Ground slope detection method, device and computer-readable storage medium

Abstract

A ground slope detection method, device and computer-readable storage medium. The method includes: during landing of an aircraft, calculating a unique plane of at least three downward-looking distance detection points in a body coordinate system of the aircraft according to three-dimensional attitude data of the aircraft and distance data of at least three downward-looking rangefinders provided on the aircraft; calculating a rotation matrix of the body coordinate system to a geodetic coordinate system by the three-dimensional attitude data, and calculating a first unit normal vector of the unique plane in the geodetic coordinate system according to the rotation matrix; and calculating an 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 generating a warning signal of excessive ground slope when the included angle is greater than or equal to a preset threshold.

Dependencies are inferred from the claim text.