Patent ID: 11912436
Assignee: YANSHAN UNIVERSITY
Field: Control (Instruments)
Classification: CPC B  G | IPC B  G

Claim 1:
2. The method of operating the fully automated towing, alignment and hangar system suitable for the offshore operation helicopter according to claim 1, wherein the step S2 specifically comprises following steps:
S21. calculating the deflection angle θ of a body of the helicopter relative to a central axis of the wide-angle camera based on a position of the contour pixel matrix of the steering wheel in a whole image;
S22. acquiring a vertical offset distance h of the helicopter steering wheel in a longitudinal direction based on the contour pixel matrix of the steering wheel;, h
     =
     
      
       L
       4
      
      (
      
       1
       -
       
        
         
          
           m
           2
          
          ×
          
           n
           2
          
         
         
          
           m
           1
          
          ×
          
           n
           1
          
         
        
        ⁢
        
         L
         4
        
       
      
      )
     
    
   
   
    
     (
     1
     )
    
   
  
 

Wherein L4 represents a vertical distance between a rear wall of the quick mooring device and a central axis of the steering wheel when the helicopter yaw angle is 0°; m1, n1 respectively represent horizontal and vertical pixel numbers of the contour pixel matrix occupied by the steering wheel in an attitude image when the helicopter yaw angle is 0°; m2,n2 respectively represent the horizontal and vertical pixel numbers of the contour pixel matrix occupied by the steering wheel in the attitude image when the helicopter is in a yaw state;
S23. calculating the helicopter yaw angle φ:, ϕ
     =
     
      arc
      ⁢
      
       sin
       ⁡
       (
       
        
         
          tan
          ⁢
          
           θ
           ⁡
           (
           
            
             L
             4
            
            -
            h
           
           )
          
         
         -
         
          x
          1
         
        
        
         L
         3
        
       
       )
      
     
    
   
   
    
     (
     2
     )
    
   
  
 

wherein x1 represents a position indicating deviation of an origin of the helicopter coordinate system relative to a center of the quick mooring device, which is obtained by a position signal of a mechanical claw of the quick mooring device; and L3 represents a vertical distance between the central axis of the steering wheel and the helicopter mooring bar.