CN205230375U - Unmanned aerial vehicle target tracker - Google Patents
Unmanned aerial vehicle target tracker Download PDFInfo
- Publication number
- CN205230375U CN205230375U CN201521049878.0U CN201521049878U CN205230375U CN 205230375 U CN205230375 U CN 205230375U CN 201521049878 U CN201521049878 U CN 201521049878U CN 205230375 U CN205230375 U CN 205230375U
- Authority
- CN
- China
- Prior art keywords
- ground
- unmanned plane
- information
- data processor
- control system
- 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.)
- Expired - Fee Related
Links
- 238000004891 communication Methods 0.000 claims description 16
- 230000001133 acceleration Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000007246 mechanism Effects 0.000 claims description 3
- 239000000203 mixture Substances 0.000 description 4
- 239000000446 fuel Substances 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002123 temporal effect Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 229920000049 Carbon (fiber) Polymers 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000004917 carbon fiber Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000002828 fuel tank Substances 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000009017 pursuit movement Effects 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides an unmanned aerial vehicle target tracker belongs to location technical field. An unmanned aerial vehicle target tracker, its characterized in that includes unmanned aerial vehicle year control system and ground server, unmanned aerial vehicle carries a control system and is used for acquireing the surface map like, flight parameter and will the surface map sends to the ground server instruction of still receiving the ground server like, flight parameter to according to flying in the instruction, the ground server is used for accepting the next information of conveying that unmanned aerial vehicle carried control system, handles the information of receiving to send control command in order to trail the ground target for inorganic year control system according to the result. Utilize the system provided by the utility model trail the fast of tracking target.
Description
Technical field
The utility model relates to a kind of unmanned plane target tracker, belongs to technical field of data processing.
Background technology
Utilize unmanned plane can obtain the important information on ground, as image, comprise still picture and video, therefrom obtain battle field information promptly and accurately and accurate locating information, to catch strategic strike target, complete the tasks such as Hitting Effect Evaluation.
In aerial observation process over the ground, the moving target (as train, automobile, naval vessels etc.) of ground or the water surface contains important military value, is scout emphasis, usually needs to give more sustained attention it in flight course.Be kept in motion because moving target is same with unmanned plane, often can be difficult to continue to catch because target travel exceeds unmanned plane field of view.Thus the key of aerial earth observation pursuit movement target how accurately can detect moving target as early as possible, to adjust camera The Cloud Terrace and flight parameter, realizes continuing to follow the tracks of, and analyzes further and reaction to treat to make target.
Summary of the invention
For overcoming the technical matters existed in prior art, goal of the invention of the present utility model is to provide a kind of unmanned plane target tracker, and the speed of its Tracking Ground Targets is fast.
For realizing described goal of the invention, a kind of unmanned plane target tracker, it is characterized in that, comprise UAV system control system and ground-based server, UAV system control system is for obtaining ground image, flight parameter described ground image, flight parameter are sent to ground-based server, also receive the instruction of ground-based server, and fly according in instruction; Ground-based server, for accepting the information sent of UAV system control system, processes the information received, and gives without aircraft mounted control system sending controling instruction according to result with Tracking Ground Targets.
Preferably, UAV system control system comprises: comprise data processor, acceleration transducer, the first A/D converter, gyroscope, the second A/D converter, barometric altimeter, the 3rd A/D converter, video camera, scrambler, navigation time dissemination system and first memory, wherein, acceleration transducer is for measuring the acceleration of three orthogonal axles of unmanned plane, and degree of will speed up information is converted to telecommunications breath; The telecommunications breath that first A/D converter degree of will speed up sensor provides carries out A/D conversion and is then supplied to data processor; Angle information for measuring the roll angle of unmanned plane, angle of pitch and crab angle, and is converted to telecommunications breath by gyroscope, and the telecommunications breath that gyroscope provides by the second A/D converter carries out A/D conversion and is then supplied to data processor; Barometric altimeter is used for the flying height of unmanned plane, and the 3rd A/D converter is used for the elevation information of unmanned plane being converted to numerical information and being supplied to data processor; Video camera is used for the image taking terrain object continuously, and image information is supplied to scrambler, and the image information that described video encoder is used for video camera to provide is encoded, the data processor then provided; Positional information and temporal information for obtaining the positional information of unmanned plane, and are supplied to data processor by navigation time dissemination system, and obtained information is stored in first memory by data processor.
Preferably, UAV system control system also comprises communication module and antenna, wherein, obtained information package becomes Frame then to send to communication module by data processor, described Frame is modulated on radio frequency by communication module, then send to ground-based server by antenna, communication module and antenna also receive the flight directive Frame of ground-based server transmission to be supplied to data processor.
