CN101354250B - Combined wide angle aviation digital camera system with self-checking self-stabilization function - Google Patents

Combined wide angle aviation digital camera system with self-checking self-stabilization function Download PDF

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CN101354250B
CN101354250B CN2008102220693A CN200810222069A CN101354250B CN 101354250 B CN101354250 B CN 101354250B CN 2008102220693 A CN2008102220693 A CN 2008102220693A CN 200810222069 A CN200810222069 A CN 200810222069A CN 101354250 B CN101354250 B CN 101354250B
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camera
self
angle
stable platform
cameras
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CN101354250A (en
Inventor
林宗坚
陈天恩
孙杰
苏国中
张珂殊
崔红霞
刘召芹
李永荣
尹金宽
彭晓东
张峰
李国胜
桂德竹
邓冰
吴作飞
李艺
洪志刚
孟文利
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Chinese Academy of Surveying and Mapping
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Chinese Academy of Surveying and Mapping
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Priority to PCT/CN2009/073751 priority patent/WO2010025682A1/en
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor

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Abstract

The invention discloses a combined wide-angled aerial digital camera system having functions of self checking and self stabilization, wherein, four cameras are arranged in pairs on a stable platform; each pair of cameras are in equivalent and relative tilt, and a combined wide-angled equivalent center projection imaging system is formed and rectified by a self calibration method. The stable platform stabilizes a primary optical axis of the equivalent center projection imaging system to a near-plumb direction by revolving shafts which are vertical to each other and a mechanical damping device; and then the primary optical axis of the equivalent center projection imaging system is further stabilized by an accelerometer, an axial gyroscope, electronic sensors such as a magnetic compass and the like, as well as an attitude angle correcting unit. The camera system of the invention can realize the miniaturization and light weight of the combined wide-angled camera and the stable platform thereof, has high precision and good stability, thus being applied to various unmanned aircrafts, robot helicopters, unmanned airships, small and light manned aircrafts, small and light manned helicopters, and the like.

Description

Combined wide angle aviation digital camera system with self checking self-stabilization function
Technical field
The present invention relates to a kind of digital camera system, relate in particular to a kind of combined wide angle aviation digital camera system with self checking self-stabilization function.
Background technology
Digital camera is by opto-electronic conversion and numerical coding, thereby do not needed chemically treated fast imaging, and directly enters Computer Image Processing, therefore in the sphere of life widespread use.
In the aeroplane photography field, because the difficulty that wide angle mirror head is made, especially aeroplane photography desired low (little) the photogrammetric distortion phase machine width angle mirror head difficulty of making, the a plurality of normal angle of general using camera is spliced into a wide angle camera and makes up combination aviation digital camera, the wide angle of having realized big face battle array digital camera.
As shown in Figure 1, the principle of big battle array digital camera of the prior art is to utilize four cameras of close proximity, the fixed angle that tilts laterally respectively makes four image A, the B that camera absorbed, C, D can be spliced into the equivalent center image of a width of cloth near four times of areas of one camera.In Fig. 1 b, if camera A, C and B, D all around the relative rotation of y axle or camera A, B and C, D all around the rotation of x axle, can not find the self calibration condition from the geometric mechanism of structure picture, be can't self calibration therefore.
Because above-mentioned big face battle array digital camera lacks the self calibration function, thereby can't permit a bit distortion, in order to obtain wide visual field image, it is poor to keep photogrammetric distortion to be no more than limit again, prior art has been taked very thick strong physical construction connector, a plurality of cameras are connected into a rigid unitary, make that relative position and the deflection strictness between a plurality of cameras remains unchanged (shape remains unchanged) on the micron order precision.Therefore, the overall volume of camera and weight are all very big, generally all tens kilograms to hundred kilograms magnitudes.With the stable platform that matches of heavy camera also is heavy, and therefore, system's general assembly (TW) is above hundred kilograms.
There is following shortcoming at least in above-mentioned prior art:
Can't realize self calibration, weight is big, system accuracy is low.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can realize self calibration, in light weight, combined wide angle aviation digital camera system that system accuracy is high with self checking self-stabilization function.
