CN104777847A - Unmanned aerial vehicle target tracking system based on machine vision and ultra-wideband positioning technology - Google Patents
Unmanned aerial vehicle target tracking system based on machine vision and ultra-wideband positioning technology Download PDFInfo
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Abstract
The invention relates to the field of unmanned aerial vehicle target tracking and image processing, and discloses an unmanned aerial vehicle target tracking system based on machine vision and an ultra-wideband positioning technology. The target tracking system is composed of a ground control platform S1 and an unmanned aerial vehicle tracker S2. The ground control platform is composed of a piece of flight control software, a data transmission module, and a video display interface. The unmanned aerial vehicle tracker is composed of a microprocessor, an FPGA, a positioning module, an airborne sensor, an intelligent vision module, a flight control module, and a data transmission module. The ground control platform sends a target tracking command. After receiving the target tracking command, the unmanned aerial vehicle tracker performs algorithm processing on an image acquired by the intelligent vision module and automatically identifies the position of a target in the image, and meanwhile, the unmanned aerial vehicle tracker reads data of the positioning module and the airborne sensor, plans a flight route according to a gesture guiding and adjusting algorithm, and sends a target moving image to the ground control platform to realize automatic visual tracking of the moving target.
Description
Technical field
The present invention relates to unmanned plane target to follow the tracks of and image processing field, particularly relate to a kind of unmanned plane target tracing system.
Background technology
At civil area, Micro Aerial Vehicle can be used for all kinds of monitoring, monitoring, tour, search and rescue, photography, mapping, investigation and investigation.Such as environmental monitoring, disaster surveillance, traffic route monitoring, border patrol and control, drugs are embargoed, agricultural is surveyed, large-scale pasture is gone on patrol, city monitors and aeroplane photography etc.In actual use, unmanned plane is faced with often follows the tracks of the demand of slower-velocity target, and these demands come from the wounded animals etc. of the violation vehicle in traffic control, the special exercise person in sports photography, invasion object in security monitor, the conservation of wildlife.
But unmanned plane conventional at present all needs remote control manually.Its operation easier is high, and automaticity is low, and flight is unstable.These all limit the development of unmanned plane at above-mentioned civil area.There are rotor wing unmanned aerial vehicle research project in external a lot of laboratory and university, but development full autonomous flight in complex environment remains a challenge.Research has the function unmanned plane target tracing systems such as automatic flight, transmission of video, pedestrian detection, target tracking; can play huge effect in sports photography, conservation of wildlife monitoring, urban air traffic monitoring, industrial park safety monitoring, its Social benefit and economic benefit is huge.Therefore, automaticity unmanned plane that is high, that can automatically fly is studied very meaningful.
Summary of the invention
The object of this invention is to provide a kind of unmanned plane target tracing system of locating (UWB) technology based on machine vision and ultra broadband, it comprises ground parametric controller and unmanned plane tracker.Make this system unmanned plane tracker oneself carry out image procossing and automatic tracing moved object, the image photographed is passed back to land station, and ground parametric controller is chosen target and is then sent instructions to unmanned plane.Thus achieve the function of unmanned plane automatically track target.Improve the accuracy rate and real-time of following the tracks of, save labour.
In order to solve above-mentioned purpose, technical solution of the present invention is: a kind of unmanned plane target tracing system based on machine vision and ultra wideband location techniques, is characterized in that, comprising: ground parametric controller and unmanned plane tracker.Wherein ground parametric controller comprises: (1) Flight Control Software, (2) data transmission module, (3) video display interface; Unmanned plane tracker comprises: (4) microprocessor, (5) FPGA, (6) locating module, (7) airborne sensor, (8) intelligent vision module, (9) flight control modules, (10) data transmission module.
Described ground parametric controller, the Flight Control Software described in it is made up of login interface and system control panel.Login interface completing user manages; System control panel provides unmanned plane during flying device engine start, shutdown, the highly operating key such as locking, heading locking, power acceleration figure, height, and provides the keypress functions such as camera course changing control knob, open wireless communication link, passback Aerial Images.