Preferably, unmanned plane target tracker also comprises flight controller and second memory, data processor unpacks flight directive Frame taking-up flight directive and then sends flight controller to, flight directive is temporarily stored into second memory by flight controller, and drives unmanned plane servo control mechanism to carry out flying with Tracking Ground Targets according to flight directive.
Compared with prior art, the method computing velocity utilizing the utility model to provide is fast, and the speed of tracking target is fast.
Accompanying drawing explanation
Fig. 1 is the contour structures schematic diagram of the unmanned plane that the utility model provides;
Fig. 2 is the composition frame chart of UAV system control system;
Fig. 3 is the composition frame chart of ground-based server.
Embodiment
The unmanned plane target tracker that the utility model provides comprises UAV system control system and ground-based server, UAV system control system is for obtaining ground image, flight parameter described ground image, flight parameter etc. are sent to ground-based server, also receive the instruction of ground-based server, and fly according in instruction.Ground-based server, for accepting the information sent of UAV system control system, processes the information received, and gives without aircraft mounted control system sending controling instruction according to result with Tracking Ground Targets.
The utility model is described in detail below in conjunction with accompanying drawing.
Fig. 1 is the unmanned aerial vehicle contour structures schematic diagram that the utility model provides.As shown in Figure 1, the utility model unmanned aerial vehicle comprises frame 132, is provided with main duct 143 in frame 32, is provided with support 134, support 134 is provided with main blade 133 in described main duct 143.Described frame 132 both sides are respectively arranged with fixed-wing 135 and fixed-wing 136, and during flight, the fixed-wing of both sides produces aerodynamic lift, reduces the oil consumption rate of the fuel engines in main body duct.Be respectively arranged with little duct 143 and little duct 142 in the fixed-wing of frame 132 both sides, in little duct, be respectively arranged with little blade (not shown).The front and back of frame is provided with leading edge 138 and rear wing 137, is respectively arranged with little duct 141 and little duct 144, is respectively arranged with little blade (not shown) in the little duct of leading edge and rear wing 137 in leading edge 138 and rear wing 137.Rear wing is arranged empennage 129 and empennage 140, empennage 129 and empennage 140 V-shaped, in order to increase flight stability.Main blade provides power by fuel engines.Little blade motor provides power, and motor provides the energy by battery.Battery is rechargeable battery.Anti-twisted power flow deflector is set in culvert channel blade face, the rotating torque produced during in order to balance culvert channel blade or fan turns.Thrust flow deflector is set below culvert channel blade or fan simultaneously, produces the thrust that moves ahead.
Frame, leading edge, rear wing and empennage adopt aluminum alloy framework, and outer paving carbon fibre composite, alleviates fuselage weight while proof strength.Support be carbon fiber bar for supporting fuel engines, as the active force of duct unmanned aerial vehicle, the fuel tank of engine is placed in the circumferential perimeter of main body duct.Composite propeller adopted by motor in four little ducts.
Fig. 2 is the composition frame chart of UAV system control system, as shown in Figure 2, UAV system control system comprises: 3-axis acceleration sensor 1, A/D converter 2, gyroscope 3, A/D converter 4, magnetic sensor 5, A/D converter part, barometric altimeter 7, A/D converter 8, video camera 9, scrambler 10, navigation time dissemination system 11, storer 13, data processor 12, flight controller and storer 17, wherein, acceleration transducer 1 is for measuring the acceleration of three orthogonal axles of unmanned plane, and degree of will speed up information is converted to telecommunications breath; A/D converter 2, the telecommunications breath that degree of will speed up sensor 1 provides carries out A/D conversion and is then supplied to data processor.Angle information for measuring the roll angle of unmanned plane, angle of pitch and crab angle, and is converted to telecommunications breath by gyroscope 3, and the telecommunications breath that gyroscope 3 provides by A/D converter 4 carries out A/D conversion and is then supplied to data processor.Barometric altimeter 7 is for obtaining the flying height of unmanned plane, and A/D converter 8 is for being converted to numerical information by the elevation information of unmanned plane and being supplied to data processor.Image information for taking the image on ground continuously, and is supplied to scrambler by video camera 9, and the image information that described video encoder is used for video camera to provide is encoded, the data processor then provided.Positional information and temporal information for obtaining the positional information of unmanned plane, and are supplied to data processor by navigation time dissemination system 11.The information that above-mentioned parts are measured is stored in storer by data processor, and obtained information is stored in storer 13 by data processor.UAV system control system also comprises communication module 14 and antenna 18, wherein, obtained information package becomes Frame then to send to communication module 14 by data processor 12, described Frame is modulated on radio frequency by communication module 14, then send to ground-based server by antenna, communication module and antenna also receive the flight directive Frame of ground-based server transmission to be supplied to data processor.