The objective of the invention is to be achieved through the following technical solutions:
Combined wide angle aviation digital camera system with self checking self-stabilization function of the present invention comprises four cameras that are fixed on the stable platform, and described four cameras arrange that by the eclipsed conformation mode described eclipsed conformation mode comprises:
If orthogonal x, y, z shaft space coordinate system, wherein the direction of z axle overlaps with the longitudinal axis of described stable platform; In described four cameras, first camera and second camera are symmetrical in true origin and are arranged on the y axle, and the primary optical axis of the two in y, z axial plane the equivalent relative tilt and with the angle of z axle be ω; Third phase machine and the 4th camera are symmetrical in initial point and are arranged on the x axle, and the primary optical axis of the two equivalent relative tilt and be with the angle of z axle in x, z axial plane
Figure G2008102220693D0002145434QIETU
As seen from the above technical solution provided by the invention, combined wide angle aviation digital camera system with self checking self-stabilization function of the present invention, because four cameras are arranged by the eclipsed conformation mode, four cameras are arranged in pairs, every pair of camera equivalent relative tilt can be realized self calibration, thereby can alleviate the weight of mechanical component, and the raising system accuracy, alleviate the load of aircraft.
Description of drawings
Fig. 1 is a combined wide angle aviation digital camera photographic image synoptic diagram of the prior art;
Fig. 2 is a combined wide angle aviation digital camera photographic image synoptic diagram of the present invention;
Fig. 3 is the spatial relationship synoptic diagram of first camera among the present invention and second camera;
Fig. 4 is the spatial relationship synoptic diagram of third phase machine among the present invention and the 4th camera;
Fig. 5 is the mounting structure synoptic diagram of the specific embodiment of camera among the present invention and camera and stable platform;
Fig. 6 is for selecting to be used for the image overlap district of self calibration and the synoptic diagram of parallax check point in the specific embodiments of the invention;
Fig. 7 is the block diagram that the stable platform in the specific embodiments of the invention is realized self-stabilization;
Fig. 8 is to stable platform in the specific embodiments of the invention
Figure G2008102220693D0002145448QIETU
The soft correction schematic diagram at ω angle;
Fig. 9 is to the soft correction schematic diagram at the κ angle of stable platform in the specific embodiments of the invention.
Embodiment
Combined wide angle aviation digital camera of the present invention, its preferable embodiment comprises four camera A, the B, C, the D that are fixed on the stable platform T shown in Fig. 2-5, four cameras are arranged by the eclipsed conformation mode, form the self checking condition by eclipsed conformation, the eclipsed conformation mode specifically comprises:
If orthogonal x, y, z shaft space coordinate system, wherein the direction of z axle overlaps with the longitudinal axis of stable platform, and four camera A, B, C, D are arranged on the plane of x, y axle or are parallel on the plane of x, y axle.
In four cameras, the first camera A and the second camera B are symmetrical in initial point and are arranged on the y axle, the primary optical axis of the first camera A and the second camera B in y, z axial plane the equivalent relative tilt and with the angle of z axle be ω, promptly the first camera A only does around the x axle with the second camera B that equivalent is relative rotates; Third phase machine C and the 4th camera D are symmetrical in initial point and are arranged on the x axle, the primary optical axis of third phase machine C and the 4th camera D equivalent relative tilt and be with the angle of z axle in x, z axial plane
Figure G2008102220693D0003145509QIETU
, promptly third phase machine A only does around the y axle with the 4th camera B that equivalent is relative rotates.
As shown in Figure 3, the visual field film size minor face of the first camera A and the second camera B is by as for being parallel to the y direction of principal axis, and half of establishing film size minor face field angle is θ, should satisfy formula ω＜θ.The difference of angle ω and angle θ can be 1 °～3 °.Like this, the image that absorbed of the first camera A and the second camera B has the visual field of 1 °～3 ° of small overlap zones (being equivalent to) overlapping.
As shown in Figure 4, the visual field film size minor face of third phase machine C and the 4th camera D is by as for being parallel to the x direction of principal axis, and half of establishing film size minor face field angle is θ, should satisfy formula θ＜
Figure G2008102220693D0003145535QIETU
Be the primary optical axis of third phase machine C and the 4th camera D and the angle of z axle
Figure G2008102220693D0003145544QIETU
Can be slightly larger than half θ of the field angle of its short side direction, the image that these two cameras are taken the photograph can be not overlapping.But the image that they and the first camera A and the second camera B are taken the photograph has enough degrees of overlapping, is made for the self checking purposes.
