CN100451544C - Method for measuring aircraft attitude parameters based on video images - Google Patents
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- CN100451544C CN100451544C CNB2004100034466A CN200410003446A CN100451544C CN 100451544 C CN100451544 C CN 100451544C CN B2004100034466 A CNB2004100034466 A CN B2004100034466A CN 200410003446 A CN200410003446 A CN 200410003446A CN 100451544 C CN100451544 C CN 100451544C
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Abstract
The present invention discloses a method for measuring aircraft attitude parameters on the basis of video images, which comprises the steps: 1) a shooting device is arranged on an aircraft; 2) when the aircraft flies, the shooting device shoots a target image which comprises a preset object; 3) the position information of the object in the target image is extracted; 4) the pitch angle and/or the roll angle of the aircraft is calculated according to the position information. The method of the present invention using video images to obtain flight parameters can effectively reduce the weight and the volume of loads without an additional sensor, and the obtained flight parameters are favorable for the aircraft to automatically control flight.
Description
Technical field
The present invention relates to the aircraft field, more particularly, the present invention relates to utilize the image of taking photo by plane to extract the algorithm of minute vehicle flight attitude.
Background technology
The autonomous flight of minute vehicle (MAV) is to improve an important factors of minute vehicle performance and task scope.Therefore, the research to minute vehicle flight control method is the important step of minute vehicle research.When being carried out flight control, minute vehicle need obtain its flight parameter, for example the attitude angle of aircraft and height etc.
The angle of pitch and roll angle are two important parameters determining the aircraft flight attitude, provide two important indicators to flight control system, directly influence the flight condition of aircraft.If these two parameters can not well obtain, the smooth flight of aircraft can't realize.Existing aircraft obtains flight attitude with being installed in carry-on sensor usually, because minute vehicle all has certain restriction to weight, volume, the power consumption of load, being equipped with sensor aboard certainly will will increase the load of aircraft, and it is not the best way that the method for therefore utilizing sensor to obtain flight attitude is come institute to minute vehicle.Provide flight control needed attitude parameter so need to seek more simple and effective approach
The vital task of MAV is scouted exactly, so camera system is its indispensable load.Video image information is abundant, and extracting useful flight information from video information is a very promising job.Therefore just need a kind of method and can utilize the angle of pitch and the roll angle of the Image Acquisition aircraft that MAV takes photo by plane.
Summary of the invention
The object of the present invention is to provide a kind of measuring method of aircraft flight attitude, this method is applicable to minute vehicle; The present invention also aims to provide a kind of measuring method of aircraft flight attitude, this method utilizes the video image of taking photo by plane of aircraft to extract the angle of pitch and the roll angle of aircraft.
To achieve these goals, the invention provides a kind of method, comprise step based on video image measurement attitude of flight vehicle parameter:
1) camera head is set on described aircraft;
2) when aircraft flight, described camera head is taken a target image, comprises a predefined object in this target image;
3) extract the positional information of described object on described target image; Described positional information comprises the angle of object on target image and the position of vertical direction
4) according to the angle of pitch and/or the roll angle of described positional information calculation aircraft;
5) demarcate described aircraft described object position on described target image when horizontal flight in advance, this position is called zero position.
The method of calculating described roll angle is: calculate described object relative deflection angle with respect to zero position on described target image according to object at the deflection angle on the target image, according to the roll angle of this relative deflection angle calculating aircraft.
The method of calculating the described angle of pitch is: according to object in the described object of the position calculation of vertical direction on target image vertical translation amount with respect to zero position on described target image, according to the angle of pitch of this vertical translation amount calculating aircraft.
Described object is the local horizon, and described positional information is the positional information of local horizon on described target image.Described horizontal positional information is obtained by computer measurement.The method of described computer measurement local horizon positional information comprises:
A) described target image is imported described computing machine;
B) computing machine carries out pre-service to described target image, to appear the local horizon in the image suddenly; Described pre-service comprises that the edge strengthens and binary conversion treatment; Described edge enhancement process is with Gauss's Laplace operator target image to be handled, and described binary conversion treatment is to determine that with global threshold method handles target image.
C) set up axis of projection, the pixel value of described each pixel of target image is carried out projection on axis of projection;
D) change axis of projection direction and repeat step c);
F) when the projection value of the primary importance of target image on axis of projection reaches maximal value, on the target image horizontal direction with this moment axis of projection direction vertical, and local horizon or its extended line are through the primary importance on the described axis of projection;
G) according to the direction of axis of projection in the step f) and primary importance in direction and the position of the coordinate Calculation local horizon on the axis of projection on target image.
