CN108594848A - A kind of unmanned plane of view-based access control model information fusion autonomous ship method stage by stage - Google Patents
A kind of unmanned plane of view-based access control model information fusion autonomous ship method stage by stage Download PDFInfo
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Abstract
The present invention relates to a kind of unmanned plane of view-based access control model information fusion autonomous ship methods stage by stage, include the following steps：1) terrestrial reference makes：It using respective objects landing point on unmanned boat as terrestrial reference, is put on ground and posts AprilTags labels, and adjust the angle of unmanned plane camera；2) image procossing：According to the image information that the parameter information of camera and camera capture, the relative pose X between video camera and terrestrial reference is obtained when finding terrestrial referencect；3) information merges：By the relative pose X between video camera and terrestrial referencectAfter being merged into row information with the measurement data of IMU, real-time relative pose X of the unmanned boat under unmanned plane referential is obtainedvs；4) motion control：According to real-time relative pose XvsFlight stability and path trace are ensured using nested control mode, at the same using stage by stage ship method carry out ship.Compared with prior art, the present invention have many advantages, such as in real time effectively, avoid lagging, stablize it is safe.
Description
Technical field
The present invention relates to the marine robotic technology field of intelligence, more particularly, to a kind of fusion of view-based access control model information nobody
Machine autonomous ship method stage by stage.
Background technology
With the development of science and technology unmanned systems are more and more extensive in the application of the professional domains such as agricultural, electric power, ocean.Nothing
Man-machine (Unmanned Aerial Vehicle, UAV) in recent years, development speed and is answered as " favorite " in unmanned systems
It is constantly promoted with field.
In marine field, it is stronger that cruising ability is limited but search range is wide unmanned plane is usually provided at cruising ability
But on the smaller unmanned boat in search range, the machine ship collaboration for forming mutual supplement with each other's advantages is formed into columns, for completing rescue at sea, environment prison
The tasks such as survey, battle reconnaissance, core technology are Shipborne UAV autonomous navigation technologies.
Take off, hover and ship be Shipborne UAV autonomous navigation technology three basic problems.Wherein, unmanned plane is autonomous
The problem that ship is most challenging.During ship, unmanned plane will face landing platform that is mobile and swinging, carry out effective
Terrestrial reference identification and accurate Pose Control.At present in the world unmanned plane it is autonomous the research of ship technical aspect it is also seldom, mainly
Challenge be embodied in two aspect：
First, unmanned plane it is autonomous the navigation accuracy of ship.The GPS of small drone often only has meter accuracy, Wu Faman
Foot ship task required precision；INS/GPS integrated navigation systems can only position unmanned plane itself pose, lack unmanned plane and ship
The relative pose of platform.Although many documents are proposed at present carries out assisting navigation, their figure using computer vision
Picture processing procedure operand is larger, and general airborne computer operational capability is limited, and the pose provided by vision guided navigation is often fallen
Afterwards in real-time pose.Therefore, the real-time and validity that posture information how is ensured while improving navigation accuracy, become nothing
A problem of urgent need to resolve during man-machine autonomous ship.
Second, unmanned plane the safety of ship latter end.During ship, some documents directly use the central point of terrestrial reference
It is controlled as with reference to position signal.However be easy that camera is made to lose the target visual field over the ground in this way, especially on unmanned boat,
Landmark locations are not fixed.Further, since the wing effect (moving object ground proximity run when, ground in face of object generation
Air force interference), unmanned plane is difficult to keep stable when close to unmanned boat landing platform so that the above method application when
Success rate is not high, unmanned plane ship latter end safety have it is to be hoisted.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of view-based access control model information
The unmanned plane of fusion autonomous ship method stage by stage.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of unmanned plane of view-based access control model information fusion autonomous ship method stage by stage, includes the following steps：
1) terrestrial reference makes：Using respective objects landing point on unmanned boat as terrestrial reference, is put on ground and post AprilTags marks
Label, and the angle of unmanned plane camera is adjusted, ensure that unmanned plane can detect terrestrial reference when close to terrestrial reference；
2) image procossing：The image information captured according to the parameter information of camera and camera is calculated in unmanned plane machine
The parameter for carrying the AprilTags visional reference systems configured in computer is obtained when finding terrestrial reference between video camera and terrestrial reference
Relative pose Xct；
3) information merges：By the relative pose X between video camera and terrestrial referencectAfter being merged into row information with the measurement data of IMU,
Obtain real-time relative pose X of the unmanned boat under unmanned plane referentialvs；
4) motion control：According to real-time relative pose XvsUsing nested control mode ensure flight stability and path with
Track, at the same using stage by stage ship method carry out ship.