As shown in Figure 5, the stable platform T among the present invention is respectively equipped with rotating shaft along x direction and y direction, and is provided with the mechanical damping device in rotating shaft place; Also be respectively equipped with x, y, z axle rotation angle sensor 1 on the stable platform, be used to detect three rotational freedoms around x, y, z axle, sensor 1 comprises one or more sensors such as accelerometer, axial gyroscope, magnetic compass.Also be provided with photographic exposure controller etc. on the stable platform T.Stable platform also is connected with attitude angle and corrects software unit, is used for stable platform T is carried out soft correction etc.
When the present invention was applied to aircraft, the direction of x axle can be along the course of aircraft.
The above-mentioned combined wide angle aviation digital camera system with self checking self-stabilization function of the present invention can be realized self calibration and self-stabilization function, and concrete grammar comprises:
Self calibration to the variation of the relative position of four cameras:
Detect in described four cameras, each camera is respectively around the variation delta of y, x, z axle attitude angle
Figure G2008102220693D0003145602QIETU
Δ ω, Δ κ, and it is proofreaied and correct, comprise that specifically select a plurality of points that are used for self calibration in the overlay region of four camera images, the equation of each point is as follows:
Figure G2008102220693D00031
Figure G2008102220693D00032
In the formula, i, j represent pairing two the phase plane No. of the superimposed image at selected some place respectively; (x i, y i), (x j, y j) represent respectively selected in the direct image of described two cameras the picture planimetric coordinates; (Δ X Ij, Δ Y Ij) expression selected from the parallax between the image of described two camera projections; , f is the vertical range of the optical center of described camera to described image;
The relative controlled condition equation of the unified coordinate system of four cameras:
Figure G2008102220693D00041
In the formula, A, B, C, D are respectively the numbering of described four cameras;
Above-mentioned formula (3), (4), (5) are united find the solution, each camera respectively around the variable quantity of y, x, z axle attitude angle
Figure G2008102220693D0004145649QIETU
Δ ω, Δ κ proofread and correct the relative position of four cameras according to this variable quantity then.
Stable platform is realized self-stabilization, specifically comprises:
By two respectively along the mechanical rotating shaft and the mechanical damping device thereof of x axle and y axle, make the primary optical axis that is installed in four cameras on the stable platform keep vertical according to gravity;
By the attitude angle device, to measure camera exposure moment stable platform respectively around the angle value of y, x, z axle attitude angle, and correct, the attitude angle device comprises three accelerometers, three axial gyroscopes and a magnetic compass;
Correcting software unit by attitude angle corrects the attitude angle of stable platform with attitude angle correction software.
Attitude angle is corrected software and can be comprised:
According to the value of attitude angle of described stable platform of exposure moment, utilize the image edge redundance of described combined wide angle aviation digital camera, the attitude angle of stable platform is corrected.
Among the present invention, in order to reach the purpose of self calibration, can be at first needing self calibration to separate with the element of orientation that does not need self calibration, can carry out the image combined mechanism of self calibration at the key element design that needs self calibration, but and the scope of the superimposed image of definite self calibration, then, but design combination camera according to how much mechanism principles of calibration and connect mechanical component.Can take light-duty camera to connect mechanical component, alleviate the weight of combination camera.And light member is caused making up the inherent geometric distortion of image because of stressed and temperature variation deforms, can find the value of (detection) this geometric distortion automatically by the self calibration method, and it is proofreaied and correct.
Among the present invention,, the stable platform of combination camera is stabilized to from 20-30 ° of angle lapping tiltedly waves taps into vertical key light axis by the mechanically stable device; By electronic sensor, can detect the residue deflection and the course angle deflection of stable platform; Utilize the flat plate margin of combined wide angle visual field to compensate correction by correcting software unit then, thereby obtain isoboles picture as true stable platform state picked-up, realize the stable platform of small-sized combination camera, substitute the heavy type stable platform that generally uses in the prior art.