Described ground parametric controller, the data transmission module described in it is set up and is realized data link on the wlan network, adopts Transmission Control Protocol and unmanned plane target tracker to carry out data interaction.
Described ground parametric controller, the video display interface described in it provides the real-time display of unmanned plane target tracker coordinate in ultra broadband location coordinate with the Real-time image display of target according to reception data.
Described unmanned plane tracker, the microprocessor described in it adopts the E6X5C processor of Intel Company, embeds (SuSE) Linux OS in the microprocessor.The instruction of ground parametric controller is received by data transmission module, corresponding action is performed according to the content of instruction, comprise open transmission of video, control intelligent vision module complete vision intelligent acquisition, complete image procossing with FPGA co-ordination and automatically identify target etc., and transmit data to flight control modules.
Described unmanned plane tracker, the FPGA described in it directly adopts and is embedded in FPGA resource in E6X5C processor.Controlled quentity controlled variable, by carrying out fusion calculation to airborne sensor data, is then sent to microprocessor with specific control protocol and then controls flight control modules and carry out flight attitude regulating and control, thus realize controlling the multiple degrees of freedom flight of unmanned plane by FPGA.Realize at FPGA the fast target detection algorithm that HOG feature combines with SVM and detect the target collected in image, on FPGA, realize follow-on TLD target tracking algorithm realization carries out implementation picture catching and tracking to the target detected simultaneously.FPGA constructs hardware card Kalman Filtering module realizes unmanned plane tracker ultra broadband location in conjunction with the data of locating module.In FPGA, implant the soft core of Nios II, the mode adopting UC/OS-II preemptive type operating system to combine coordinates the work between each algoritic module of FPGA and between FPGA and microprocessor simultaneously.
Described unmanned plane tracker, the ultra broadband elements of a fix based on earth axes that its locating module adopts ultra broadband location (UWB) technology Real-Time Monitoring unmanned plane to follow the tracks of, and coordinate data is transferred to FPGA process.
Described unmanned plane tracker, its airborne sensor is made up of electronic compass, accelerometer, barometer, gyroscope.The parameter of real-time monitoring unmanned plane during flying device self: flight angle, highly, the status information such as acceleration.
Described unmanned plane tracker, its intelligent vision module adopts industrial camera, is responsible for video image acquisition according to the intelligence setting of microprocessor, and transfers to FPGA to carry out data image treatment and analysis the vedio data collected transmission microprocessor.
Described unmanned plane tracker, its flight control modules drives 6 motors of unmanned plane to rotate, by controlling the difference of rotating speed, fixed function that is high and that fly to all directions automatically can be realized, flight control modules also comprises one piece of high precision barometer, the data returned according to barometer while flight control the rotating speed of motor in conjunction with pid algorithm, can be stabilized in sustained height when ensureing flight.
Described unmanned plane tracker, its data transmission module is set up and is realized data link on the wlan network, adopt Transmission Control Protocol and carry out data interaction without ground parametric controller, jointly constituting the communication network of present system with the data transmission module of ground parametric controller.
The present invention sends target following instruction by ground parametric controller, after unmanned plane tracker receives target following instruction by intelligent vision module acquires to the image fast target detection algorithm that adopts HOG feature to combine with SVM automatically identify the position of target in image coordinate system; Simultaneously, read the data of locating module and airborne sensor, the TLD algorithm improved is adopted to process, being led by attitude adjusts algorithmic rule to go out flight path and automatically carry out vision tracking to target, target travel image is issued to ground parametric controller thus realizes following the tracks of the automatic vision of moving target.Automaticity is high, be easy to operation, precision is high, real-time follow-up superior performance, volume coordinate digitizing.
