2164 results about "Low altitude" patented technology

This invention relates to an Unmanned Aerial Vehicle hereinafter called “Mother UAV” member (11) capable of carrying modules of Sub Unmanned Aerial Vehicle members (12) hereinafter called “Sub UAV” member. More particularly, the method and system that is capable of communicating via satellite and remote control technology wherein ejecting said Sub UAV members (12) from the Mother UAV member (11) wherein Sub UAV members (12) autonomously fly in sequence in a coordinated manner with the Mother UAV member (11), and capable of engaging in multiple missions in high, medium, low altitude, and surface, also communication with under sea submarines (27). Further, comprises of a method and system that the Sub UAV members (12) are able to return back to the Mother UAV member (11) after the mission is completed and be firmly secured to the flatbed (14) of the Mother UAV member (11). The present invention is specifically designed for multifunctional and multipurpose applications where humans and other vehicles are unable to access, for civil, commercial and military purposes.

The present invention provides a traffic management system for managing unmanned aerial systems (UASs) operating at low-altitude. The system includes surveillance for locating and tracking UASs in uncontrolled airspace, for example, in airspace below 10,000 feet MSL. The system also includes flight rules for safe operation of UASs in uncontrolled airspace. The system further includes computers for processing said surveillance and for applying the flight rules to UASs. The traffic management system may be portable, persistent, or a hybrid thereof.

The present invention relates to a reduced scale industrial helicopter, with an integrated automatic flight control system, that includes core autopilot functions, GPS management, and full-function navigation systems. The autopilot technology includes rapid launch capability, real-time in-flight switching between one or more of a) remote control, b) autopilot-directed, c) ground station controlled, and d) home modes, and is upgradeable. The helicopter is used for high or low altitude surveillance, and can handle various payloads, including photographic missions. The helicopter may include onboard batteries and / or a unique battery unit disposed beneath the helicopter, and includes autonomous features such as automatic takeoff, automatic landing, safety return to home base, and predetermined mission plans.

The present invention is directed to a radio-acoustic sounding system for providing wind measurements at altitudes of 100 meters or less. Wind measurements are obtained by transmitting a pulse of audio frequency energy through one or more volumes corresponding to the coverage area of one or more radio frequency transceivers. The frequency of the audio pulse is selected to have a wavelength that is one-half the wavelength of the electromagnetic energy transmitted by the antenna or antennas. By monitoring a return radio frequency signal at selected times following the transmission of the audio pulse, wind data is obtained at selected altitudes. Wind speed and direction can be obtained by observing the Doppler frequency shift of return radio frequency signals, or by observing the amplitude of the return radio frequency signals. In accordance with an embodiment of the present invention, precipitation measurements may be made by transmitting a radio frequency signal at the same radio frequency as is used in connection with wind measurements, and observing return radio frequency signals.

Systems and methods for providing one-way rides by autonomous vehicles are disclosed. An exemplary embodiment of the invention operates as a personal ski lift that includes an autonomous snowmobile or all terrain vehicle for providing a low-cost and flexible means to ascend ski-able terrain to bring a skier to a high-altitude skiing destination, so that the skier may depart the vehicle and ski down the terrain independent from the vehicle. The vehicle of the exemplary embodiment may meanwhile travel autonomously to a lower-altitude rendezvous point to meet the skier upon completion of his skiing. Other embodiments within the invention for providing one-way rides by various types of vehicles for various purposes are disclosed.

The invention discloses a multi-UAV (unmanned aerial vehicle) dynamic formation control method, and belongs to the technical field of flight control. The multi-UAV dynamic formation control method includes steps as follows: step 1, a formation keeping method; step 2, an obstacle avoidance method; and step 3, a behavior-based formation process, wherein the behavior-based formation process includes behavior decomposition and control realization. The method solves the defect that the traditional virtual structure manner formation control has higher communication quality requirement; the behavior-based formation control method is introduced to lower the requirement of formation wireless data link update rate and enhances the obstacle avoidance capability of the UAV group formation; and aiming at the defect that the traditional behavior-based manner formation control cannot keep good formation rigidity, a virtual structure is introduced for reference. On the premise of keeping the relatively stable formation, the capability of obstacle and threat avoidance of a microminiature UAV can be enhanced, and the method has a certain reference value for UAV group cooperation low-altitude penetration.