The parameter of AprilTags visional references system includes the coke in wide direction as unit of pixel in the step 2)
Away from Fw, focal length F on high direction as unit of pixelh, the center (C of imagew,Ch), calculation formula is：
Wherein, F and C is respectively the focal length on different directions and position, LfocusAnd LreceptorRespectively focal length and photosensitive member
Part size, NpixelFor pixel quantity, the parameter of width direction and short transverse is calculated respectively using this formula.
The step 3) specifically includes following steps：
31) system state estimation, including two stages, first stage are the terrestrial reference stage that is not detected, and second stage is inspection
After measuring terrestrial reference；
When terrestrial reference is not detected, system mode is the posture information X that IMU is providedv, i.e. X=[Xv], to the system mode
Estimated then have：
Wherein,For kth step system state estimation value,For the system state estimation value of -1 step of kth, Fk-1
For the Kalman filtering parameter in terrestrial reference stage is not detected, forecasting system future state is gone using at the uniform velocity model here, i.e., Meet
Δ t is sampling interval, wk-1For white Gaussian noise；
Since detecting terrestrial reference for the first time, unmanned boat state X is added in system modes, i.e. X=[Xv Xs], and update
Kalman filtering parameter Fk-1, then have：
Wherein,For with the relevant Kalman filtering parameter of unmanned plane,For with the relevant Kalman filtering of unmanned boat
Parameter only considers the movement of unmanned boat in the horizontal plane here, same using at the uniform velocity model, has
32) observed result of IMU and camera are obtained, wherein the observed result h of IMUIMUFor：
Wherein, zlvFor height, φlv,θlv,ψlvRespectively around x, the rotation angle of tri- direction of motion of y, z, ulvAnd vlvPoint
Not Wei forward speed and side velocity, correspond to Jacobian matrix HsIMUFor：
The observed result h of the cameratag(XKF) be：
Wherein, XvcFor the pose of camera under unmanned plane referential, XstFor the pose marked under unmanned boat referential, Xlv
Pose for the unmanned plane estimated, XlsPose for the unmanned boat estimated,WithFor coordinate conversion operation；
It corresponds to Jacobian matrix HstagFor：
33) Kalman filtering is extended to observed result, obtains real-time system mode.
The step 3) is further comprising the steps of：
34) by the history pose of unmanned plane and unmanned boat, system mode is changed in delay, obtains people's ship in nothing
Real-time relative pose X under man-machine referentialvs。
In the step 4), nested control mode is specially：
Controlled using 6 independent closed loop PID controllers, wherein inner ring gesture stability for ensureing flight stability,
Outer ring position control is used for path trace.
In the step 4), stage by stage ship method specifically include following steps：
41) terrestrial reference is found：When finding terrestrial reference for the first time, system mode is initialized, and unmanned plane is made to track the terrestrial reference；
42) the descending at slow speed stage：It guides at unmanned plane to the center of terrestrial reference, keeps it in centered on terrestrial reference, radius
For rloop, it is highly hloopCylindrical space in, and find using Δ z as step-length next track points vertically downward and decline, when losing
When the visual field is marked in lost territory, then Δ z-height is promoted, until rediscovering the terrestrial reference.
43) enter the rapid decrease stage：First height threshold h is setland, when the height of unmanned plane is less than hlandWhen, then recognize
To be not necessarily to decline, directly prepare to land, if in continuous N frames, which meets rapid decrease all in the visual field of camera
When condition, then it is assumed that can enter the rapid decrease stage, directly using 0 as z-axis reference signal；
44) landing period：Second height threshold h is setmin, when unmanned plane height is less than the second height threshold hminWhen, then
Propeller is closed, makes unmanned plane freely falling body and completes to land.
Rapid decrease condition in the step 43) is：
z-hland≤hloop
||(x,y)||2≤rloop
Wherein, z is height of the unmanned plane relative to unmanned boat, | | (x, y) | |2For unmanned plane and unmanned boat it is horizontal away from
From.
In the step 44),
If unmanned plane is higher than the second height threshold hminWhen, camera loses the target visual field over the ground, no matter at a slow speed
Decline stage or rapid decrease stage, then unmanned plane is drawn high, until rediscovering terrestrial reference.
Compared with prior art, the present invention has the following advantages：
One, in real time effectively：In terrestrial reference identification and image processing process, the ripe AprilTags to increase income is used, can be dropped
Low technical threshold；Computational complexity is simplified, equipment cost is reduced under the premise of ensureing precision using monocular cam.
Two, it avoids lagging：The relative pose that video camera obtains is merged into row information to improve essence with the pose that IMU is obtained
Degree；Lag issues when avoiding image procossing by increasing historic state.
Three, stablize safety：By unmanned plane ship nesting control program and stage by stage safety ship method be combined, can keep away
Exempt from unmanned plane camera during ship and lose the target visual field over the ground, while can guarantee unmanned plane flat close to unmanned boat landing
Stability when platform and safety.
Description of the drawings
Fig. 1 is that unmanned plane ship nesting control program block diagram in the present invention.
Fig. 2 be the present invention in unmanned plane stage by stage safety ship method flow diagram.
Fig. 3 be in the present invention unmanned plane it is autonomous ship method schematic.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
Specific implementation description is made to technical scheme of the present invention below in conjunction with attached drawing 3.
For convenience of description, following notation convention is first done：
XijRefer to pose of the j referentials under i referentials, pose here is defined as 6 dimensional vectors [x y z φ
θ ψ]T, wherein (x, y, z) is the position coordinates in referential, (φ, θ, ψ) is around the angle that x-axis, y-axis, z-axis rotate respectively
Degree, referred to as roll angle, pitch angle and yaw angle.The referential used has：Unmanned plane referential { v }, local referential { l }, nothing
People's ship referential { s }, video camera referential { c }, terrestrial reference referential { t }.The basic symbol of some referentials transformation is defined simultaneously：
If i, j, k represent three referentials, symbolIt indicates the cumulative of transformation, meetsSymbolIt indicates's
Inverse operation meetsIn the method as proposed in the present invention, it calculates and passes through software in the airborne computer of unmanned plane
It realizes, unmanned plane configures an Inertial Measurement Unit to obtain real-time posture information, and a camera is to acquire environmental information.
By quadrotor drone land for electricity drives on unmanned boat, the implementation procedure of this method includes following 4 specific implementation steps.
Step 1：Terrestrial reference makes.The label in AprilTags is printed, the respective objects landing point being posted on unmanned boat is made
For terrestrial reference.The angle adjustment of unmanned plane camera is forward and slightly downward, ensure that unmanned plane can detect when close to terrestrial reference
Terrestrial reference.
Step 2：Image procossing.AprilTags visional reference systems are configured in the airborne computer of unmanned plane.Using taking the photograph
As the image information that the parameter information and camera of head capture, 4 important parameters are calculated, i.e.,：It is with pixel on wide, high direction
The focal length F of unitwAnd Fh, the center (C of imagew,Ch).Calculation formula is as follows：
Wherein, LfocusAnd LreceptorIt is focal length and photosensitive element size respectively, in millimeters.NpixelIt is pixel number
Amount.The parameter of width direction and short transverse is calculated respectively using this formula.
The parameter calculated is transmitted to AprilTags visional reference systems, just can be returned when finding terrestrial reference video camera and
Relative pose X between labelct。
Step 3：Information merges.By the relative pose X between camera and terrestrial referencectMelt into row information with the measurement data of IMU
It closes, obtains the real-time pose X of unmanned plane and unmanned boatlvAnd XlsAnd relative pose Xvs.The process is divided into following 4 sub-steps
Suddenly：
(1) system state estimation.Here information fusion is divided into two stages, and the first stage is that terrestrial reference rank is not detected
Section, second stage are after detecting terrestrial reference.
The terrestrial reference stage is not detected, system mode is taken as the posture information X of IMU offersv=[XlvVvWv].Wherein, VvIt is x,
The speed in the direction y, z, and WvIt is around x, y, the angular speed in the directions z.The system mode is estimated as follows：
Wherein, wk-1It is white Gaussian noise, here using at the uniform velocity model come forecasting system state, i.e.,
With following form：
Δ t is the sampling interval.
Since detecting terrestrial reference for the first time, unmanned boat state, i.e. X=[X are added in system modev Xs], Xv=[Xlv
Vv Wv], Xs=[Xls Vs Ws], then, Fk-1With following form：
Here only consider the movement of unmanned boat in the horizontal plane, it is same using at the uniform velocity model, have
(2) sensor observed result is obtained.The observation model of IMU and camera is all represented by
Z [k]=h (X)+v [k].
Wherein, v [k]~N (0, R [k]) is observation noise.H (X) indicates the function of state X.
IMU is to height, posture and velocity information that the observed result of unmanned plane is unmanned plane, i.e.,：
Wherein, zlvIt is height, φlv,θlv,ψlvIt is around x, y, the rotation angle of tri- directions of motion of z respectively.ulvAnd vlvPoint
It is not forward speed and side velocity.It corresponds to Jacobian matrixes
The observed result of i-th of terrestrial reference of camera pair is
Wherein, htag(XKF) be camera observed result, XvcFor the pose of camera under unmanned plane referential, XstFor nothing
The pose marked under people's ship referential,WithFor coordinate conversion operation.
It is corresponding with
(3) Extended Kalman filter.Above-mentioned Nonlinear Filtering Problem is solved using Extended Kalman filter, due to quantity of state
Meet normal distribution XKF~N (μ, ∑), wherein covariance matrix ∑ is expressed as
Extended Kalman filter is updated according to following formula：
By Extended Kalman filter, we can obtain the real-time status X=[X of systemv Xs]。
(4) state hysteresis is solved the problems, such as.Since image calculating is more complex, at the k moment, AprilTag can only often provide k-
The result of calculation at n moment, then Extended Kalman filter to the state estimation at k+1 moment is obtained according to the state at k-n moment
, it is inaccurate.We solve the problems, such as this by recording the history pose of unmanned plane and unmanned boat.To be in the case of delay
System state estimator is revised as
Wherein, n is the number of delaying state.Then the iterative calculation formula of system state estimation is
Correspondingly, the Jacobian matrixes of IMU sensor models are modified to
Since the observed result in previous step is carried out to delaying state, for j-th of delaying state X [j], will take the photograph
As the observation model of head is modified to
Just state X after augmentation can be updated after above-mentioned amendment with Extended Kalman filterDS.The observation each postponed is extended
After Kalman filtering update, is just ignored and remove state vector.Therefore, as long as filtering algorithm extra storage is a bit of goes through for this
History state.
After solving the problems, such as that state hysteresis obtains filtered system status information, using unmanned plane and unmanned boat in local ginseng
Examine the pose X under beinglvAnd XlsRelative pose X can be found outvs.Circular is
Step 4：Motion control.Motion control is carried out to unmanned plane using the relative pose after fusion.It is controlled using nesting
Scheme is controlled using 6 independent closed loop PID controllers, and wherein inner ring gesture stability is for ensureing flight stability, outer shroud
Position control is used for path trace.Simultaneously using the ship method of safety stage by stage.This method is divided into following 4 sub-steps：
(1) when finding terrestrial reference for the first time, system mode is initialized, and unmanned plane is allowed to track this terrestrial reference.