Accompanying drawing explanation
Fig. 1 is the structural representation of unmanned plane target tracing system of the present invention;
Fig. 2 is the Linux main program flow chart of microprocessor;
Fig. 3 is FPGA internal module and the connection with outside;
Fig. 4 is full-automatic target detection tracing process schematic diagram;
Embodiment
The invention provides a kind of unmanned plane target tracing system based on machine vision and ultra wideband location techniques, Fig. 1 shows the structural representation of unmanned plane target tracing system of the present invention.Below in conjunction with accompanying drawing and example, the present invention is further described.
As shown in fig. 1, the unmanned plane target tracing system based on machine vision and ultra wideband location techniques comprises ground parametric controller S1 and unmanned plane tracker S2.Ground parametric controller S1 is made up of Flight Control Software, data transmission module and video display interface.Unmanned plane tracker is made up of microprocessor, FPGA, locating module, airborne sensor, intelligent vision module, flight control modules, data transmission module.Respectively the configuration and function of ground parametric controller S1 and unmanned plane tracker S2 is described in detail below.
As shown in fig. 1, ground parametric controller is made up of Flight Control Software, data transmission module and video display interface.The Flight Control Software write based on Qt4 is the core of whole ground parametric controller, devises user management, unmanned plane during flying device engine start, shutdown, highly locking, heading locking, power acceleration figure, height function; And camera course changing control knob, open wireless communication link, passback Aerial Images, setting tracking target function are provided; Control video display interface provides the real-time display of unmanned plane target tracker coordinate in ultra broadband location coordinate with the Real-time image display of target according to reception data simultaneously; The cordless communication network that all instruction and datas and command are set up by the data transmission module of ground parametric controller and the data transmission module of unmanned plane tracker realizes.
The data transmission module of ground parametric controller and the data transmission module of unmanned plane tracker, by realizing whole target tracking system data link on the wlan network, adopt Transmission Control Protocol to carry out data interaction.Be provided with four communication port: port one, video of taking photo by plane returns; Port 2, receives the bounding box (region in sequence image) of moving target to be followed the trail of; Port 3, steering order is transmitted; Port 4, sensing data and UWB coordinates transmission.
As shown in fig. 1, unmanned plane tracker is made up of microprocessor, FPGA, locating module, airborne sensor, intelligent vision module, flight control modules, data transmission module.Microprocessor and FPGA, as the Master Control Center of unmanned plane tracker, adopt the E6X5C processor of Intel Company, and it is integrated with microprocessor and FPGA on one chip.Embed (SuSE) Linux OS in the microprocessor, in FPGA, implant the soft core of Nios II and embed UC/OS-II preemptive type operating system.
Microprocessor carries out data interaction by serial ports and intelligent vision module, flight control modules, data transmission module, is connected by pci interface with FPGA.In order to promote the performance of processor to greatest extent, embedded OS Linux on the microprocessor adopts multi-thread programming, control the sample and transform of intelligent vision, control data transmission module wireless data communications, between control and modules and the communication of the serial ports of FPGA.Linux master routine as shown in Figure 2, when the data transmission module of unmanned plane tracker receives the instruction of ground parametric controller, microprocessor master routine performs corresponding action according to command content, comprise open transmission of video, control intelligent vision module complete video intelligent acquisition, complete image procossing with FPGA co-ordination and automatically identify target, pass target following image down, and transmit data complete unmanned plane pose adjustment to flight control modules.
FPGA carries out data interaction by serial ports and locating module, airborne sensor.As shown in Figure 3, follow the tracks of in order to the advantage of the maximum FPGA of making full use of in parallel processing realizes high-speed target, the soft core of Nios II is partially submerged into by FPGA, again preemptive type operating system UC/OS-II is transplanted on Nios II processor, and add Uart, PCI peripheral assembly, utilize Quartus II to generate Kalman filtering hardware circuit module in conjunction with Matlab, realize the hardware circuit module of image processing algorithm with VHDL.As shown in Figure 4, the image processing algorithm in Fig. 3 is by full-automatic algorithm of target detection and target tracking Algorithm constitution.Adopt TLD algorithm realization target tracking process, but the normal operation of TLD needing people for providing accurate initialized target feature, can not truly realize full-automatic.In order to overcome this shortcoming, the fast algorithm of detecting of HOG integrate features SVM is adopted to realize full-automatic target detection as TLD algorithm initialization target signature, thus the full-automatic target detection realized truly and tracking.