An un-manned airborne vehicle (UAV), for acquiring aeromagnetic data for geophysical surveying at low altitude on land or over water, comprising an extended fuselage that is adapted to hold and maintain magnetometer and a magnetic compensation magnetometer at a minimum distance from the avionics and propulsion systems of the UAV. The magnetometer measures magnetic anomalies and the magnetic compensation magnetometer measures magnetic responses corresponding to the pitch, yaw and roll of the UAV. A data acquisition system stores and removes the magnetic response measurements from the magnetic anomaly measurements. The data acquisition system also stores a survey flight plan and transmits the same to the avionics system. The generator of the UAV is shielded and the propulsion system is stabilized to reduce magnetic and vibrational noises that can interfere with the operation of the magnetometer.

A joint search method for UAV multiobjective path planning in an urban low altitude environment first constructs a static safety index map based on static known obstacles. Meanwhile, based on proactively detected obstacles that are not marked on a geographic map by a UAV, the method constructs online a dynamic safety index map. Second, a multiobjective path planning problem is solved using a joint offline and online search method. Moreover, this method first plans offline the least cost path from a starting point to an end point and then invokes the online search scheme to replan online a changed path when the UAV detects unknown obstacles. Thus, the UAV can avoid dynamic obstacles effectively. The online search scheme has a small search space and can quickly replan a safe path for the UAV, thus satisfying the requirement of UAV on the real-time path planning.

The invention relates to the field of unmanned aerial vehicles, in particular to a full-automatic unmanned aerial vehicle control system. The system, which is characterized in that: a ground control system comprises a main control system mainly comprising a central controller, a main control computer, the internet network and a central antenna, a user computer as a human-computer interactive interface, and a GPS navigation system; a vehicle-mounted flight control system of the unmanned aerial vehicle is provided with an aerial vehicle controller, a networking antenna, a GPS antenna, a DSP, a navigation camera, and a sensor; and the main control system of the ground control system gets the remote internet control authority, the main control computer inputs a signal to the central controller, the signal is processed by the central controller, and then the remote wireless communication and control of the vehicle-mounted flight control system are achieved through the antennas. Compared with the prior art, the system has the advantages of having high automation degree, realizing various flight missions of the unmanned aerial vehicle, and being applied to low altitude remote sensing, aerial photography, monitoring, photography measurement, videography, communication data retransmission and the like.

The invention relates to an unmanned aerial vehicle aerial photography sequence image-based slope three-dimension reconstruction method. The method includes the following steps that: feature region matching and feature point pair extraction are performed on un-calibrated unmanned aerial vehicle multi-view aerial photography sequence images through adopting a feature matching-based algorithm; the geometric structure of a slope and the motion parameters of a camera are calculated through adopting bundle adjustment structure from motion and based on disorder matching feature points, and therefore, a sparse slope three-dimensional point cloud model can be obtained; the sparse slope three-dimensional point cloud model is processed through adopting a patch-based multi-view stereo vision algorithm, so that the sparse slope three-dimensional point cloud model can be diffused to a dense slope three-dimensional point cloud model; and the surface mesh of the slope is reconstructed through adopting Poisson reconstruction algorithm, and the texture information of the surface of the slop is mapped onto a mesh model, and therefore, a vivid three-dimensional slope model with high resolution can be constructed. The unmanned aerial vehicle aerial photography sequence image-based slope three-dimension reconstruction method of the invention has the advantages of low cost, flexibility, portability, high imaging resolution, short operating period, suitability for survey of high-risk areas and the like. With the method adopted, the application of low-altitude photogrammetry and computer vision technology to the geological engineering disaster prevention and reduction field can be greatly prompted.

