CN105321162A - Real-time single and multiple object optimized positioning method for moving objects - Google Patents
Real-time single and multiple object optimized positioning method for moving objects Download PDFInfo
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- CN105321162A CN105321162A CN201410350844.9A CN201410350844A CN105321162A CN 105321162 A CN105321162 A CN 105321162A CN 201410350844 A CN201410350844 A CN 201410350844A CN 105321162 A CN105321162 A CN 105321162A
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Abstract
The invention provides a real-time single and multiple object optimized positioning method for moving objects. The method comprises system states including calculation waiting, object initialization, multi-object positioning measurement, single-object positioning measurement and object position prediction; the measurement state is optimized or changed according to object search, multi-object tracking measurement, single-object tracking measurement and transient object loss conditions and the like; different measures are used to position the moving objects; the measurement information is fully utilized, the positioning precision is improved, and the measurement continuity is ensured as possible; and real-time optimized positioning measurement for the objects is realized.
Description
Technical field
The present invention relates to the technical field such as videographic measurment, moving target location, refer in particular to and utilize single many orders to the real-time location method of moving target, according to the real-time optimization process of measuring condition utilization state transfer method realize target location.
Background technology
Moving target is positioned at Research on Target and scouts and test the fields such as observing and controlling have important application with attacking and defending, aircraft.Relying on radar emission electromagnetic wave receiving target echo to realize the location of target is the major way of current kinetic target localization, but radar detection belongs to Active measuring, is easily found by the other side and instead to hit in confrontation on the battlefield.Videographic measurment utilizes camera imaging to determine target location, is a kind of passive measurement, has that precision is high, a feature such as noncontact, cost are low, has many more ripe application in fields such as target measurement, target following, target range observing and controlling.
When utilizing photographing measurement method carry out target measurement and follow the tracks of, generally need set up fixation measuring base station or traverse measurement platform, adopt the optical measuring apparatus such as cinetheodollite, high-speed camera to take target following, obtain image and data.Utilize double image machine or many cameras can obtain target location by sight line intersection, the requirement to the condition such as synchronous imaging, intersection angle after merging target trajectory, can be weakened.The single camera imaging of tradition generally only can determine the direction of visual lines of target relative measurement point, cannot determine target location, by increasing the utility appliance such as range finding, utilizing object construction information or motion track information etc., can realize monocular to multiobject location.
The difficult point that moving target is located in real time is the change that target travel causes videographic measurment condition, is difficult to adopt a kind of fixing locator meams, as video camera lose objects causes measuring camera decreased number, even all video camera lose objects in the short time; Video camera recapture target causes measuring camera increased number, and metrical information increases.Especially, in confrontation on the battlefield environment, the motor-driven video camera that makes of some evading property of target is more difficult to tenacious tracking, and the change of measuring condition is more frequent.Therefore when carrying out moving target location survey, need according to multiple situations such as measuring condition optimization process target search, many range estimations amount, monocular and target transient loss, make full use of metrical information and improve positioning precision and the continuity ensureing measurement as far as possible, the real-time optimization realizing moving target position is measured.This problem is studied there are no open source literature at present.
Summary of the invention
The technical problem to be solved in the present invention is list many orders real-time optimization orientation problem of moving target, for there is the multiple situation change such as target search, many orders tracking measurement, monocular tracking measurement and target transient loss in moving target location, measuring state conversion is carried out, the optimization process of realize target location according to real-time conditions.
Technical scheme of the present invention is the multiple measuring state of design, comprise measuring states such as calculating wait, object initialization, many orders location survey, monocular location survey, target prodiction, in real time according to measuring condition, carry out measuring state optimization transfer, thus adopt distinct methods to locate moving target, make full use of metrical information, the real-time optimization location survey of realize target.
