Title:
GROUND SLOPE MEASUREMENT METHOD AND DEVICE, AND COMPUTER-READABLE STORAGE MEDIUM
Document Type and Number:
WIPO Patent Application WO/2024/021820
Kind Code:
A1
Abstract:
A ground slope measurement method and device, and a computer-readable storage medium. The method comprises: during a landing process of an aircraft, according to three-dimensional attitude data of the aircraft and distance data from at least three look-down range finders provided on the aircraft, performing calculation to obtain the unique plane of at least three look-down range-finding points in a body coordinate system of the aircraft (S1); performing calculation by means of the three-dimensional attitude data, so as to obtain a rotation matrix from the body coordinate system to a geodetic coordinate system, and calculating, according to the rotation matrix, a first unit normal vector of the unique plane in the geodetic coordinate system (S2); and calculating the included angle between a second unit normal vector of a geodetic horizontal plane in the geodetic coordinate system and the first unit normal vector, and when the included angle is greater than or equal to a preset threshold, generating a warning signal indicating that a ground slope is excessively large (S3). The method reduces the system hardware costs for slope measurement and the difficulty in maintenance and usage regarding slope measurement, thereby effectively guaranteeing the safe landing of an aircraft.
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Inventors:
HU HUAZHI (CN)
CHENG ZIXIAO (CN)
SHI CHUAN (CN)
CHENG ZIXIAO (CN)
SHI CHUAN (CN)
Application Number:
PCT/CN2023/096369
Publication Date:
February 01, 2024
Filing Date:
May 25, 2023
Export Citation:
Assignee:
EHANG INTELLIGENT EQUIPMENT GUANGZHOU CO LTD (CN)
International Classes:
G05D1/10
Foreign References:
| CN115167512A | 2022-10-11 | |||
| KR20170120500A | 2017-10-31 | |||
| CN110222612A | 2019-09-10 | |||
| CN105953773A | 2016-09-21 | |||
| CN104843192A | 2015-08-19 | |||
| CN107505625A | 2017-12-22 | |||
| CN110832274A | 2020-02-21 |
Attorney, Agent or Firm:
SHENZHEN XIECHENG INTELLECTUAL PROPERTY AGENCY (GENERAL PARTNERSHIP) (CN)
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