Whole FPGA part practical function is: FPGA receives the content of the video image combined command that microprocessor sends over, and video image is sent into the detection of the hardware circuit module realize target of image processing algorithm, carries out picture catching, tracking.Read the data of locating module, the hardware card Kalman Filtering module be combined on FPGA realizes the ultra broadband location of unmanned plane tracker simultaneously.By carrying out fusion calculation to airborne sensor data, then controlled quentity controlled variable being sent to microprocessor with specific control protocol and then controlling flight control modules and carrying out flight attitude regulating and control, thus realizing controlling the multiple degrees of freedom flight of unmanned plane.
Locating module adopts STM32 single-chip microcomputer as controller, adopts the elements of a fix of ultra broadband location (UWB) technology Real-Time Monitoring unmanned plane.The UWB elements of a fix drawn include plant noise and observation noise, and the attitude that can not be directly used in flight control system is resolved and flying vehicles control, select Kalman filter to carry out filtering to the coordinate data produced.Therefore, the Nios II processor on FPGA exported to by the UWB elements of a fix by serial ports, realize ultra broadband zone location in conjunction with Kalman filtering algorithm, the full accuracy of location reaches 0.5 meter.
Airborne sensor is made up of electronic compass, accelerometer, barometer, gyroscope.The parameter of real-time monitoring unmanned plane during flying device self: flight angle, highly, the status information such as acceleration.
Intelligent vision module adopts industrial camera, is responsible for video image acquisition according to the intelligence setting of microprocessor, and transfers to FPGA to carry out data image treatment and analysis the vedio data collected transmission microprocessor.
Flight control modules drives 6 motors of unmanned plane to rotate, by controlling the difference of rotating speed, fixed function that is high and that fly to all directions automatically can be realized, flight control modules also comprises one piece of high precision barometer, the data returned according to barometer while flight control the rotating speed of motor in conjunction with pid algorithm, can be stabilized in sustained height when ensureing flight.
As can be seen from the above embodiments, unmanned plane target tracker of the present invention, send target following instruction by ground parametric controller and macroscopic view manipulation is carried out to unmanned plane tracker, after unmanned plane tracker receives target following instruction by intelligent vision module acquires to image carry out image procossing, simultaneously, read the data of locating module and airborne sensor, led by attitude and adjust algorithmic rule to go out flight path to achieve full-automatic target detection truly and tracking, and target travel image is issued to ground parametric controller.Unmanned plane target tracker automaticity of the present invention is high, be easy to operation, precision is high, real-time follow-up superior performance, volume coordinate digitizing.
Claims (13)
1., based on a unmanned plane target tracing system for machine vision and ultra wideband location techniques, it comprises ground parametric controller S1 and unmanned plane tracker S2.Wherein ground parametric controller comprises: (1) Flight Control Software, (2) data transmission module, (3) video display interface; Unmanned plane tracker comprises: (4) microprocessor, (5) FPGA, (6) locating module, (7) airborne sensor, (8) intelligent vision module, (9) flight control modules, (10) data transmission module.
2. unmanned plane target tracing system according to claim 1, is characterized in that, described ground parametric controller comprises: Flight Control Software, data transmission module, video display interface.Ground parametric controller carries out macroscopic view manipulation for sending target following instruction to unmanned plane tracker.
