CN105353772B - A kind of Visual servoing control method in UAV Maneuver target locating - Google Patents
A kind of Visual servoing control method in UAV Maneuver target locating Download PDFInfo
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention belongs to the technical fields of UAV Flight Control and machine vision mixing together, and in particular to a kind of Visual servoing control method in UAV Maneuver target locating.The method establishes earth coordinates, body coordinate system, camera coordinate system, image coordinate system, body the earth interim coordinate system, pass through the relationship between the coordinate system of above-mentioned foundation, according to the imaging sequence of target, the calculating for carrying out the attitude angle given value of positioning and the target following of target and the attitude angle given value of course line tracking, completes Visual servoing control.The present invention is only needed using single fixed camera to target imaging, by controlling UAV position and orientation, realizes and the high-precision consecutive tracking of maneuvering target is tracked, this method is without tracking holder and Laser Distance Measuring Equipment, the volume and cost for significantly reducing load, improve the concealment of scouting.
Description
Technical field
The invention belongs to the technical fields of UAV Flight Control and machine vision mixing together, and in particular to it is a kind of nobody
Visual servoing control method in machine Positioning and Tracking of Maneuvering Target.
Background technology
And have it is man-machine compared with, unmanned plane has small, low cost, maneuverability, easy to use and wanted to environmental condition
Ask many advantages, such as relatively low.From being born from unmanned plane, it is just constantly progressive with the continuous improvement of scientific and technological level,
And gradually it is widely used in the various fields such as military, civilian, police, performed task includes：Target reconnaissance, tracking prison
Depending on the strike of, target, injure assessment, rescue and relief work, personnel's search and rescue, terrain prospecting etc..Unmanned plane is in daily life
Function, value have been shown up prominently；Effect, status in modernized war just step up, it has also become indispensable tactics
Weapon relies on the unique advantage of zero injures and deaths of battlefield, and the important air armament for becoming future battlefield is unquestionable.Therefore in recent years
Come, the growth momentum of domestic and international unmanned air vehicle technique is very swift and violent.
The positioning and tracking of maneuvering target are one of the critical functions that unmanned plane scouts tracking.Target positioning is exactly to pass through nothing
Man-machine flight parameter and load information calculate coordinate value of the target point under earth coordinates；Target following is then according to fixed
Among maneuvering target is locked in unmanned plane load visual field always by design control strategy, and target is calculated in position information
Movable information.The technology that target identification is carried out using image data has been reached its maturity, and how to be determined using target identification
Position result design servo control strategy carries out the hot and difficult issue that efficient target tracking is still domestic and international unmanned plane research.
Since small-sized and Small and micro-satellite load-carrying ability is limited, no monopod video camera is generally used to carry out in reconnaissance mission
Imaging reconnaissance, video camera itself need to utilize image information design control without ability of tracking to realize target following function
Algorithm, control unmanned plane position and posture by target lock-on heart district domain in the picture, realize the motor-driven mesh of view-based access control model servo
Target positions and tracking.
The method of the present invention can in military operation, realize target be accurately positioned, the tasks such as surveillance and tracking and precision strike；?
In Multi computer cooperation, be conducive to cooperate with completion task；In disaster relief, rapid rescue and treatment of the wounded etc. is realized.Therefore, maneuvering target essence
True locating and tracking has important research significance and wide application prospect.
Invention content
The present invention proposes a kind of Visual servoing control method in UAV Maneuver target locating, by nobody
Machine carries out Visual servoing control, by target lock-on among camera field of view, reaches precision target positioning and tracking effect.
The specific technical solution of the present invention is as follows：The first step determines unmanned plane, GPS, Inertial Measurement Unit, video camera etc.
Equipment state determines camera intrinsic parameter and setting angle；Unit vector i on optical axis is defined, unit is obtained by coordinate system relationship
Expression of the vector under earth coordinates { G }GPi, the optical axis and the ground intersection point A that are asked by aircraft altitude and collinear image formation principle exist
Expression under { G }GPA, and then acquire expressions of the A under body coordinate systemBPA；
Second step, according to scout be imaged selection target point, by target point t in the picture coordinate value (Ixt,Iyt) and camera shooting
Machine intrinsic parameter finds out coordinate value of the target point under camera coordinate system { C }CPt, in conjunction with camera installation locations, angle, aircraft
Current longitude, latitude, height and attitude angle, find out target point earth coordinates { G } coordinateGPt, then resolved by earth model
Target point longitude and latitude is obtained, realizes that target is accurately positioned；
It is current to obtain target according to time interval, the flight information of aircraft in conjunction with last time target positioning result for third step
Motion state, and estimate maneuvering target subsequent time position
4th step, with picture centreIPAFor the desired locations of maneuvering target in the pictureIPtr, then phase of the target at { G }
Hope positionGPtrForGPA, according to error deltaGPt=G Ptr-G PtEquation finds out attitude angle given value θt、φtAnd ψt；
5th step, by aircraft desired locations in flight trackWith aircraft current locationGPBOError deltaGPBO, according to
Horizontal lateral control law and Longitudinal Control Law find out attitude angle given value φ respectivelyrAnd θr.In conjunction with posture in task weight and the 4th step
Angle given value obtains the total specified rate of each attitude angle, with each related rudder face of this SERVO CONTROL unmanned plane, realizes target locating mistake
The maximized Visual servoing control of stability margin in journey.