The invention relates to an airline routing algorithm of an unmanned plane in a large-range complicated three-dimensional space. The algorithm comprises the following steps: first dividing a three-dimensional space on the basis of a 2.5-dimensional grid (each grid point includes longitude, altitude and elevation information); improving the A* cost function by comprehensively considering the influence factors such as airline height, detected probability, airline distance under the constraint conditions of radar, disaster weather and forbidden areas, and determining an initial airline on the basis of an algorithm search flow; serially processing the initial airline to obtain a final flying airline for meeting the performance constraint of the unmanned plane (such as minimal step length, turning radius, climbing rate, safety height). The algorithm is good in stability and astringency, high in efficiency, capable of meeting the wide-range low-altitude airline routing requirement and applicable to relevant fields such as military, national defense, emergency relief.

The invention discloses a general aviation low-altitude monitor and service system comprising an area monitor and service system which is used for receiving flight information submitted by each aviation service station system and is in information interaction with an airspace management department; the aviation service station systems which are used for obtaining flight information of airspace of service stations and providing flight information for general aircrafts in the airspace of the service stations; general aviation airport control tower systems which are used for obtaining flight information of airport local airspace and providing flight information for general aircrafts in the airport local airspace; a motor command system which is used for obtaining flight information of airspace uncovered by the aviation service station systems and the general aviation airport control tower systems and providing flight service information for the general aircrafts in the airspace; a low-altitude flight service network system which is used for providing user interfaces for low-altitude general aviation flight personnel; and an airborne monitor service terminal which is used for obtaining real-time information of the general aircrafts.

The utility model relates to a method of rapid automatic matching for the low altitude remote sensing image and the aerial triangulation, which is characterized in that: capture serial images with the low altitude remote platform; extract the characteristic point from the image with the feature extraction technology; save automatically all extracted characteristic points of the images; match automatically characteristic points with same name of the adjacent images and transmit automatically the matched characteristic points with same names to all superimposed image to obtain a large quantity of characteristic points with three degree or more and same names; the semi-automatic measurement control point and the checkpoint of the image coordinate can combine with other observation values of non-photogrammetry to carry out the high precision aerial triangulation and the precision evaluation of the balancing results. The utility model has the advantages that the stable and reliable matching results and higher precision of the aerial triangulation can be obtained even the low altitude remote sensing images have large rotation deviation angle and the applicative demand of the large scale survey and the high precision three-dimensional reconstruction can be met.

Apparatus and a method utilizing correlation interferometer direction finding for determining the azimuth and elevation to an aircraft at long range and flying at low altitudes above water with a transmitting radar while resolving multipath signals. The signals from the radar are received both directly and reflected from the surface of the water using horizontally polarized and vertically polarized antenna arrays, are digitized and are stored in separate covariant matrices. Eigenvalues for the eigenvectors of the matrices processed on signal samples recorded on horizontally polarized X arrays are compared to the eigenvalues for the eigenvectors of the covariance matrices processed on signal samples recorded on vertically polarized X arrays. Incident field polarization is associated with the antenna array measurements that yield the strongest eigenvalue. The eigenvector and eigenvalues for the strongest signal are selected and used for subsequent signal processing. An initial global search assuming mirror sea-state reflection conditions using the signal eigenvector having the strongest eigenvalue is performed to yield an approximate elevation α and azimuth β to the aircraft. The approximate values are then used as the starting point for a subsequent conjugate gradient search to determine accurate elevation α and azimuth β to the aircraft.

The invention discloses a low-altitude rescue aircraft route planning method based on three dimensional airspace grids. The low-altitude rescue aircraft route planning method comprises that according to the three dimensional terrain, the aircraft performance and the weather distribution, the low-altitude airspace is divided into grids, nodes are generated, and the optimal flight path of a single aircraft is searched by means of an improved A* algorithm; on the basis that the flight path of the single aircraft is determined, by means of a time window estimation method, a time-space-interchange multi-aircraft conflict-free route planning method is provided, finally the shortest rescue time is taken as the optimization object, and a multi-aircraft conflict-free route planning scheme is obtained. According to the invention, an aviation rescue multi-aircraft conflict-free route planning method which takes the low-altitude complex terrain, the weather distribution and the aircraft performance into account, and a basis can be provided for the arrangement of the aircraft flight plan of an aviation emergency rescue command system.