3. ground according to claim 2 parametric controller, it is characterized in that, the core of described Flight Control Software to be the Flight Control Software write based on Qt4 be whole ground parametric controller, devise user management, unmanned plane during flying device engine start, shutdown, highly locking, heading locking, power acceleration figure, height function; And camera course changing control knob, open wireless communication link, passback Aerial Images, setting tracking target function are provided; Control video display interface provides the real-time display of unmanned plane target tracker coordinate in ultra broadband location coordinate with the Real-time image display of target according to reception data simultaneously; The cordless communication network that all instruction and datas and command are set up by the data transmission module of ground parametric controller and the data transmission module of unmanned plane tracker realizes.
4. ground according to claim 2 parametric controller, it is characterized in that, the data transmission module of described data transmission module and unmanned plane tracker, by realizing whole target tracking system data link on the wlan network, adopts Transmission Control Protocol to carry out data interaction.
5. ground according to claim 2 parametric controller, is characterized in that, described video display interface shows for the video of target.
6. unmanned plane target tracing system according to claim 1, is characterized in that, described unmanned plane tracker is by microprocessor, FPGA, locating module, airborne sensor, intelligent vision module, flight control modules, data transmission module.After unmanned plane tracker receiving target trace command by intelligent vision module acquires to image carry out image procossing, simultaneously, read the data of locating module and airborne sensor, led by attitude and adjust algorithmic rule to go out flight path to achieve full-automatic target detection truly and tracking, and target travel image is issued to ground parametric controller.
7. unmanned plane target tracker according to claim 5, it is characterized in that, described microprocessor adopts the E6X5C processor of Intel Company and embeds (SuSE) Linux OS, carry out data interaction by serial ports and intelligent vision module, flight control modules, data transmission module, be connected by pci interface with FPGA.For control the sample and transform of intelligent vision, control data transmission module wireless data communications, between control and modules and the communication of the serial ports of FPGA
8. unmanned plane target tracker according to claim 5, it is characterized in that, described FPGA directly adopts and is embedded in FPGA resource in E6X5C processor, data interaction is carried out by serial ports and locating module, airborne sensor, FPGA is partially submerged into the soft core of Nios II, again preemptive type operating system UC/OS-II is transplanted on Nios II processor, and with the addition of the peripheral assemblies such as Uart, I2C, SPI, utilize Quartus II to generate Kalman filtering hardware circuit module in conjunction with Matlab, realize the hardware circuit module of image processing algorithm with VHDL.For the image procossing of video image with the detection of realize target, picture catching, tracking; Ultra broadband location is realized in conjunction with locating module; By carrying out fusion calculation to airborne sensor data, then controlled quentity controlled variable being sent to microprocessor with specific control protocol and then controlling flight control modules and carrying out flight attitude regulating and control.
9. unmanned plane target tracker according to claim 5, is characterized in that, the locating module described in it adopts STM32 single-chip microcomputer as controller, adopts the elements of a fix of ultra broadband location (UWB) technology Real-Time Monitoring unmanned plane.
10. unmanned plane target tracker according to claim 5, is characterized in that, the airborne sensor described in it is made up of electronic compass, accelerometer, barometer, gyroscope.The parameter of real-time monitoring unmanned plane during flying device self: flight angle, highly, the status information such as acceleration.
11. unmanned plane target trackers according to claim 5, it is characterized in that, intelligent vision module described in it adopts industrial camera, be responsible for video image acquisition according to the intelligence setting of microprocessor, and transfer to FPGA to carry out data image treatment and analysis the vedio data collected transmission microprocessor.
12. unmanned plane target trackers according to claim 5, it is characterized in that, flight control modules described in it drives 6 motors of unmanned plane to rotate, by controlling the difference of rotating speed, fixed function that is high and that fly to all directions automatically can be realized, flight control modules also comprises one piece of high precision barometer, and the data returned according to barometer while flight control the rotating speed of motor in conjunction with pid algorithm, can be stabilized in sustained height when ensureing flight.
13. unmanned plane target trackers according to claim 5, it is characterized in that, the data transmission module of the data transmission module described in it and ground parametric controller, by realizing whole target tracking system data link on the wlan network, adopts Transmission Control Protocol to carry out data interaction.
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