The present invention is applicable to various aircrafts, is particularly useful for the attitude angle and changes the unmanned vehicle (generally can reach 20-30 °) greatly, small aircraft etc.
Specific embodiment:
The combination digital camera mounting means, as shown in Figure 2, four camera A, B, C, D are paired opposite tilts, each camera only do ω or
Figure G2008102220693D0005145711QIETU
The inclination of direction.
As shown in Figure 3, only to do the relative ω angle lapping of equivalent oblique for the first camera A and the second camera B.Two camera A, B are fixed on the framework T that is placed in symmetrical clinoplane.The primary optical axis that causes two cameras respectively around the x axle depart from pedal line+ω angle and-the ω angle, the θ angle is half of camera short side direction field angle among the figure, can be so that ω＜θ, its difference may be selected between 1 °-3 ° so that between the image of camera A, B just like the degree of overlapping of 2 Δs among Fig. 3.
F is the amplification demonstration of camera master distance among Fig. 3, and the image that camera A, B constitute on equivalent image planes at few direction yardstick is: (θ+ω), its yardstick surpasses the twice of one camera yardstick 2f.tg θ to 2l ≈ 2ftg.
As shown in Figure 4, only to do equivalent relative for third phase machine C and the 4th camera D
Figure G2008102220693D0005145728QIETU
Angle lapping is oblique.Camera C, D also are placed on the framework T of symmetrical clinoplane (perpendicular to Fig. 3 direction), the primary optical axis that causes two cameras respectively around the y axle depart from pedal line+
Figure G2008102220693D0005145741QIETU
The angle and-
Figure G2008102220693D0005145750QIETU
The angle, the θ angle is half of camera short side direction field angle among the figure, different with Fig. 3 is, here camera C, the D image on equivalent image planes not only do not have the overlapping crack that one 2 Δ width is arranged on the contrary: Δ=ftg (
Figure G2008102220693D0005145805QIETU
-θ).Thereby the actual imaging width of third phase machine C on equivalent face only have m=ftg (
Figure G2008102220693D0005145819QIETU
+ θ)-ftg (
Figure G2008102220693D0005145826QIETU
-θ), the 4th camera is too.
Figure G2008102220693D0005145845QIETU
The selection at angle, can be according to following two principle: make (θ+ ) near half of camera long side direction objective angle of image field; Make (m+ Δ) near 1.5l.
The structure of T framework, as shown in Figure 5, stable platform T comprises two axial rotations of x, y, and mechanical damping in addition, makes the central axis of four cameras of its underpart at any time near vertical.Simultaneously, in the installing of the position of platform at camera top
Figure G2008102220693D0005145857QIETU
The sensor 1 of three attitude angle degree of freedom of ω, κ (being respectively the angle of rotating around y, x, z axle) in order to obtain camera exposure three attitude angle values of moment, also is provided with camera exposure controller 2 etc.
Below the verification of camera among the present invention and the stable principle of platform are described in detail:
One camera calibration and combination camera calibration:
At first, one camera is carried out calibration, photogrammetric survey method is laid three-dimensional calibration field routinely, to the photography of calibration field, accurately measures each monumented point with the digital photogrammetry method, uses photogrammetric distortion equation solution distortion parameter then.In the use, the coordinate of each pixel is carried out distortion correction according to distortion parameter.
Then, combination camera is carried out calibration just, its objective is and determine the relative orientation of each one camera in combined system.The first calibration of combination camera is to carry out on the basis of each camera list calibration.One camera is installed on the combined machine framework, is photographed in the calibration field again, find the solution the elements of exterior orientation value of each camera with the method for space resection.
The elements of exterior orientation that obtains from space resection is based on calibration place areal coordinate system.There are two kinds of methods to find the solution and calculate the relative position of one camera in combined system:
A kind of is that the image space coordinate system of getting first camera is a system coordinate system, and the resulting elements of exterior orientation of space resection is converted in this system coordinate system;
Another kind is, the mean place of getting four camera shooting centers is the system centre point, and the average attitude angle of getting four cameras is the zero-bit attitude, will hand over the elements of exterior orientation of gained be transformed in this system coordinate system behind the space.
