CN104359453A - Electronic sun position sensor based on image processing technology and application method thereof - Google Patents
Electronic sun position sensor based on image processing technology and application method thereof Download PDFInfo
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- CN104359453A CN104359453A CN201410632165.0A CN201410632165A CN104359453A CN 104359453 A CN104359453 A CN 104359453A CN 201410632165 A CN201410632165 A CN 201410632165A CN 104359453 A CN104359453 A CN 104359453A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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Abstract
The invention relates to an angle measuring and posture measuring method of an electronic sun position sensor based on an image processing technology. The sun position sensor comprises a sundial, a light shielding device capable of imaging on the sundial, a camera for photographing a sundial shadow on the sundial, a central processing unit capable of controlling the photographing of the camera and carrying out image processing and angle judgment on an image photographed by the camera, and an output unit, wherein the camera is arranged above a sundial needle. The electronic sun position sensor works with the following steps: a, fixing; b, imaging; c, photographing; and d, carrying out image processing and angle judgment. According to the sun position sensor, a sundial shadow angle is determined by the image processing technology instead of naked eyes or a photosensitive device, so that the accuracy is high, the consistency is good, a movable part or a lot of sensing units are not needed, the sun position sensor is applicable to occasions with a wide range of incidence azimuth angles and elevation angles, and a result is easy to digitally output. The sun position sensor can be put at any inclined angle, and posture parameters of the sensor can be determined by combining a three-shaft sensor with geographical time information.
Description
Technical field
The present invention relates to a kind of based on image processing techniques electronics day level sensor and angle measurement, survey attitude positioning method, for sun projection shadow or the sun this in camera institute become image carry out image procossing acquisition sun relative angle information and and then obtain the attitude information of sensor in conjunction with weight component and positional information, belong to engineering survey field.
Background technology
The inconvenient robotization of tradition corona, some electric dial or adopt the trigger angle judgement after the daylight such as different fixed angles shine or block of multiple photosensitive device; Or adopting photosensitive device to rotate to sundial shadow angle, trigger angle is adjudicated.Or working hour is limited, or mechanical action is needed to coordinate.The present invention does not need waste motion in use, can realize long duration, on a large scale measurement of angle.
Tradition corona is used for direction finding only for the situation of sundial face level.There is fixed angle and point to due south or direct north requirement during some out-of-level timing application.Tradition surveys attitude technology gyroscope.The sun relative angle that the present invention is used for any direction inclination angle is measured automatically, can realize the direction measuring sundial face attitude, inclination angle roll angle parameter in conjunction with three axle gravity accelerometer and GPS.Also timing is can be used for when known any sundial face attitude.
summary of the invention:
The present invention provide when automatically extracting daylight projection angle one do not need traditional photosensitive device realize sun relative angle interpretation electronization, digitized day sensing equipment, and for break away from complicated gyroscope structure and operation provide a kind of based on this kind day sensing equipment survey attitude positioning method.
For solving the problems of the technologies described above, the technical solution used in the present invention is as follows: a kind of electronics day level sensor based on image processing techniques, described device comprises housing, it is characterized in that: the bottom surface of described housing is sundial face, sundial is placed with shade above face, described device also comprises camera lens and to be placed in above shade and the camera pointing to sundial face, and takes pictures for controlling camera and carry out image procossing and angle interpretation to clapped picture, and completes the CPU that stores and export and store output unit.
Described shade is solid sundial pin or hollow sundial pin or sundial spot, and camera is connected with housing by stilt, does not disturb shade Cheng Ying.
Described hollow needle is the shading thin slice having needle-like breach, and it can adopt multiple pin position, namely towards the anti-dazzling screen of multiple directions, ensures that described day level sensor can angle measurement on a large scale.
Shade selects sundial spot, and described sundial spot is anti-dazzling screen or the anti-dazzling screen opening aperture; Form plaque-like sundial shadow as during illumination in sundial face, when anti-dazzling screen with perforate, bright plaque-like sundial shadow can be formed.
Described sundial face can be placed at any direction inclination angle.