The invention discloses an air flight and omnibearing adsorption micro-robot which comprises an adsorption device, an adsorption joint arm, a joint arm driving steering gear, four rotor wings, four rotor wing motors, four drivers, a robot body and a remote controller, wherein the adsorption device is arranged at one end of the adsorption joint arm, the other end of the adsorption joint arm is connected with an output shaft of the joint arm driving steering gear, the joint arm driving steering gear is arranged on a steering gear support, the steering gear support is fixedly mounted on the robot body, the four rotor wings are fixedly mounted on the respective rotor wing motors, the four drivers are respectively connected with the respective rotor wing motors, and the remote controller is used for sending a control command to the robot body for realizing air flight and omnibearing adsorption. The air flight and omnibearing adsorption micro-robot can realize air flight based on the four rotor wings and has the characteristic of stable low altitude flight, the robot can own the capability of being inhabited and adsorbed on the surface of an object in the air through the adsorption device, and the mechanism of imitating the flight and the inhabitation of a flying organism can be realized.

The invention provides a multi-target route planning and united searching method of a drone in an urban low-altitude environment, and belongs to the technical field of drone route planning. The method comprises steps of firstly, based on a static-state known obstacle, constructing a static-state safe index map, and based on an obstacle which is actively detected by the drone in a flight process and is not marked in a geographical map, constructing a dynamic state safe index map on an airborne platform; and then, based on offline searching and online searching, solving and optimizing a multi-target route planning problem of flight time and flight safety of the drone in an united manner. According to the invention, a path costing little from a start point to a termination point is planned in an offline manner; when an unknown obstacle is detected, a changed flight track is planned in an online manner through online searching, so a dynamic obstacle is avoided; and there is a quite small searching space in the online searching, so a safe route can be planned again from the drone rapidly, so requirements on real-time planning of routes for drones are met.

The invention discloses a small low-altitude light area array laser radar measuring system. The master control sub-system of the measuring system triggers a pulse laser emitting module to emit lasers, the lasers are collimated and generate two paths of laser signals through a beam splitting sheet, one path is used for determining the time of emitting the lasers and generating timing starting signals, the other path irradiates an object through beam expansion, echo signals are received by an APD array detection module and generate N2 paths of stopping pulses, and a multi-channel high-precision time interval measuring module is combined with starting signals to measure the round-trip flight time difference of N2 paths of lasers of a rectangular detection area. The location attitude measuring sub-system, the master control sub-system and the area array laser radar distance-measuring sub-system of the measuring system are integrated, original three-dimensional information can be obtained in real time, and assembling and verification are eliminated. The laser radar measuring system does not need scanning, three-dimensional imaging can be achieved through a single pulse, the imaging speed is high, measuring precision and working efficiency are high, the size is small, the weight is small, and the small low-altitude light area array laser radar measuring system is suitable for being carried small low-altitude light remote sensing platforms.

The invention belongs to the technical field of path or flight path planning of robots as well as low-altitude flight aircrafts, specifically relates to a path planning method of a passable area divided at unequal distance, and is used for solving the problem that existing planning algorithm has large time complexity in time and space complexity. The path planning method comprises the following steps of: calculating convex extreme points of each barrier curve; dividing the passable area by using each convex extreme point as a horizontal line; abstracting each small area obtained by dividing into a peak of a graph; forming an undirected graph by all peaks; finding out a peak serial number corresponding to the small area at which a starting point and a final point are located; finding out all paths for the undirected graph by breadth-first or depth-first scanning; finding out an actual to-be-travelled path of a moving object according to the situation on an actual map. The path planning method disclosed by the invention has the beneficial effect of overcoming the problems of algorithms of A* and the like on memory space and operation time, and overcoming a convergence problem of an ant colony algorithm at the same time. Besides, time complexity and space complexity are improved greatly in comparison with other algorithms.