The real-time location survey state of the many orders of moving target list of the present invention comprises calculating wait, object initialization, many orders location survey, monocular location survey, target prodiction 5 states.Target just proceeds to object initialization state once there be video camera to detect to be in the system calculating waiting status, according to detecting that the video camera number of target proceeds to monocular location survey or many orders location survey state after object initialization completes the task such as target label, target measurement information data library initialization; If all video camera transient loss targets, then target approach position prediction state, according to target travel historical track future position; If there is video camera again target to be detected, then go back to monocular location survey or many orders location survey state; After target location predicts to exceed certain hour threshold value continuously, then no longer carry out this target following measurement, enter calculating waiting status.System state setting and jump condition are as shown in Figure 1.
The task description of each measuring state is as follows:
1, waiting status is calculated
Show do not have measurement target when being in this state, system, constantly according to camera review searching and detecting target, once find target, proceeds to object initialization state at once.
2, object initialization state
Object initialization realizes target label, initialized target metrical information database task.Whether is fresh target according to target, object initialization is divided into two classes:
Newly occur object initialization: make a mark to target, set up new object information data storehouse and describe this fresh target, putting target information is active state;
Lose reproducing target initialization: because this target makes marks, and establish information database, only need restart this target information is active state.
3, many orders location survey state
Under many orders imaging synchronous condition, adopt the intersection of many line of sight directly to target localization, and utilize object location history information to data smoothing, reduce crossing location error; In the imaging of many orders under the asynchronous or improper condition of intersection angle, make full use of target trajectory information, hypothetical target kinetic characteristic meets certain rule, according to the target travel historical information determination parameters of target motion, by many line of sight and the intersection of parametrization target trajectory, make full use of metrical information and optimize measurement target position.
4, monocular location survey state
Because monocular sight line only can determine the direction of target, cannot target range be determined, therefore need in monocular location survey according to some prior imformations of target target localization.For cooperative target, if target image is comparatively clear, utilize object construction information (as target signature point, target area, target length etc.) and line of sight direction as jointly retraining target localization; If target is (as ground) motion in known altitude plane, utilize line of sight direction and height face intersection to target localization; If hypothetical target motion meets certain rule, then can set up moving equation according to target histories track and the characteristics of motion, according to sight line observation Optimization Solution kinematic parameter, realize target localization.
5, target prodiction state
Target prodiction, for short time future position after track rejection, can keep the continuity of target localization, also be convenient to the recapture of realize target.
Target prodiction is according to target histories track and target movement model future position, for maneuvering target, due to target movement model be difficult to very accurate, generally the long time should not be predicted, by the setup times threshold value control forecasting time, after prediction exceedes certain hour threshold value continuously, stop the location to target, proceed to calculating waiting status.
Adopt the present invention can reach following technique effect:
1) the present invention is directed to list many orders real-time optimization orientation problem of moving target, devise multiple measuring state, state transfer is carried out according to measuring condition, select suitable localization method, can the multiple situation such as optimization process target search, many orders tracking measurement, monocular tracking measurement and target transient loss, the real-time optimization realizing moving target position is measured.
2) many orders location survey of the present invention and monocular location survey consider multiple situation, can select a kind of method in advance during use according to measuring condition, also can in real time according to condition method for optimizing or multiple method fusion treatment.
Accompanying drawing explanation
The real-time positioning measurment system state of the many orders of Fig. 1 moving target list and jump condition.
Embodiment
The real-time positioning measurment system state of the many orders of moving target list shown in accompanying drawing 1 comprises calculating wait, object initialization, many orders location survey, monocular location survey, target prodiction 5 states.System is according to current state and detect that the condition such as video camera number, predicted time of target carries out state transfer.
1, wait and object initialization is calculated
Calculate the location survey that waiting status does not carry out target, adopting recycle design constantly to detect in real time in each camera review has driftlessness, once find target, proceeds to object initialization state at once.
Object initialization state to target label, initialized target metrical information database task.For newly occurring that target makes a mark, setting up new object information data storehouse and describing this fresh target, putting target information is active state; Restarting this target information to loss reproducing target is active state.When positioning measurement to multiple moving target simultaneously, then marking multiple target is active state, and the information database of these targets all carries out real-time update.
2, many orders locating measurement method
During many orders location survey, target location can be determined to the direct sight line intersection of the video camera of synchronous imaging, but consider that many orders imaging possibility is asynchronous or intersection angle is improper, target movement model information need be made full use of.If target movement model is
（1）
Wherein
,
,
that target exists respectively
the position in moment, speed and acceleration,
for the perturbing vector of acceleration.