Unmanned plane target tracker also comprises flight controller 15 and storer 17, data processor unpacks flight directive Frame taking-up flight directive and then sends flight controller 15 to, flight directive is temporarily stored into storer 17 by flight controller, and drives unmanned plane servo control mechanism 19 to carry out flying with Tracking Ground Targets according to flight directive.
Magnetic Sensor 5 is for measuring the magnetic heading of unmanned plane, magnetic heading information is converted to numerical information and is then supplied to data processor by A/D converter 6, data processor 12 corrects gyroscope according to digital magnetic heading, utilizes gyrostabilization to reduce the flight of magnetic sensor simultaneously.Flight controller carries out flight according to the information that data processor provides to unmanned plane and controls.
In the utility model, video camera is fixed on unmanned aerial vehicle platform by universal joint, makes the o of the body axis system of the photography axle unmanned plane of video camera
bz
boverlap, make the o of the picture plane of video camera
px
pthe o of the body axis system of axle and unmanned plane
bx
bparallel, the o of the picture plane of video camera
py
pthe o of the body axis system of axle and unmanned plane
by
bparallel, the attitude angle of photography axle can be extrapolated by the attitude angle of measurement unmanned plane.
Fig. 3 is the composition frame chart of ground-based server, as shown in Figure 3, the ground-based server that the utility model provides comprises processor 20, input/output interface, network adapter 23, communication module 23, dual-mode antenna 24 and storer 25, wherein, dual-mode antenna 24 is for being converted to electric signal by spatial electromagnetic ripple signal, and be supplied to communication module 23, the signal that UAV system control system is sent is supplied to processor 20 by communication module 23, the Frame that processor 20 pairs of UAV system control system are sent is unpacked and is shown over the display by input/output interface 21, processor according to user instruction to obtain image processes, judge the position of terrain object, the position of base area Area Objects makes unmanned plane during flying instruction, then unmanned plane during flying instruction is packaged into flight directive frame, UAV system flight control system is sent to by communication module 14 and antenna 18.The received unmanned image sent with borne control system is printed by printer by ground-based server, also can be stored in storer 25, also send to other user or server by network adapter.IO interface 21 also can connect keyboard and mouse, and keyboard is for inputting instruction or performing some operation, and mouse is for performing some operation.
Below ultimate principle of the present utility model, principal character and advantage of the present utility model is described by reference to the accompanying drawings.The technician of the industry should understand; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope, the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.The claimed scope of the utility model is defined by appending claims and equivalent thereof.
Claims (4)
1. a unmanned plane target tracker, it is characterized in that, comprise UAV system control system and ground-based server, UAV system control system is for obtaining ground image, flight parameter described ground image, flight parameter are sent to ground-based server, also receive the instruction of ground-based server, and fly according to instruction; Ground-based server, for accepting the information sent of UAV system control system, processes the information received, and gives without aircraft mounted control system transmission instruction according to result with Tracking Ground Targets.
2. unmanned plane target tracker according to claim 1, it is characterized in that, UAV system control system comprises: data processor, acceleration transducer, the first A/D converter, gyroscope, the second A/D converter, barometric altimeter, the 3rd A/D converter, video camera, video encoder, navigation time dissemination system and first memory, wherein, acceleration transducer is for measuring the acceleration of three orthogonal axles of unmanned plane, and degree of will speed up information is converted to telecommunications breath; The telecommunications breath that first A/D converter degree of will speed up sensor provides carries out A/D conversion and is then supplied to data processor; Angle information for measuring the roll angle of unmanned plane, angle of pitch and crab angle, and is converted to telecommunications breath by gyroscope, and the telecommunications breath that gyroscope provides by the second A/D converter carries out A/D conversion and is then supplied to data processor; Barometric altimeter is for obtaining the flying height of unmanned plane, and the 3rd A/D converter is used for the elevation information of unmanned plane being converted to numerical information and being supplied to data processor; Video camera is used for the image taking terrain object continuously, and image information is supplied to video encoder, and the image information that described video encoder is used for video camera to provide is encoded, and is then supplied to data processor; Positional information for obtaining the positional information of unmanned plane, and is supplied to data processor by navigation time dissemination system, and obtained information is stored in first memory by data processor.
3. unmanned plane target tracker according to claim 2, it is characterized in that, UAV system control system also comprises communication module and antenna, wherein, obtained information package becomes Frame then to send to communication module by data processor, described Frame is modulated on radio frequency by communication module, then sends to ground-based server by antenna, and communication module and antenna also receive the flight directive Frame of ground-based server transmission to be supplied to data processor.