Among the present invention, the realization of the formation of combined wide angle image field and self calibration function:
The end result of combined wide angle camera is a central projection image that the photography of wide angle obtains that obtains on equivalent face as shown in Figure 2.According to ideal structure shown in Figure 2, if machining does not have error, mechanical component is not distortion also, then four camera A, B, C, the D structure picture on equivalent face X Y - f i With the actual structure picture of one camera x y - f i Between geometric relationship as follows:
Figure G2008102220693D00063
Under the situation that has certain machining error and distortion, each camera attitude is different with perfect condition shown in Figure 2, must measure each camera by the combination camera calibration
Figure G2008102220693D0006145948QIETU
This 12 attitude angle are measured with space resection in ω, κ angle in the calibration field, its precision should reach in 0.5 pixel, so formula (1) should be changed into:
X Y - f i a 1 a 2 a 3 b 1 b 2 b 3 c 1 c 2 c 3 x y - f i + S x S y S z i - - - ( 2 )
I represents A, B, C, D, (S respectively in the formula xS yS z) represent the position, optical center of camera.a 1.a 2... c 3Serve as reasons The direction cosine matrix that ω, κ constitute.Machine Design should guarantee that the optical center of four cameras is positioned as close to, and they are combined into a some perfect condition.In fact, camera is more little, they just the closer to.Can prove in theory when the little ground distance that is leapt to interior aircraft of camera exposure time of the spacing between the camera, and surface irregularity is less than three of flying height/for the moment, the four camera image stitching errors that cause thus will be within 0.3 pixel.
When the mechanical component that connects four cameras produced distortion because of temperature variation and platform motion, they caused S x, S y, S zVariation generally be very little (at submillimeter level), still, cause The variation of ω, κ then be can not ignore.Therefore, among the present invention, the relative orientation that utilizes four camera images shown in Fig. 2 to carry out between adjacent cameras in the degree of overlapping of equivalent face projection is resolved, and finds the solution the increment of each camera attitude angle
Figure G2008102220693D0007150058QIETU
Δ ω, Δ κ.
Specifically as shown in Figure 5, select 12 points that are used for self calibration in the overlay region, the equation of each point is as follows:
Figure G2008102220693D00072
In the following formula, i, j represent pairing two the phase plane No. of adjacent superimposed image (for example A and C) respectively.And (x i, y i), (x j, y j) the picture planimetric coordinates of the same culture point of expression in the direct image in two camera images.(Δ X Ij, Δ Y Ij) the same culture point of expression is from the parallax between the image of two camera projections, f is the vertical range of camera lens center to described image.Following formula is actual express be parallax remnants by
Figure G2008102220693D00073
The power of relation is distributed.So each magazine coordinate (x can be used in formula the right iy i) and (x jy j).
Consider the relative controlled condition of the unified coordinate system of combination camera system except above according to 24 listed parallax equations of 12 points in the overlay region, can obtain following equation of condition:
With equation (3), (4) and system of equations (5) simultaneous, then get 27 equations, the unknown number number is 12,15 of redundant observations are found the solution according to proviso indirect adjustment method, can realize the self calibration of combination camera system.In the photogrammetric measurement of reality, the data that exposure is each time obtained are all finished once above-mentioned self calibration, therefore can calibration Yin Wendu and the kinetic distortion of platform.
The realization of the formation of self-stabilization platform and combination self-stabilization function:
As shown in Figure 7, the stable platform in the specific embodiments of the invention is made up of following three parts, and substep is realized the self-stabilization of stable platform:
Mechanical rotating shaft X and Y and mechanical damping device thereof:
Make the primary optical axis of the combination camera system on the stable platform T that is installed in to keep vertical according to gravity.The dynamics of damping unit should be adjusted to when aircraft movements and cause that when waving, it waves angle less than 10 °.
The attitude angle device:
Comprise three accelerometers, three axial gyroscopes and a magnetic compass are in order to measure camera exposure moment stable platform T's ω, κ angle value require measurement accuracy to reach in 3 °.