Under the position of known measurement video camera, attitude, intrinsic parameter and target coordinate condition in the picture, target relative camera can be determined
direction of visual lines, be set to
, then target location meets
（2）
Wherein
for video camera
?
the position in moment,
for target is at a distance of the distance of video camera.Each video camera of many visual observations gives the target location observation equation of similar formula (2).
Can wave filter be set up according to formula (1) and (2), merge the position of the observation filtering estimating target of multiple video camera, speed and acceleration, realize target many orders location survey.
3, monocular locating measurement method
Monocular location survey can according to condition choosing one of with the following method:
(1) architectural feature point location method
If target image is clear, object construction information is known, can extract the several unique points on target image, if the image coordinate of unique point is
(subscript
for the numbering of video camera, subscript
for feature period
), the
the physical location coordinate of individual unique point in objective body structure is
, then according to shooting model, have
（3）
Wherein
for unique point
to video camera
the projection of line on optical axis of photocentre,
,
for video camera
's
direction,
the equivalent focal length in direction,
,
for video camera
's
direction,
the figure principal point coordinate in direction,
for
moment object construction coordinate is tied to video camera
the rotation matrix of coordinate system,
for
moment object construction coordinate origin is at the motion vector of camera coordinate system.
After extracting multiple unique point, the pose computation of computer vision field can be utilized to solve according to formula (3)
with
, obtain the position of target relative camera, realize target is located.
Except point patterns, the architectural features such as the line features in target, target area, length also can be utilized to carry out target location calculating.
(2) line of sight and height face intersection
If target is (as ground) motion in known altitude plane, line of sight direction and height face intersection can be utilized target localization.
If
moment object height is
, position for video camera is set to
, the direction of visual lines of target relative camera is
, target location
meet formula (2), wherein
can obtain according to high computational
（4）
Wherein
represent the altitude channel of vector.
(3) target trajectory merges location
Hypothetical target motion meets formula (1), single camera observation in each moment can obtain the target location observation equation of 1 similar formula (2), set up wave filter, the position of filtering estimating target, speed and acceleration, realize target many orders location survey.
4, target prodiction method
Target prodiction can adopt the method for filtering recursion or fitting of a polynomial.
(1) filtering recurrence method
Moment before losing according to target histories track optimizing estimating target
the position of target
, speed
and acceleration
, carry out stepwise predict target location according to following formula
（5）
Starting condition is:
.
(2) polynomial fitting method
According to the polynomial expression of target histories position Time Created,
（6）
Polynomial parameters is estimated in matching
,
,
, (
), according to formula (6), current target position is predicted.
Claims (5)
1. list many orders real-time optimization localization method of a moving target, it is characterized in that, comprise and calculate wait, object initialization, many orders location survey, monocular location survey, target prodiction 5 measuring states, in real time according to measuring condition, carry out measuring state optimization transfer, realize the real-time optimization location survey to target, be specially:
Target just proceeds to object initialization state once there be video camera to detect to be in the system calculating waiting status, according to detecting that the video camera number of target proceeds to monocular location survey or many orders location survey state after object initialization completes target label, target measurement information database initialization task; If all video camera transient loss targets, then target approach position prediction state, according to target travel historical track future position; If there is video camera again target to be detected, then go back to monocular location survey or many orders location survey state; After target location predicts to exceed certain hour threshold value continuously, then no longer carry out this target following measurement, enter calculating waiting status.