The method that the present invention utilizes video image to obtain flight parameter does not need extra sensor, can effectively reduce the weight and volume of load, and the flight parameter that passes through to be obtained helps aircraft and carries out Autonomous Control flight.
Description of drawings
Fig. 1 is the schematic diagram that the present invention measures the attitude of flight vehicle parametric technique;
Fig. 2 is that the present invention measures the schematic diagram of measuring the aircraft angle of pitch in the attitude of flight vehicle parametric technique;
Fig. 3 is that the present invention measures the horizontal schematic diagram of extraction in the attitude of flight vehicle parametric technique;
Fig. 4 is an embodiment of the extraction local horizon method of Fig. 3.
Embodiment
Below in conjunction with the drawings and specific embodiments the present invention is described in further detail.
The method of measurement aircraft flight attitude of the present invention is to obtain according to the image that aircraft is taken in flight course.In the image of this shooting, comprise the object that the user selects in advance, therefore also this image is called target image.When aircraft in flight course pitching or roll took place, the position of this object in target image will change.The change information of object position in image has directly reflected the angle of pitch and the roll angle in the aircraft flight process.
In the present invention, choosing of object is a committed step.Choosing of this object be easy to measure its change in location in target image.And, in measuring process of the present invention, care be the variation of object position in target image, so the choosing in the time of being easy to determine the aircraft horizontal flight of this object, be the angle of pitch and roll angle when being zero, the position of this object in target image.In actual applications, optional object has multiple, for example buildings, mountain range or the river etc. that significantly exist in the aircraft flight zone.In the present invention, object is preferably the local horizon.In the following description as can be seen, the local horizon there is special advantage as object.
Local horizon definition is the circumference of the gauge of the formation earth surface part a bit seen from ground.Look to horizontal direction, the place that intersect in the world is exactly the local horizon.For piece image, the local horizon shows as a directive straight line, and it separates sky in the image and ground scenery.Therefore, the local horizon is with image straight line divided into two parts in theory.Horizontal these characteristics are particularly conducive to extracts its positional information in image, thereby helps the measurement of the aircraft angle of pitch of the present invention and roll angle.
For the aircraft that guarantees to be equipped with camera can photograph the local horizon in the major part flight period, preferably with camera head in other words camera be fixed on the position of aircraft head before oblique.
As previously mentioned, when the angle of pitch of measuring aircraft and roll angle, what be concerned about is horizontal change in location, the position of local horizon in target image that photographs in the time of therefore need demarcating the aircraft horizontal flight in advance, and this position can be described as zero position.This can regulate by the angle of adjusting camera.For example in Fig. 1, can adjust camera and make horizontal zero position be positioned at a horizontal linear of target image 1 centre, in Fig. 1, represent the zero position local horizon with label 2.
In Fig. 1, a local horizon that photographs when representing aircraft flight with label 3, change in location has taken place with respect to zero position local horizon 2 in local horizon 3, illustrates that pitching or rolling have taken place aircraft.In Fig. 1, reference line 4 is straight lines parallel with local horizon 3, introduces in order to be illustrated more clearly in the present invention.Overlap with reference line 4 after the 2 rotation θ angles of zero position local horizon, upwards can overlap with local horizon 3 behind the translation d again.
The local horizon is actually a circular arc line, but because earth radius is very big for people's sight line, so the local horizon seen of people straight line normally, and the roll angle Φ of aircraft is meant that aircraft is the rotation of axle with the horizontal line in flight course.The local horizon is the straight line on the horizontal direction, and when camera during with horizontal rotational shaft, the performance of local horizon in target image is to its opposite spin, and the angle that horizontal direction is departed from the local horizon is consistent with roll angle Φ, i.e. Φ=θ.In Fig. 1, the local horizon 3 in the target image 1 illustrates then that with respect to the zero position local horizon 2 θ angle that turned clockwise aircraft has been rotated counterclockwise the θ angle.
The aircraft angle of pitch changes, and corresponding camera lens will have the rotation of an angle with respect to ground.This rotatablely moves and makes the position of local horizon on target image that the position change of vertical direction can take place.Camera rotation angle and the local horizon relation between the change in location in target image can be represented with Fig. 2.