Attitude angle is corrected software:
According to the exposure moment combination camera system attitude angle measuring value, make full use of combined wide angle camera image edge redundance, the combination camera image field is corrected, the equivalent image that makes it to form reach attitude angle at 3 ° with interior level.It is right to comprise
Figure G2008102220693D00081
The soft correction at ω, κ angle:
As shown in Figure 8, for
Figure G2008102220693D00082
The soft correction at ω angle because the objective angle of image field of combined wide angle camera enough wide (the wideest reach 130 °) therefore has certain flat plate margin, can be used for the degree of stability deficiency of buffer mechanism stable platform.For example, both sides respectively go 10 ° to fill up as stable platform from 130 ° of wide image fields, then also have the image field of 110 ° of clear span to be enough to be made for equivalent image purposes.The correction of software is handled need only be attitude angle
Figure G2008102220693D0008150210QIETU
The measured value of ω is added in the initial survey school side position element value of combined system and gets final product.
As shown in Figure 9, being the soft correction at κ angle, still utilizing the edge amount of redundancy of combined wide angle visual field, is the circle that a maximum is made at the center with equivalent image principal point in the image field scope that maximum possible is taken, connect square in doing in circle, its position angle is complied with the κ value of being measured and is decided.So just solved aircraft and headed on side direction wind when flight, the bigger problem in angle of drift that flying platform tilts to be caused makes the equivalent image of making according to the course line proper alignment, is convenient to follow-up mapping operation.
The combined wide angle camera that manufactures and designs by the present invention and the equivalent wide angle image that after self calibration is handled, is spliced into of the image of taking the photograph after testing, the error of each camera splicing place is all in 0.3 pixel.
Among the present invention, utilize the self calibration function of camera outer orientation, realize the small light of mechanical connection member, the self calibration that allows mechanically deform to wait until photography moment conformation is compensated correction; Can realize the specific combination imaging arrangement of self calibration, be that the set image of each single camera has enough and is beneficial to the degree of overlapping of finding the solution the relative attitude subtle change; Utilize the least square matching process, the observed reading simultaneous adjustment of parallax surplus of the unique point position by design is found the solution the camera attitude subtle change value at each angle; Each of being photographed is opened image all just carrying out the automatic control correction, obtain superior in quality equivalent wide angle aviation image thereby make.
Stable platform among the present invention is divided into mechanically stable, electronic surveying and software to the function of conventional stable platform and corrects three part compositions and realize; Realize that by the damping mechanical hook-up X, Y twin shaft under the gravity environment are just stable; Measure the residue pose deviation amount of gravity damping mechanically stable by accelerometer, gyroscope and magnetic compass; Utilize the stable residue pose deviation of wide image field flat plate margin compensation gravity damping of combined wide angle camera, realize self-stabilization with the software correcting method; The self-stabilization platform does not have Power Drive Unit and opens/closed control circuit.Solved the problem on deformation of mechanical component small light.
The present invention has realized the small light of combined wide angle camera by above-mentioned technical scheme; Realized the small light of camera stable platform; The general assembly (TW) of camera system and stable platform has reduced nearly order of magnitude (dropping to 15 kilograms from over one hundred kilogram), thereby can become the useful load of unmanned vehicle (unmanned plane, depopulated helicopter, unmanned airship); Can carry out large-scale production.The present invention can be applicable to unmanned vehicle low latitude aerial survey system, takes the photograph, thereby has improved resolution, sharpness and the aerial survey precision of aviation image greatly owing to can realize low latitude (low to overhead 100 meters) boat.Can reach 1:500 topographic mapping precision, can operation under cloudy cloud, can become the strong airborne survey equipment of flexible property that the user independently has.
Small-sized aircraft have low latitude, low speed, flexible, motor-driven, can be along complicated airline operation, can not have series of advantages such as airport landing, but the requirement of load limit is arranged all, be difficult to carry heavy stable platform, the relatively large aircraft of flight stability degree of aircraft is also very different.The present invention can produce small-sized combined wide angle low latitude digital camera, small-sized low altitude remote sensing platform, can be applied to unmanned aerial vehicle, depopulated helicopter, unmanned airship, the small-sized people's of having aircraft, the small-sized people's of having helicopter etc.
The above; only for the preferable embodiment of the present invention, but protection scope of the present invention is not limited thereto, and anyly is familiar with those skilled in the art in the technical scope that the present invention discloses; the variation that can expect easily or replacement all should be encompassed within protection scope of the present invention.