4. unmanned plane target tracker according to claim 2, it is characterized in that, UAV system control system also comprises flight controller and second memory, data processor unpacks flight directive Frame taking-up flight directive and then sends flight controller to, flight directive is temporarily stored into second memory by flight controller, and drives unmanned plane servo control mechanism to carry out flying with Tracking Ground Targets according to flight directive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521049878.0U CN205230375U (en) | 2015-12-17 | 2015-12-17 | Unmanned aerial vehicle target tracker |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521049878.0U CN205230375U (en) | 2015-12-17 | 2015-12-17 | Unmanned aerial vehicle target tracker |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205230375U true CN205230375U (en) | 2016-05-11 |
Family
ID=55905423
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521049878.0U Expired - Fee Related CN205230375U (en) | 2015-12-17 | 2015-12-17 | Unmanned aerial vehicle target tracker |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205230375U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292716A (en) * | 2016-08-09 | 2017-01-04 | 西安斯凯智能科技有限公司 | A kind of rock-climbing tracking system and tracking |
| CN107628249A (en) * | 2017-10-15 | 2018-01-26 | 天津飞眼无人机科技有限公司 | Unmanned plane target tracking system |
| WO2022036724A1 (en) * | 2020-08-21 | 2022-02-24 | 南京科沃云计算信息技术有限公司 | Machine vision-based target tracking system and method for unmanned aerial vehicle |
-
2015
- 2015-12-17 CN CN201521049878.0U patent/CN205230375U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106292716A (en) * | 2016-08-09 | 2017-01-04 | 西安斯凯智能科技有限公司 | A kind of rock-climbing tracking system and tracking |
| CN107628249A (en) * | 2017-10-15 | 2018-01-26 | 天津飞眼无人机科技有限公司 | Unmanned plane target tracking system |
| WO2022036724A1 (en) * | 2020-08-21 | 2022-02-24 | 南京科沃云计算信息技术有限公司 | Machine vision-based target tracking system and method for unmanned aerial vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10901077B1 (en) | Airframe-embedded ultrasonic transducers | |
| CN105549614B (en) | Unmanned plane target tracking | |
| CN105151292B (en) | Distributive vectored thrust system | |
| US9739870B1 (en) | Tracking unmanned aerial vehicles using reflected light | |
| CN108803639A (en) | A kind of quadrotor flight control method based on Backstepping | |
| RU2724937C2 (en) | Aircraft and method of aircraft stabilization | |
| CN111596687A (en) | Landing guide device and method for mobile platform of vertical take-off and landing unmanned aerial vehicle | |
| CN104590576A (en) | Flight control system and method for ship-borne unmanned aerial vehicle autonomous landing | |
| US20150266574A1 (en) | Glider for airborne wind energy productions | |
| CN106598073A (en) | Quay crane structure detection system based on quadrotor unmanned aerial vehicle | |
| CN205920414U (en) | Machine carries optoelectronic pod platform | |
| CN205230375U (en) | Unmanned aerial vehicle target tracker | |
| CN109358654A (en) | A kind of empty amphibious search and rescue support unmanned vehicle system of water | |
| CN111813133B (en) | Unmanned aerial vehicle ship autonomous landing method based on relatively precise point positioning | |
| CN110645843B (en) | High-dynamic compensation guidance control system and method for high-speed maneuvering target | |
| CN103847963A (en) | Unmanned power delta wing aircraft | |
| CN203211514U (en) | Fixed-wing aircraft for aerial photographing | |
| CN105292472A (en) | Multi-purpose flexible-wing unmanned aerial vehicle | |
| CN113608543A (en) | Method, device, equipment and storage medium for self-adaptive planning of flight path of aircraft | |
| CN111240349A (en) | Unmanned aerial vehicle takeoff control method based on motion base, computer readable storage medium and control equipment | |
| CN203528810U (en) | Unmanned plane | |
| CN204021249U (en) | The soft wing unmanned plane of high-mobility, multipurpose, wheeled vehicle | |
| CN209649972U (en) | A kind of land and air double-used operation type flying robot | |
| CN101475058A (en) | Small-sized unmanned aerocraft | |
| CN106585963A (en) | Aerial robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200818 Address after: No.4 factory building, Fuyang industrial square, Fuyuan Road, Chengyang street, Xiangcheng economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee after: Aerospace Zhongxing (Jiangsu) Technology Co.,Ltd. Address before: 100176, Beijing economic and Technological Development Zone, Rong Jingdong Street 3, 1, 10, 2, unit 818 Patentee before: BEIJING FALCON UAV TECHNOLOGY Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20211230 Address after: 102407 466, block D, Beijing fund town building, Fangshan District, Beijing Patentee after: Aerospace Zhongxing (Beijing) Technology Co.,Ltd. Address before: 215137 plant 4, Fuyang industrial square, Fuyuan Road, Chengyang street, Xiangcheng economic and Technological Development Zone, Suzhou City, Jiangsu Province Patentee before: Aerospace Zhongxing (Jiangsu) Technology Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160511 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |