CN205594459U - Unmanned aerial vehicle is fixing a position system of falling based on machine vision - Google Patents
Unmanned aerial vehicle is fixing a position system of falling based on machine vision Download PDFInfo
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Abstract
The utility model discloses an unmanned aerial vehicle is fixing a position system of falling based on machine vision, it includes a GPS information receiving unit the system of falling for it apart from observed value and known to relatively, obtains puppet apart from correction value to record the puppet with the reference station, the 2nd GPS information receiving unit for survey the GPS satellite data, receive the correction value that comes from the reference station, calculate the positional parameter, and fall district acquisition unit, accomplish and fall district's feature collection through fixing camera on unmanned aerial vehicle, the video signal processing unit for enlarge the video signal of CCD output, image processing unit: a characteristic pattern is handled for being directed at takeing a photograph and falling the district, and the control command unit with execution unit falls. The utility model discloses DGPS navigation technique and vision navigation technique have been combined for unmanned aerial vehicle can with the high accuracy and fall or hover at fixed place.
Description
Technical field
This utility model relates to unmanned aerial vehicle (UAV) control field, positions fall system particularly to a kind of unmanned plane based on machine vision.
Background technology
Unmanned plane can be used round the clock, and simple in construction is easy to use, low cost, and efficiency ratio is high, and there is no concern that casualties, and therefore, under high-risk environment, unmanned plane operation is increasingly subject to favor.It can be used for scene monitoring, meteorological investigation, highway tour, exploration mapping, floods monitoring, aeroplane photography, traffic administration, forest fire etc..From this, unmanned plane suffers from the most wide application prospect at a lot of aspects.
Unmanned plane is during execution task, and pinpointing fall is a stage that is extremely important and that easily break down, and research data shows, World Airways history has the aviation accident of more than 1/3rd occur pinpointing fall process.Therefore, unmanned plane pinpoints fall technology and has become as one of key technology affecting Development of UAV, can safe and reliable realization automatically fall be also the important indicator becoming and evaluating unmanned plane performance quality.
Unmanned plane positions fall and refers to that unmanned plane relies on airborne navigator and flight control system to carry out location navigation and finally to control unmanned plane and drop to the process in landing place.Wanting realization to pinpoint and drop, unmanned plane must possess the ability of independent navigation.The high-precision airmanship pinpointing fall includes: inertial navigation system (INS), GPS navigation, INS/GPS integrated navigation system and vision navigation system.Wherein, inertial navigation is research the earliest, airmanship the most ripe；GPS be rose in recent years, be most widely used, the airmanship of technology also relative maturity.But above-mentioned airmanship all has respective shortcoming, GPS alignment system is the strongest to the dependency of aeronautical satellite；Inertial navigation system is to utilize the inertia device such as gyro, accelerometer to obtain data, finally calculates carrier positions, and As time goes on its error is excessive.Along with the appearance of multiple airmanship, natural by different airmanship combinations, play respective advantage to reach best navigation effect.
Utility model content
Technical problem to be solved in the utility model is to provide a kind of unmanned plane based on machine vision and positions fall system, by DGPS(Difference Global
Positioning System, DGPS) airmanship combines with vision guided navigation technology so that unmanned plane finally can with high accuracy fall or hover over fixed position.
For solving above-mentioned technical problem, the technical solution adopted in the utility model is:
A kind of unmanned plane based on machine vision positions fall system, including with lower unit: the first GPS information receives unit: the GPS that described first GPS information receives unit is arranged on base station, compare with known distance for base station is recorded Pseudo-range Observations, obtain pseudorange correction value, be transferred to the GPS being arranged on unmanned plane by Data-Link；Second GPS information receives unit: the GPS that described second GPS information receives unit is arranged on unmanned plane, for observing GPS satellite data, receive the correction value from base station, observation pseudorange is modified, then position with revised pseudorange, calculate positional parameter；Zhe Jiang district collecting unit: complete the feature collection of Zhe Jiang district by the video camera being fixed on unmanned plane；Video signal processing unit: for the video signal that CCD exports is amplified, carries out the separated in synchronization of field signal, the video signal detected is delivered to graphics processing unit；Graphics processing unit: for the characteristic pattern in photography Zhe Jiang district is processed, obtain the characteristic point coordinate in image, coordinate is delivered to main control computer and solves the unmanned plane location parameter relative to Zhe Jiang district；Control instruction unit: for calculating unmanned plane distance, height and attitude angle relative to Zhe Jiang district, then transfer data to unmanned plane；Fall performance element: according to the control instruction of input, gather parameter that sensor provides, and produce control instruction according to the control method set and logic, realize unmanned plane and position by controlling actuator and drop.