In Fig. 2, when the aircraft horizontal flight, because local horizon 5 can be approximated to be the dead ahead of infinite distance apart from the position of the imaging len 6 of camera, this moment, local horizon 5 was in the primary importance 8 places imaging of the focussing plane 7 of imaging len 6, primary importance 8 also just corresponding the zero position local horizon 2 among Fig. 1.When aircraft is upwards steeved the ψ angle, the imaging len 6 ψ angle of also thereupon steeving, local horizon 5 moves downward to the local horizon 5 ' with respect to imaging len 6 and locates, and imaging is located in the second place 8 ' of focussing plane 7 in local horizon 5 '.As can be seen from Figure 2, when aircraft is upwards steeved the ψ angle, horizontal image space has made progress translation d, this point in Fig. 1 also as can be seen.The pass of vertical angle ψ and d is:
ψ＝arctg(d/f)
Wherein, f is the focal length of imaging len 6.
Therefore in Fig. 1, can determine the value of aircraft ψ according to the size of d, and base area horizontal line 3 is translations up or down with respect to zero position local horizon 2, and determines that aircraft faces upward or nutation.
According to said method, can successfully extract (comprising anglec of rotation θ and translation distance d) the roll angle Φ and the angle of pitch ψ of aircraft with respect to the position in zero position local horizon 2 according to local horizon among Fig. 13.
When practical application, the image that camera is taken is beamed back land station by carry-on wireless transmitting system, and land station receives picture signal, and it is carried out decoding processing, obtain comprising horizontal target image, and the method according to this invention is extracted the flight attitude angle of aircraft.
During local horizon positional information in extracting target image, preferably data image signal is inputed to computing machine as raw data, extract local horizon positional information in the image by the image processing software in the computing machine.Can improve speed significantly like this.
In the present invention, when object is the local horizon, the invention provides a kind of preferred local horizon positional information extracting method measuring method in other words.This method is utilized data image signal, by edge enhancing, image binaryzation and orientation projection's scheduling algorithm, seeks the position and the direction at place, local horizon.This method specifically comprises the steps:
A) image input.
The image that camera is taken is beamed back land station by carry-on wireless transmitting system, land station receives picture signal, and it is carried out decoding processing, and obtain comprising horizontal target image data image signal, this data image signal is inputed to computing machine as raw data.
B) image pre-service.
Before image being carried out projection calculating, extracting horizontal position and direction, carry out simple, necessary pre-service to image, at utmost strengthen image, appear the local horizon information in the image suddenly.The local horizon information spinner here will be meant horizontal pixel value.
In order to make algorithm as far as possible simply to improve the real-time of algorithm, guarantee the actual effect of extracting parameter, the image pre-service only comprises that simple edge strengthens and binary conversion treatment.
The edge strengthens edge and the profile that can give prominence to scenery in the image, is convenient to computings such as later projection and feature extraction.The edge strengthens operator commonly used gradient operator, Robot operator, Laplace operator etc.This method is selected for use and is not had linear operator Gauss Laplce (LOG) operator that spatial directivity has rotational invariance simultaneously image is handled, and strengthens the line information of image.
When carrying out image binaryzation,, select for use global threshold to determine method according to requirement to quality of image processing and speed---big Tianjin method, this method are putting forward by big Tianjin exhibition of Japan in 1980.Image histogram is divided into two groups with a certain gray-scale value K, when the variance between divided two groups is maximum, the threshold value that this gray-scale value is just handled as image binaryzation.
The threshold value that utilization calculates is carried out binary conversion treatment to video image
Wherein (i j) is pixel (i, gray-scale value j) to G.
Under normal conditions, the local horizon up and down scene contrast on both sides is bigger, carry out above-mentioned binary conversion treatment after, in target image, the above sky part in local horizon is white basically, and the following part in local horizon is black basically.
C) orientation projection, Fig. 3 are orientation projection's calculating principle.
As shown in Figure 3, define two plane coordinate systems: image coordinate system (OXY) and projected coordinate system (OP), the O point is the true origin of target image coordinate system and projected coordinate system.OX, OY are two coordinate axis of image coordinate system, and positive dirction is shown in arrow among the figure.OP is the coordinate axis axis of projection in other words of projected coordinate system, and the OP direction is being for just, and OP is perpendicular to selected projecting direction, this projecting direction in Fig. 3 as shown by arrow C.
The pixel value of each pixel of target image is carried out projection on axis of projection, said here projection just is meant: based on a point on the axis of projection, add up as for axis of projection and the pixel value by the pixel on the target image on the straight line of this point hanging down.For example in Fig. 3, L
1L
2Be the straight line of hanging down as for axis of projection OP, and the L by axis of projection
0Point, L
0Straight line L just
1L
2Projected position on the OP axle will be positioned at L on the target image
1And L
2Between line segment L in other words
1L
2On the pixel value of pixel add up the back as target image at L
0The projection of point.