A kind of device of interpretation solar azimuth of the electronics day level sensor amplification distortion based on image processing techniques, described device is not containing the shade described in claim 1, it is characterized in that: this device comprises sundial face and camera, the camera lens of described camera upward and point into the sky, take pictures time in the catching range appearing at image for the sun, interpretation solar azimuth after image procossing.
Use based on image processing techniques electronics day level sensor an angle-measuring method, it is characterized in that: step is as follows,
Step one: by fixation of sensor, makes shade at the clear Cheng Ying in sundial face;
Step 2: utilize the camera shooting sundial shadow of pendulum above shade;
Step 3: use CPU (central processing unit) comparison film image procossing, and interpretation stores output after going out angle.
A kind of posture sensor device: add three axle gravity acceleration sensor and GPS in level sensor in the electronics day based on image processing techniques, wherein three axle gravity acceleration sensor one axles are perpendicular to sundial face, another diaxon is parallel to sundial face, and wherein an axle points to consistent with sundial face zero graduation line.
Described GPS applicable clock when position is known substitutes.
The survey attitude positioning method of described posture sensor has the following steps:
Step one: by posture sensor device, unanimously with testee three direction of principal axis fixes;
Step 2: gather the geographic position at testee place by GPS module and gather the standard time of sun relative bearing, gathered tilt angle gamma, the roll angle θ of testee by three axle gravity acceleration sensors, gather the relative incident orientation angle φ of the sun for day level sensor zero degree direction by day level sensor;
Step 3: gather the geographic position at testee place according to GPS module and gather the standard time of sun relative bearing, calculates the sun angle of elevation alpha in relatively local geographic reference face and azimuthal angle beta at that time in conjunction with solar orbit information;
Step 4: pass through formula
calculate the attitude orientation angle of sensor.
When the present invention is used for attitude orientation measurement, it realizes the simple superposition of non-several sensor, and each sub-sensor function cannot isolate.
Beneficial effect of the present invention is as follows:
1, the present invention does not need traditional photosensitive device to realize sun relative angle interpretation electronization, digitizing.
2, based on survey attitude positioning method of the present invention.Break away from complicated gyroscope structure, simple.
3, the invention solves the problem that traditional corona interception angle must keep level, namely by comprehensive computing accelerometer weight component gained angle, the sun that day level sensor gathers at the relative incident angle in any attitude sundial face, and the sun attitude orientation angle, sundial face was derived at the elevation angle in relatively local geographic reference face and position angle at that time.
Accompanying drawing illustrates: 1-camera, 2-sundial face zero graduation line, 3-shade, 3.1-solid needle, 3.2-hollow needle, 3.3-sundial spot, 4-sundial shadow, 5-sundial face, 6-stilt, 7-sunlight, 8-cover plate, 9-GPS module, 10-CPU and storage output unit, 11-tri-axle gravity acceleration sensor
Fig. 1 is the structural representation of day of the present invention level sensor.
Fig. 2 is the employing hollow sundial needle construction schematic diagram of day of the present invention level sensor.
Fig. 3 is the employing sundial spot structural representation of day of the present invention level sensor.
Fig. 4 is the side view of Fig. 3
Fig. 5 is the structural representation of the employing camera pen-hold grip sun of day of the present invention level sensor.
Fig. 6 is the structural representation of attitude sensor based on day of the present invention level sensor.
Fig. 7 is the process flow diagram of survey attitude positioning method of the present invention.
Embodiment
1 makes
A plane with a scale as shown in Figure 1, reference position, scale 0 degree of corresponding flat center, scale is not necessarily clearly marked on sundial face, but virtual scale direction is known to system.Solid sundial pin is placed in sundial face central authorities, under light irradiates, can form dark projection in sundial face, and camera lens points to sundial face, is fixed on above solid sundial pin.Camera lens stilt and sundial face are connected.Ensure camera and sundial face, the relative position of solid sundial pin remains unchanged, and stilt is not in the south at sensor after sensor fixes, to ensure to form interference projection on sundial face.To fix when rear system CPU knows that if sundial shadow is imaged on sundial face zero graduation line camera become the position of sundial image in whole photo, and using this position as the zero graduation of camera picture.
If adopt hollow sundial pin, can make by above-mentioned same procedure, anti-dazzling screen intermediate gap printing opacity forms bright projection.