(2) unmanned plane is routed to ground target center, be then maintained at centered on terrestrial reference, radius rloop, highly it is
hloopCylinder in, and find using Δ z as step-length next track points vertically downward and decline.Once being lost regarding for terrestrial reference
Open country just up promotes Δ z, and until rediscovering terrestrial reference, which is known as the descending at slow speed stage.
(3) a smaller height h is setlandIf height is less than hland, it is considered as, without declining, being directly preparing to
Land.If terrestrial reference is all in camera view in continuous N frames, and meets
z-hland≤hloop,
||(x,y)||2≤rloop,
Then think can enter the rapid decrease stage, directly using 0 as z-axis reference signal.
Wherein, z is height of the unmanned plane relative to unmanned boat, | | (x, y) | |2For unmanned plane and unmanned boat it is horizontal away from
From.
(4) when dropping to certain altitude, camera None- identified terrestrial reference when due to short distance also can not just position.Therefore,
A very small height h is arranged in wemin, when less than this height, it is shut off propeller, unmanned plane freely falling body is allowed to land.
But if higher than hminWhen camera lose the target visual field over the ground, either be in rapid decrease or descending at slow speed rank
Section, should all draw high unmanned plane, until rediscovering terrestrial reference.
Claims (8)
1. a kind of unmanned plane of view-based access control model information fusion autonomous ship method stage by stage, which is characterized in that include the following steps：
1) terrestrial reference makes：Using respective objects landing point on unmanned boat as terrestrial reference, is put on ground and post AprilTags labels, and
The angle of unmanned plane camera is adjusted, ensures that unmanned plane can detect terrestrial reference when close to terrestrial reference；
2) image procossing：The image information captured according to the parameter information of camera and camera is calculated in unmanned aerial vehicle onboard meter
The parameter of the AprilTags visional reference systems configured in calculation machine obtains opposite between video camera and terrestrial reference when finding terrestrial reference
Pose Xct；
3) information merges：By the relative pose X between video camera and terrestrial referencectAfter being merged into row information with the measurement data of IMU, obtain
Real-time relative pose X of the unmanned boat under unmanned plane referentialvs；
4) motion control：According to real-time relative pose XvsFlight stability and path trace are ensured using nested control mode, together
Shi Caiyong stage by stage ship method carry out ship.
2. a kind of unmanned plane of view-based access control model information fusion according to claim 1 autonomous ship method stage by stage, special
Sign is that the parameter of AprilTags visional references system includes the coke in wide direction as unit of pixel in the step 2)
Away from Fw, focal length F on high direction as unit of pixelh, the center (C of imagew,Ch), calculation formula is：
Wherein, F and C is respectively the focal length on different directions and position,focusWithreceptorRespectively focal length and photosensitive element size,
NpixelFor pixel quantity.
3. a kind of unmanned plane of view-based access control model information fusion according to claim 1 autonomous ship method stage by stage, special
Sign is that the step 3) specifically includes following steps：
31) system state estimation is divided into two stages, and the first stage is the terrestrial reference stage that is not detected, and second stage is to detect
After terrestrial reference；
When terrestrial reference is not detected, system mode is the posture information X that IMU is providedv, i.e. X=[Xv], which is carried out
Estimation, then have：
Wherein, whereinFor kth step system state estimation value,For the system state estimation value of -1 step of kth, Fk-1
For the Kalman filtering parameter in terrestrial reference stage, w is not detectedk-1For white Gaussian noise, Δ t is the sampling interval；
Since detecting terrestrial reference for the first time, unmanned boat state X is added in system modes, i.e. X=[Xv Xs], and update karr
Graceful filtering parameter Fk-1, then have：
Wherein,For with the relevant Kalman filtering parameter of unmanned plane,For with the relevant Kalman filtering parameter of unmanned boat；
32) observed result of IMU and camera are obtained, wherein the observed result h of IMU1MUFor：
Wherein, zlvFor height, φlv,θlv,ψlvRespectively around x, the rotation angle of tri- direction of motion of y, z, ulvAnd vlvRespectively
Forward speed and side velocity correspond to Jacobian matrix HsIMUFor：
The observed result h of the cameratag(XKF) be：
Wherein, XvcFor the pose of camera under unmanned plane referential, XstFor the pose marked under unmanned boat referential, XlvTo estimate
The pose for the unmanned plane counted out, XlsPose for the unmanned boat estimated,WithFor coordinate conversion operation；
It corresponds to Jacobian matrix HstagFor：
33) Kalman filtering is extended to observed result, obtains real-time system mode.