2. list many orders real-time optimization localization method of a kind of moving target according to claim 1, it is characterized in that, described calculating waiting status does not carry out the location survey of target, adopt recycle design constantly to detect in real time in each camera review and have driftlessness, once discovery target, proceed to object initialization state at once;
Described object initialization state to target label, initialized target metrical information database tasks, for newly occurring that target makes a mark, setting up new object information data storehouse and describing this fresh target, putting target information is active state; Restarting this target information to loss reproducing target is active state, and when positioning measurement to multiple moving target simultaneously, then marking this multiple target is active state, and the information database of these targets all carries out real-time update;
Under described many orders imaging synchronous condition, adopt the intersection of many line of sight directly to target localization, and utilize object location history information to data smoothing, reduce crossing location error; In the imaging of many orders under the asynchronous or improper condition of intersection angle, make full use of target trajectory information, hypothetical target kinetic characteristic meets rule, according to the target travel historical information determination parameters of target motion, by many line of sight and the intersection of parametrization target trajectory, make full use of metrical information and optimize measurement target position;
To need in described monocular location survey according to some prior imformations of target, to target localization, for cooperative target, if target image is comparatively clear, to utilize object construction information and line of sight direction as jointly retraining target localization; If target is at known altitude move in plane, utilize line of sight direction and height face intersection to target localization; Hypothetical target motion meets rule, then can set up moving equation according to target histories track and the characteristics of motion, according to sight line observation Optimization Solution kinematic parameter, realizes target localization;
Described target prodiction, for short time future position after track rejection, keeps the continuity of target localization, is also convenient to the recapture of realize target.
3. list many orders real-time optimization localization method of a kind of moving target according to claim 1, is characterized in that, during described many orders location survey, determines target location, if target movement model is to the direct sight line intersection of the video camera of synchronous imaging
（1）
Wherein
,
,
that target exists respectively
the position in moment, speed and acceleration,
for the perturbing vector of acceleration;
Under the position of known measurement video camera, attitude, intrinsic parameter and target coordinate condition in the picture, determine target relative camera
direction of visual lines, be set to
, then target location meets
（2）
Wherein
for video camera
?
the position in moment,
for target is at a distance of the distance of video camera, each video camera of many visual observations provides the target location observation equation of formula (2);
Can wave filter be set up according to formula (1) and (2), merge the position of the observation filtering estimating target of multiple video camera, speed and acceleration, realize target many orders location survey.
4. list many orders real-time optimization localization method of a kind of moving target according to claim 1, is characterized in that, described monocular location survey according to condition choosing one of with the following method:
(a) architectural feature point location method
If target image is clear, object construction information is known, can extract the several unique points on target image, if the image coordinate of unique point is
, subscript
for the numbering of video camera, subscript
for feature period
, the
the physical location coordinate of individual unique point in objective body structure is
, then according to shooting model, have
(3)
Wherein
for unique point
to video camera
the projection of line on optical axis of photocentre,
,
for video camera
's
direction,
the equivalent focal length in direction,
,
for video camera
's
direction,
the figure principal point coordinate in direction,
for
moment object construction coordinate is tied to video camera
the rotation matrix of coordinate system,
for
moment object construction coordinate origin is at the motion vector of camera coordinate system;
After extracting multiple unique point, the pose computation of computer vision field can be utilized to solve according to formula (3)
with
, obtain the position of target relative camera, realize target is located;
Except point patterns, the architectural features such as the line features in target, target area, length also can be utilized to carry out target location calculating;
(b) line of sight and height face intersection
If target is at known altitude move in plane, utilize line of sight direction and height face intersection to target localization,
If
moment object height is
, position for video camera is set to
, the direction of visual lines of target relative camera is
, target location
meet formula (2), wherein
can obtain according to high computational
(4)
Wherein
represent the altitude channel of vector,
C () target trajectory merges location
Hypothetical target motion meets formula (1), single camera observation in each moment can obtain the target location observation equation of 1 similar formula (2), set up wave filter, the position of filtering estimating target, speed and acceleration, realize target many orders location survey.
5. list many orders real-time optimization localization method of a kind of moving target according to claim 1, is characterized in that, described target prodiction adopts the method for filtering recursion or fitting of a polynomial,
(d) filtering recurrence method
Moment before losing according to target histories track optimizing estimating target
the position of target
, speed
and acceleration
, carry out stepwise predict target location according to following formula
（5）
Starting condition is:
;
(e) polynomial fitting method
According to the polynomial expression of target histories position Time Created,
（6）
Polynomial parameters is estimated in matching
,
,
,
, according to formula (6), current target position is predicted.
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