The invention discloses a low-altitude airship flight control system and a flight control method thereof, belonging to the technical field of aircraft control. The system comprises a front-end data acquisition and processing subsystem, a navigation and flight control and state monitoring subsystem, a rear-end driving execution module subsystem and a flight application subsystem, wherein the front-end data acquisition and processing subsystem is connected with sensing equipment and used for transmitting acquired flight environment and airship state information, the navigation and flight control and state monitoring subsystem is connected with an airship navigation sensor and the rear-end driving execution module subsystem and used for transmitting navigation and flight control information,the rear-end driving execution module subsystem is connected with an airship execution controller and used for transmitting empennage steering engine pulse width modulation signals, propelling rotating speed control voltages and valve blower switch information, and the flight application subsystem is connected with a ground station and used for transmitting flight control instructions and telemetry parameter information through a data radio. The low-altitude airship flight control system disclosed in the invention is suitable for various civil and military systems.

The invention relates to a countermeasure system of a small unmanned aerial vehicle. The countermeasure system comprises a low-altitude small target monitoring radar, a photoelectric tracker, a high-energy microwave orientation jammer, a display control bench and a controller. The low-altitude small target monitoring radar is used for searching and finding a small unmanned aerial vehicle in a protection region and finding a target. The photoelectric tracker is used for identifying, tracking, monitoring, aiming at and locking a threatening target under the guidance of the low-altitude small target monitoring radar. The high-energy microwave orientation jammer is used for carrying out suppression and interference on the threatening target tracked and locked by the photoelectric tracker, and damaging a measuring, controlling and navigation system of the threatening target. The display control bench and the controller are used for carrying out comprehensive and intelligent control on the confrontation system, and displaying orientation, tracks and GIS information of the threatening target. The countermeasure system is used for a system defense method for searching, monitoring, tracking and disturbing a small unmanned aerial vehicle flying above a safety protection place, and preventing terrorists from endangering public safety by use of the air vehicle.

The invention discloses a low-altitude autonomous navigation system for a rotary-wing unmanned plane. The low-altitude autonomous navigation system is composed of a data acquisition device, a data preprocessing module, a data fusion module, a guidance control loop module and an attitude control loop module. The data preprocessing module is used for carrying out sampling filtering and error compensation on current location data information collected by the data acquisition device; the data fusion module is used for carrying out fusion and updating and obtaining a current position and speed of the rotary-wing unmanned plane; the guidance control loop module is used for calculating an expected attitude angle and an expected height value; and the attitude control loop module is used for generating a controlled quantity. According to the technical scheme, a problem of poor attitude estimation precision of the conventional navigation system can be solved; and requirements of high-precision heading attitude calculation and position and speed fusion of the rotary-wing unmanned plane can be met. High-precision filtering of the system is realized. On the basis of the analysis and calculation of the autonomous navigation system, the flight route and height can be corrected and the flight attitude can be adjusted autonomously; and the autonomous flight of the unmanned plane can be realized.

The present invention provides an un-manned airborne vehicle (UAV), for acquiring aeromagnetic data for geophysical surveying at low altitude on land or over water, comprising an extended fuselage that is adapted to hold and maintain magnetometer and a magnetic compensation magnetometer at a minimum distance from the avionics and propulsion systems of the UAV. The magnetometer measures magnetic anomalies and the magnetic compensation magnetometer measures magnetic responses corresponding to the pitch, yaw and roll of the UAV. A data acquisition system stores and removes the magnetic response measurements from the magnetic anomaly measurements. The data acquisition system also stores a survey flight plan and transmits the same to the avionics system. The generator of the UAV is shielded and the propulsion system is stabilized to reduce magnetic and vibrational noises that can interfere with the operation of the magnetometer.