4. a kind of unmanned plane of view-based access control model information fusion according to claim 3 autonomous ship method stage by stage, special
Sign is that the step 3) is further comprising the steps of：
34) by the history pose of unmanned plane and unmanned boat, system mode is changed in delay, obtains people's ship in unmanned plane
Real-time relative pose X under referentialvs。
5. a kind of unmanned plane of view-based access control model information fusion according to claim 1 autonomous ship method stage by stage, special
Sign is, in the step 4), nested control mode is specially：
It is controlled using 6 independent closed loop PID controllers, wherein inner ring gesture stability is for ensureing flight stability, outer shroud
Position control is used for path trace.
6. a kind of unmanned plane of view-based access control model information fusion according to claim 1 autonomous ship method stage by stage, special
Sign is, in the step 4), stage by stage ship method specifically include following steps：
41) terrestrial reference is found：When finding terrestrial reference for the first time, system mode is initialized, and unmanned plane is made to track the terrestrial reference；
42) the descending at slow speed stage：It guides at unmanned plane to the center of terrestrial reference, keeps it in centered on terrestrial reference, radius is
rloop, it is highly hloopCylindrical space in, and find using Δ z as step-length next track points vertically downward and decline, work as loss
When the terrestrial reference visual field, then Δ z-height is promoted, until rediscovering the terrestrial reference.
43) enter the rapid decrease stage：First height threshold h is setland, when the height of unmanned plane is less than hlandWhen, then it is assumed that nothing
It needs to decline, directly prepares to land, if in continuous N frames, which meets rapid decrease condition all in the visual field of camera
When, then it is assumed that can enter the rapid decrease stage, directly using 0 as z-axis reference signal；
44) landing period：Second height threshold h is setmin, when unmanned plane height is less than the second height threshold hminWhen, then it closes
Propeller makes unmanned plane freely falling body and completes to land.
7. a kind of unmanned plane of view-based access control model information fusion according to claim 6 autonomous ship method stage by stage, special
Sign is that the rapid decrease condition in the step 43) is：
z-hland≤hloop
||(x,y)||2≤rloop
Wherein, z is height of the unmanned plane relative to unmanned boat, | | (x, y) | |2For the horizontal distance of unmanned plane and unmanned boat.
8. a kind of unmanned plane of view-based access control model information fusion according to claim 6 autonomous ship method stage by stage, special
Sign is, in the step 44),
If unmanned plane is higher than the second height threshold hminWhen, camera loses the target visual field over the ground, no matter is in descending at slow speed
Stage or rapid decrease stage, then unmanned plane is drawn high, until rediscovering terrestrial reference.
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| CN109525220A (en) * | 2018-12-10 | 2019-03-26 | 中国人民解放军国防科技大学 | Gaussian mixture CPHD filtering method with track association and extraction capability |
| CN109823552A (en) * | 2019-02-14 | 2019-05-31 | 深圳市多翼创新科技有限公司 | The unmanned plane precision approach method of view-based access control model, storage medium, apparatus and system |
| CN110058604A (en) * | 2019-05-24 | 2019-07-26 | 中国科学院地理科学与资源研究所 | A kind of accurate landing system of unmanned plane based on computer vision |
| CN111323005A (en) * | 2018-12-17 | 2020-06-23 | 北京华航无线电测量研究所 | Visual auxiliary cooperative landmark design method for omnidirectional autonomous precise landing of unmanned helicopter |
| CN112099527A (en) * | 2020-09-17 | 2020-12-18 | 湖南大学 | Control method and system for autonomous landing of mobile platform of vertical take-off and landing unmanned aerial vehicle |
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