Claims (9)

1. the combined wide angle aviation digital camera system with self checking self-stabilization function comprises four cameras that are fixed on the stable platform, it is characterized in that, described four cameras arrange that by the eclipsed conformation mode described eclipsed conformation mode comprises:
If orthogonal x, y, z shaft space coordinate system, wherein the direction of z axle overlaps with the longitudinal axis of described stable platform; In described four cameras, first camera and second camera are symmetrical in true origin and are arranged on the y axle, and the primary optical axis of the two in y, z axial plane the equivalent relative tilt and with the angle of z axle be ω; Third phase machine and the 4th camera are symmetrical in initial point and are arranged on the x axle, and the primary optical axis of the two equivalent relative tilt and be with the angle of z axle in x, z axial plane
Figure FA20176065200810222069301C00011
2. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 1, it is characterized in that, the short side direction of the visual field film size of described first camera and second camera is parallel to the y direction of principal axis, if half of the field angle of described short side direction is θ, satisfy formula ω＜θ, the difference of described angle ω and angle θ is 1 °～3 °.
3. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 1, it is characterized in that, the short side direction of the visual field film size of described third phase machine and the 4th camera is parallel to the x direction of principal axis, if half of the field angle of described short side direction satisfies formula for for the θ angle
Figure FA20176065200810222069301C00012
4. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 1 is characterized in that described stable platform is respectively equipped with rotating shaft along x direction and y direction, and is provided with the mechanical damping device in described rotating shaft place.
5. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 4 is characterized in that, is respectively equipped with x, y, z axle rotational angle electronic sensor on the described stable platform.
Described electronic sensor comprises accelerometer, axial gyroscope and magnetic compass.
6. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 5 is characterized in that, described stable platform is connected with attitude angle and corrects the unit.
7. according to each described combined wide angle aviation digital camera system of claim 1 to 6, it is characterized in that this system comprises following function with self checking self-stabilization function:
Self calibration function to the variation of the relative position of four cameras in this system specifically comprises:
Detect in described four cameras, each camera is respectively around the variable quantity of y, x, z axle attitude angle
Figure FA20176065200810222069301C00013
, Δ ω, Δ κ, and it is proofreaied and correct, comprise that specifically select a plurality of points that are used for self calibration in the overlay region of described four camera images, the equation of each point is as follows:
Figure FA20176065200810222069301C00014
In the formula, i, j represent pairing two the phase plane No. of the superimposed image at selected some place respectively; (x i, y i), (x j, y j) represent respectively selected in the direct image of described two cameras the picture planimetric coordinates; (Δ x Ij, Δ Y Ij) expression selected from the parallax between the image of described two camera projections; F is the vertical range of the optical center of described camera to described image;
The relative controlled condition equation of the unified coordinate system of described four cameras:
Figure FA20176065200810222069301C00022
In the formula, A, B, C, D are respectively the numbering of described four cameras;
Above-mentioned formula (3), (4), (5) are united find the solution, each camera respectively around the variable quantity of y, x, z axle attitude angle
Figure FA20176065200810222069301C00023
, Δ ω, Δ κ.
8. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 7 is characterized in that this system also comprises following function:
Function to the realization of the stable platform in this system self-stabilization specifically comprises:
By two respectively along the mechanical rotating shaft and the mechanical damping device thereof of x axle and y axle, make the primary optical axis that is installed in four cameras on the described stable platform keep vertical according to gravity;
By the attitude angle device, to measure described camera exposure described stable platform of moment respectively around the angle value of y, x, z axle attitude angle, and correct, described attitude angle device comprises three accelerometers, three axial gyroscopes and a magnetic compass;
Correcting software unit by attitude angle corrects the attitude angle of described stable platform with attitude angle correction software.
9. the combined wide angle aviation digital camera system with self checking self-stabilization function according to claim 8 is characterized in that, described attitude angle is corrected the unit and comprised following function:
According to the value of attitude angle of described stable platform of exposure moment, utilize the image edge redundance of described combined wide angle aviation digital camera, the attitude angle of described stable platform is corrected.
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