Compared with prior art, the beneficial effects of the utility model are: DGPS navigation system combined with vision navigation system, make unmanned plane finally can with high accuracy fall or hover over fixed position, and this utility model realizes positioning the function more fast accurate of fall, it is preferably applied for electric power line inspection for unmanned plane, rushes to repair to provide and effectively support.
Accompanying drawing explanation
Fig. 1 is that in this utility model, unmanned plane based on machine vision positions fall system structure schematic diagram.
Fig. 2 is the processing procedure schematic diagram of the graphics processing unit that unmanned plane based on machine vision positions fall system in this utility model.
Fig. 3 is that in this utility model, unmanned plane based on machine vision positions fall working-flow schematic diagram.
Detailed description of the invention
With detailed description of the invention, this utility model is described in further detail below in conjunction with the accompanying drawings.A kind of based on machine vision the unmanned plane that this utility model provides positions fall system, use DGPS unmanned plane pilotage, unmanned plane is directed near characteristic pattern overhead, Zhe Jiang district, start machine vision-aided landing system unmanned plane is accurately positioned in real time, and the positional information of unmanned plane is delivered to flight control system, flight control system control unmanned plane landing.This utility model applies scan picture, image characteristic point extraction and unmanned plane location etc., is mainly used in power line failure detection, investigation.This utility model mainly includes DGPS navigation system, vision navigation system and unmanned plane automated driving system.
This utility model structure is: include with lower unit: the first GPS information receives unit: the GPS that described first GPS information receives unit is arranged on base station, compare with known distance for base station is recorded Pseudo-range Observations, obtain pseudorange correction value, be transferred to the GPS being arranged on unmanned plane by Data-Link；Second GPS information receives unit: the GPS that described second GPS information receives unit is arranged on unmanned plane, for observing GPS satellite data, receive the correction value from base station, observation pseudorange is modified, then position with revised pseudorange, calculate positional parameter；Zhe Jiang district collecting unit: complete the feature collection of Zhe Jiang district by the video camera being fixed on unmanned plane；Video signal processing unit: for the video signal that CCD exports is amplified, carries out the separated in synchronization of field signal, the video signal detected is delivered to graphics processing unit；Graphics processing unit: for the characteristic pattern in photography Zhe Jiang district is processed, obtain the characteristic point coordinate in image, coordinate is delivered to main control computer and solves the unmanned plane location parameter relative to Zhe Jiang district；Control instruction unit: for calculating unmanned plane distance, height and attitude angle relative to Zhe Jiang district, then transfer data to unmanned plane；Fall performance element: according to the control instruction of input, gather parameter that sensor provides, and produce control instruction according to the control method set and logic, realize unmanned plane and position by controlling actuator and drop.
Specifically, this utility model DGPS uses 2 GPS, and 1 is arranged at known point (ground control station) and makees base station, and 1 is used for unmanned plane, the gps satellite that 2 receiver synchronized tracking observation is identical.The surveyed Pseudo-range Observations of base station compares with known distance, obtains pseudorange correction value, the GPS being transferred on unmanned plane by Data-Link.GPS on unmanned plane is while observation gps satellite, receive the correction value from base station, observation pseudorange is modified, then positions with revised pseudorange, calculating positional parameter, positioning result is the coordinate between space, WGS-84 the earth's core in coordinate system.