In Fig. 3, A point on the axis of projection OP and B point are two borders of target image on axis of projection, obviously, when doing projection calculating, only need carry out within two borders.
Position and L when the local horizon in target image
1L
2During coincidence, as previously mentioned, L
1L
2The top should be the imaging of sky, is essentially white after binary conversion treatment; L
1L
2The below should be the imaging on ground, is essentially black after binary conversion treatment, uses the region representation of band shade in Fig. 3.
As shown in Figure 3, when axis of projection OP was in certain orientation, when for example the angle of axis of projection OP as shown in Figure 3 and OX axle was θ, as can be seen, on axis of projection OP during projection, the local horizon was (with L with target image
1L
2Coincidence) projected position is L
0, and at L
0The projection value maximum of position.
From foregoing description as can be known, axis of projection OP is in different directions or is in different angle theta,, can on axis of projection OP, obtain different projection values then with target image projection on axis of projection.And when axis of projection is vertical with the local horizon on the target image, the projection of local horizon on axis of projection will obtain maximal value.Therefore, when practical operation, axis of projection OP can be placed different directions and carry out aforesaid projection calculating, horizontal direction and position are determined in the direction and the position of this maximal value on axis of projection of axis of projection during according to the projection value maximum.
For example in Fig. 3, when axis of projection is positioned at angle theta, the L on axis of projection
0Point obtains the maximal value of projection value, then can calculate local horizon on the target image (with L according to angle theta
1L
2Overlap) with respect to the angle Φ of horizontal direction, then according to L
0Coordinate n on axis of projection OP can calculate the position of local horizon in image.
Fig. 4 is the statistics of piece image pixel projection when axis of projection OP is a certain direction, and as can be seen from the figure, projection value is at n
0Peak value appears in point, illustrate vertical as for axis of projection direction and pass through n
0Contain the non-vanishing point of maximum pixel values on the straight line of point.That is to say that this straight line most possibly is the local horizon that will seek.
Claims (6)
1, a kind of method based on video image measurement attitude of flight vehicle parameter comprises step:
1) camera head is set on described aircraft;
2) during aircraft flight, described camera head is taken a target image, and this target image comprises a predefined object, and this object is the local horizon;
Demarcate the position of local horizon on described target image that described aircraft photographs when horizontal flight in advance, this position is called zero position; Make this local horizon zero position be positioned at a middle horizontal linear of target image by the camera angle of adjusting camera head;
3) extract the positional information of described object on described target image, described positional information is the position of object vertical direction on target image at deflection angle on the target image and object;
4) calculate described object relative deflection angle with respect to zero position on described target image according to object at the deflection angle on the target image, according to the roll angle of this relative deflection angle calculating aircraft;
According to object in the described object of the position calculation of vertical direction on target image vertical translation amount with respect to zero position on described target image, according to the angle of pitch of this vertical translation amount calculating aircraft.
2, the method based on video image measurement attitude of flight vehicle parameter according to claim 1 is characterized in that described horizontal positional information is obtained by computer measurement.
3, the method based on video image measurement attitude of flight vehicle parameter according to claim 2 is characterized in that the method for described computer measurement local horizon positional information comprises:
A) described target image is imported described computing machine;
B) computing machine carries out pre-service to described target image, to appear the local horizon in the image suddenly;
C) set up axis of projection, the pixel value of described each pixel of target image is carried out projection on axis of projection;
D) change axis of projection direction and repeat step c);
E) when the projection value of the primary importance of target image on axis of projection reaches maximal value, on the target image horizontal direction with this moment axis of projection direction vertical, and local horizon or its extended line are through the primary importance on the described axis of projection;
F) according to the direction of axis of projection in the step e) and primary importance in direction and the position of the coordinate Calculation local horizon on the axis of projection on target image.
4, the method based on video image measurement attitude of flight vehicle parameter according to claim 3 is characterized in that the pre-service in the step b) comprises that the edge strengthens and binary conversion treatment.
5, the method based on video image measurement attitude of flight vehicle parameter according to claim 4 is characterized in that it is with Gauss's Laplace operator target image to be handled that described edge strengthens.
6, according to claim 4ly measure the method for attitude of flight vehicle parameter based on video image, it is characterized in that, described binary conversion treatment is to determine that with global threshold method handles target image.
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| CN103253286A (en) * | 2013-05-31 | 2013-08-21 | 株洲时代电子技术有限公司 | Rail parameter measuring method |
| CN103264711A (en) * | 2013-05-31 | 2013-08-28 | 株洲时代电子技术有限公司 | Rail parameter measuring system |
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