Due to the thickness of anti-dazzling screen of hollow sundial pin own, when angle of incident light is smaller, the imaging of light at anti-dazzling screen another side can be stopped, now can adopt several vertical with sundial face, but on sundial face, move towards different anti-dazzling screens, the incident ray of the different angles in relative sundial face can be ensured, always have an opportunity large with the angle changing rate of an anti-dazzling screen.
In Fig. 2 in design, four anti-dazzling screen placements at a right angle, formation camera bellows is added a cover in top.Camera bellows makes bright projection more outstanding, more accurate during image procossing.Note: be signal in Fig. 2, anti-dazzling screen is drawn thicker, actual as far as possible thin, to ensure the angular range of light Cheng Ying.Camera is placed in the middle of top cover, and camera lens points to sundial face.A certain angle parallel incident ray will become at least one sundial shadow by anti-dazzling screen on sundial face, or multiple parallel sundial shadow.
Note: consider that sundial pin will perpendicular to sundial face for process is simple.But also can be not orthogonal to sundial face for special occasions.The impact at angle of inclination is eliminated by the algorithm after image procossing.
Also have a kind of mode as Fig. 3-Fig. 4, be placed in above sundial face with the parallel sundial face of little anti-dazzling screen, incident ray becomes out the dark sundial shadow of anti-dazzling screen on sundial face.Above anti-dazzling screen, the position photo of camera shooting sundial shadow in sundial face.Also anti-dazzling screen can be amplified, do light leak hole at center to form bright sundial shadow in sundial face, camera is taken pictures to bright sundial shadow.
Also have a kind of simplified way as Fig. 5, be placed in by camera on sundial face, camera lens is above sundial face, and the camera longitudinal axis and sundial face zero graduation line parallel, the sun is imaging on camera light sensation face directly, forms one piece of speck in photo.The zero graduation line of image be light-sensitive surface be taken in the sun relative bearing zero degree time, and when the elevation angle is different relatively, the central point line of its image speck become.
2 are fixed into shadow, and pointed to by sensor sundial face zero graduation line on demand, inclination angle is fixed, and shade is in up, and sundial shadow can clearly on sundial face present.
3 take pictures, and the camera above sundial face is taken pictures to the image that dark contrast bright on sundial face is formed.
4 calculate and export, and make clapped sundial shadow center line position comparison system known image zero graduation line position on photo by image processing techniques, both calculating direction difference estimation is sunny with zero graduation wire clamp angle, sundial face.If by the method being Fig. 3 sundial spot, be exactly calculate Gui Ying center and sundial spot at the sundial face vertical projection line of centres and zero graduation wire clamp angle, sundial face.If Fig. 5 structure forms sun fleck picture, algorithm is slightly different.With the sunny incident angle of solar core point Relative Zero scale mark distance conversion, extrapolate the angle of the sun relative sundial face zero graduation line.
Note: if the incident elevation angle is applicable to, sundial shadow all can drop in sundial face, by camera imaging.In such cases, can by calculating the relative sun vertical incidence in sundial shadow position time reference position difference, extrapolate the elevation angle in the relative sundial face of the sun.
Note: when adopting Fig. 3 sundial spot or sundial ring, the stilt of shade does not clearly draw, and in real image process, stilt can be utilized different with sundial spot (ring) type shape, removes stilt impact with algorithm.
5 determine appearance.
If realize determining appearance with the electronics day level sensor based on image processing techniques.Three axle gravity sensor and GPS to be added as Fig. 6 when making.Wherein three axle gravity acceleration sensors coordinate axis and day level sensor triaxial coordinate be translation relation.Namely sensor one axle is perpendicular to sundial face, and an axle is parallel to zero graduation line, and another axle is parallel to sundial face and perpendicular to zero graduation line.
Must horizontal positioned during tradition corona compass orientation, the sun relative bearing that could record according to sun absolute azimuth and corona one day a certain moment calculates corona direction.But once corona is out-of-level, just accurate direction cannot be found.