Vision navigation system is made up of optical system (video camera) and video processor.This utility model uses single camera vision system, i.e. visual system only one of which video camera.Video camera is fixed on rotatable platform, it is allowed to platform rotates at deflection and two degree of freedom of the angle of pitch, in order to tracking characteristics region, mainly completes the feature collection of Zhe Jiang district.Using common color photographing unit, shot image pixel is 1920 × 1080, and signal to noise ratio is better than 48dB, converts optical signals into video signal with it and sends into video processor.
Video processor includes video frequency collection card and image processing circuit, first the video signal that CCD exports is amplified by video frequency collection card, carry out the separated in synchronization of field signal, the video signal detected is delivered to image processing circuit, the characteristic point coordinate that the process of the characteristic pattern that image processing circuit completes the Zhe Jiang district to photography obtains in image, delivers to coordinate main control computer and can solve the unmanned plane location parameter relative to Zhe Jiang district.
Digital Image Processing is the core constituting machine vision navigation system.Main process is divided into Image semantic classification, feature point extraction and three steps of position calculation, as shown in Figure 2.Main control computer is calculating and the control centre of machine vision navigation system, is responsible for the process of data, calculate unmanned plane relative to Zhe Jiang district distance, highly, after attitude angle, data transmit unmanned aerial vehicle (UAV) control, and it positions and drops.Unmanned plane automated driving system, according to the control instruction of input, gathers the parameter that sensor provides, and produces control instruction according to the control algolithm set and logic, by controlling actuator to realize the control to unmanned plane.
Claims (1)
1. a unmanned plane based on machine vision positions fall system, it is characterized in that, including with lower unit: the first GPS information receives unit: the GPS that described first GPS information receives unit is arranged on base station, compare with known distance for base station is recorded Pseudo-range Observations, obtain pseudorange correction value, be transferred to the GPS being arranged on unmanned plane by Data-Link；Second GPS information receives unit: the GPS that described second GPS information receives unit is arranged on unmanned plane, for observing GPS satellite data, receive the correction value from base station, observation pseudorange is modified, then position with revised pseudorange, calculate positional parameter；Zhe Jiang district collecting unit: complete the feature collection of Zhe Jiang district by the video camera being fixed on unmanned plane；Video signal processing unit: for the video signal that CCD exports is amplified, carries out the separated in synchronization of field signal, the video signal detected is delivered to graphics processing unit；Graphics processing unit: for the characteristic pattern in photography Zhe Jiang district is processed, obtain the characteristic point coordinate in image, coordinate is delivered to main control computer and solves the unmanned plane location parameter relative to Zhe Jiang district；Control instruction unit: for calculating unmanned plane distance, height and attitude angle relative to Zhe Jiang district, then transfer data to unmanned plane；Fall performance element: according to the control instruction of input, gather parameter that sensor provides, and produce control instruction according to the control method set and logic, realize unmanned plane and position by controlling actuator and drop.
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| CN201521029518.4U CN205594459U (en) | 2015-12-11 | 2015-12-11 | Unmanned aerial vehicle is fixing a position system of falling based on machine vision |
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| CN201521029518.4U CN205594459U (en) | 2015-12-11 | 2015-12-11 | Unmanned aerial vehicle is fixing a position system of falling based on machine vision |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105388908A (en) * | 2015-12-11 | 2016-03-09 | 国网四川省电力公司电力应急中心 | Machine vision-based unmanned aerial vehicle positioned landing method and system |
| US11440657B2 (en) | 2018-01-29 | 2022-09-13 | Ge Aviation Systems Limited | Aerial vehicles with machine vision |
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2015
- 2015-12-11 CN CN201521029518.4U patent/CN205594459U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105388908A (en) * | 2015-12-11 | 2016-03-09 | 国网四川省电力公司电力应急中心 | Machine vision-based unmanned aerial vehicle positioned landing method and system |
| US11440657B2 (en) | 2018-01-29 | 2022-09-13 | Ge Aviation Systems Limited | Aerial vehicles with machine vision |
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