CN113743483B (en) | Road point cloud error scene analysis method based on spatial plane offset analysis model | |
| CN106595472B (en) | The precision of Digital Photogrammetric System determines method | |
| CN110866951B (en) | Method for correcting optical axis inclination of monocular camera | |
| CN109540058A (en) | A kind of rigid body position and attitude measurement uncertainty evaluation method based on point set measurement | |
| CN113835101A (en) | Vehicle positioning method and device based on radar point cloud and storage medium |
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 |