The invention solves above problem.Idiographic flow, as Fig. 7, by adding three axle gravity acceleration sensor and GPS, realizes sundial face deflection, the unified measurement of the attitude three elements of inclination angle and roll angle.By with day level sensor three axles, the three axle gravity acceleration sensors with parallel relation gather three axle weight components and calculate sundial face tilt angle gamma and roll angle θ; The position angle φ of incident sunlight relative sundial face zero graduation is gathered by day level sensor.Standard time when central processing unit records the geographic position residing for sundial face according to GPS and gathers relative day parallactic angle, in conjunction with angle of elevation alpha and the azimuthal angle beta in the sunny relatively local geographic reference face of there and then solar orbit information inference, multiple input is according to relation formula
deriving the attitude orientation angle δ in sundial face, is also the position angle of whole attitude sensor.
Claims (10)
1. the electronics day level sensor based on image processing techniques, described device comprises housing, it is characterized in that: the bottom surface of described housing is sundial face (5), top, sundial face (5) is placed with shade (3), described device also comprises camera lens and is placed in shade (3) top and the camera (1) pointing to sundial face (5), and take pictures for controlling camera (1) and image procossing and angle interpretation are carried out to clapped picture, and complete the CPU and storage output unit (10) that store and export.
2. the electronics day level sensor based on image processing techniques according to claim 1, it is characterized in that: described shade is solid sundial pin (3.1) or hollow sundial pin (3.2) or sundial spot (3.3), camera (1) is connected with housing by stilt (6), does not disturb shade Cheng Ying.
3. the electronics day level sensor based on image processing techniques according to claim 1, it is characterized in that: described hollow needle (3.2) is for there being the shading thin slice of needle-like breach, it can adopt multiple pin position, namely towards the anti-dazzling screen of multiple directions, ensures that described day level sensor can angle measurement on a large scale.
4. the electronics day level sensor based on image processing techniques according to claim 1, is characterized in that: shade selects sundial spot (3.3), and described sundial spot (3.3) is anti-dazzling screen or the anti-dazzling screen opening aperture; Form plaque-like sundial shadow (4) as during illumination in sundial face, when anti-dazzling screen with perforate, bright plaque-like sundial shadow (4) can be formed.
5. the electronics day level sensor based on image processing techniques according to claim 1-4 any one, is characterized in that: described sundial face (5) can be placed at any direction inclination angle.
6. one kind utilizes the device of the interpretation solar azimuth of the electronics day level sensor amplification distortion based on image processing techniques described in claim 1, described device is not containing the shade (3) described in claim 1, it is characterized in that: this device comprises sundial face (5) and camera (1), the camera lens of described camera (1) upward and point into the sky, take pictures time in the catching range appearing at image for the sun, interpretation solar azimuth after image procossing.
7. use described in claim 1 based on image processing techniques electronics day level sensor an angle-measuring method, it is characterized in that: step is as follows,
Step one: by fixation of sensor, makes shade at the clear Cheng Ying in sundial face;
Step 2: utilize the camera shooting sundial shadow of pendulum above shade;
Step 3: use CPU (central processing unit) comparison film image procossing, and interpretation stores output after going out angle.
8. a posture sensor device: add three axle gravity acceleration sensor (11) and GPS in level sensor in the electronics day based on image processing techniques according to claim 1 and 2, wherein three axle gravity acceleration sensor (11) axles are perpendicular to sundial face (5), another diaxon is parallel to sundial face (5), and wherein an axle points to consistent with sundial face zero graduation line (2).
9. posture sensor device according to claim 8, is characterized in that: when position is known, described GPS applicable clock substitutes.
10. one kind uses the survey attitude positioning method of the device of claim 8: it is characterized in that: described survey attitude positioning method has the following steps:
Step one: by posture sensor device according to claim 8, unanimously with testee three direction of principal axis fixes;
Step 2: gather the geographic position at testee place by GPS module and gather the standard time of sun relative bearing, gathered tilt angle gamma, the roll angle θ of testee by three axle gravity acceleration sensors, gather the relative incident orientation angle φ of the sun for day level sensor zero degree direction by day level sensor;
Step 3: gather the geographic position at testee place according to GPS module and gather the standard time of sun relative bearing, calculates the sun angle of elevation alpha in relatively local geographic reference face and azimuthal angle beta at that time in conjunction with solar orbit information;
Step 4: pass through formula
calculate the attitude orientation angle of sensor.
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