The invention provides an automatic lane line identification method based on low-altitude aerial images. The automatic lane line identification method based on the low-altitude aerial images is applied to the field of intelligent transportation. The automatic lane line identification method based on the low-altitude aerial images comprises the steps that (1) an original image of a road is collected through low-altitude aircrafts, and the situation that the shooting angle of the aerial photography road is in the horizontal direction, and the area of the road is arranged in the middle of the image is ensured; (2) the collected image is converted into a grayscale image, the contrast ratio is improved, the grayscale image is copied, and an edge detection image and a binarization image are obtained according to the grayscale image; (3) connected areas are detected in the edge detection image and the binarization image, and characteristics of the connected areas are recorded; (4) the connected areas are deleted according to the number of pixels of the connected areas, the number of connected boundaries, the size of a bounding rectangle and variance values to obtain a central road line; (5) search is carried out on the two sides of the central road line to find roadside lane lines. The automatic lane line identification method based on the low-altitude aerial images is easy and convenient to calculate, and high in arithmetic speed and reliability, the road portion in an aerial photography video can be effectively extracted, straight roads and curve roads in the aerial images can be detected, and the automatic lane line identification method based on the low-altitude aerial images cannot be disturbed by background changes, and is high in accuracy.

A low altitude slow small target intercept prevention and control system comprises a man-machine interaction module, a data receiving and forwarding module, a data fusion processing module, a prevention and control situation display module, a video display control module, an integrated management module, man-machine interaction equipment and a processing computer, wherein the man-machine interaction module achieves interaction of a command and control system and the man-machine interaction equipment; the data receiving and forwarding module provides data service support for the prevention and control situation display module; the data fusion processing module carries out effective fusion treatment for multi-source information and gets rid of redundant parts; the prevention and control situation display module mainly displays prevention and control situation information of a target; the video display control module provides real-time video display, history video playback and video storage; the integrated management module achieves configuration management of essential data of equipment of the system; the man-machine interaction equipment provides a direct operation interface for operating personnel; and the processing computer is connected to communication equipment through a network data line.

The invention relates to a system and method of actively capturing a low altitude small unmanned aerial vehicle, wherein an unmanned aerial vehicle platform is used for realizing low altitude flight, and is provided with a binocular vision image acquisition unit and an ejection capturing unit. The binocular vision image acquisition unit is used for shooting binocular video image information in a monitoring space; a multi-information collection unit is used for obtaining the inclination angle information, height information and / or geographical position information of the unmanned aerial vehicle platform; an information processing decision unit is used for fusing the binocular vision image information and the inclination angle information, height information and / or geographical position information, and calculating and analyzing air vehicle detection identification, depth information obtaining, air vehicle tracking, and air vehicle capturing commands; the ejection capturing unit captures air vehicles according to the air vehicle capturing commands. The system and method improve the capability of actively capturing invasive small low altitude small unmanned aerial vehicles.

The invention discloses a gravity energy storing system relying on a massif. The gravity energy storing system comprises a high-altitude stacking platform, a low-altitude stacking platform, a plurality of standard weights, electric power increasing and generating devices and a control system. The position between the high-altitude stacking platform and the low-altitude stacking platform is paved with at least two inclined tracks, each inclined track is provided with at least one section of continuous track and each section of continuous track is provided with one set of electric power increasing and generating device. Each set of electric power increasing and generating device comprises a trailer, a cable, a cable winch and an electric generating all-in-one machine, wherein the trailer is arranged on the corresponding continuous track and connected with one end of the cable, the cable winch is installed on the edge of the platform at the end of the corresponding continuous track, and the cable winch is connected with the electric generating all-in-one machine. The control system controls the working conditions of transferring, transporting and stacking equipment and the electric power generating all-in-one machine. The gravity energy storing system is high in efficiency, low in cost, small in occupied space and high in safety coefficient.

The present invention relates to a reduced scale industrial helicopter, with an integrated automatic flight control system, that includes core autopilot functions, GPS management, and full-function navigation systems. The autopilot technology includes rapid launch capability, real-time in-flight switching between one or more of a) remote control, b) autopilot-directed, c) ground station controlled, and d) home modes, and is upgradeable. The helicopter is used for high or low altitude surveillance, and can handle various payloads, including photographic missions. The helicopter may include onboard batteries and / or a unique battery unit disposed beneath the helicopter, and includes autonomous features such as automatic takeoff, automatic landing, safety return to home base, and predetermined mission plans.