Advantageous effect：The present invention only needs to realize target imaging by controlling UAV position and orientation using single fixed camera
High-precision consecutive tracking tracking to maneuvering target, this method are significantly reduced without tracking holder and Laser Distance Measuring Equipment
The volume and cost of load, improve the concealment of scouting.This method is generally applicable to the target localization and tracking system of unmanned plane,
Especially it is loaded with the UAV system of the small drone and holder motion failures of fixed video camera.This method to unmanned plane (and
Other are similar to executing agency) high-precision target locating has and important practical significance and has broad application prospects, to fixed
Position new method opens up certain guiding function.
Description of the drawings
Fig. 1 is the device connection diagram that unmanned plane target positioning and tracing method is related to；
Fig. 2 is each coordinate system used in the process of Positioning and Tracking of Maneuvering Target；
Fig. 3 is that longitude and latitude indicates relation schematic diagram with coordinate system under earth model；
Fig. 4 is the lower moving targets location tracking process schematic of unmanned aerial vehicle flight path flight.
Specific implementation mode
Below in conjunction with the accompanying drawings, to a kind of UAV Maneuver target locating side of view-based access control model servo proposed by the present invention
Method specific implementation mode is described in detail.
1 unmanned aerial vehicle platform and coordinate system definition
By taking scouting UAV system as an example, unmanned aerial vehicle platform involved in the present invention includes aircraft subsystem, flight control
Parts, the aircraft subsystems such as computer processed, pattern process computer, video camera include that Inertial Measurement Unit and GPS etc. are set
It is standby, for measuring UAV Attitude and position.Main device connection diagram is as shown in Figure 1.
Each coordinate system used in the process of Positioning and Tracking of Maneuvering Target is as shown in Fig. 2, each coordinate system is defined as follows：
Earth coordinates { G }：The target locating moment is proceeded by with unmanned plane, projection of the center of gravity on ground is used as complete
The changeless geodetic coordinates origin of office, X-axis are parallel to warp, and Y-axis is parallel to weft, and Z axis is directed toward ground perpendicular to XOY plane
The heart.
Body coordinate system { B }：It using drone center of unmanned aerial vehicle as origin, is connected on unmanned plane, X-axis is in unmanned plane symmetrical plane
It is parallel to design axis and is directed toward head, Y-axis is directed toward perpendicular to unmanned plane symmetrical plane on the right side of body, and Z axis hangs down in symmetrical plane
Directly it is directed toward below fuselage in X-axis.
Camera coordinate system { C }：Using camera optical center as origin, X-axis is respectively parallel to the vertical and horizontal of image with Y-axis
Straight line, Z axis is camera optical axis, vertical with the plane of delineation.The XOY plane angle for defining camera optical axis and { B } is the angle of site
α, optical axis are just on plane；The plane included angles XOZ of optical axis and { B } are azimuthal angle beta, and optical axis is on the right side of plane for just.
Image coordinate system { I }：Using image upper left angle point as origin two-dimensional coordinate system, X-axis is parallel to image leftmost side longitudinal direction
Pixel line, Y-axis are parallel to horizontal pixel line, and coordinate value x and y indicate the line number and columns of pixel respectively.
Body the earth interim coordinate system { GB }：Using drone center of unmanned aerial vehicle as origin, each axis of X, Y, Z is parallel to earth coordinates
{G}。
During unmanned plane reconnaissance flight, pose table of any time body coordinate system { B } relative to earth coordinates { G }
Show, is uniquely determined by the longitude of aircraft, latitude, height and attitude angle.According to earth coordinates { G } and body coordinate system { B }
Longitude, latitude and height, as shown in Figure 3 earth model can solve coordinate of { B } origin at { G }GPBO=(GxBO,GyBO,GzBO
)T, the expression of { B } at { G } can be obtained in conjunction with the pitching angle theta of body, yaw angle ψ, roll angle φThe expression of { B } at { G }
Being defined by coordinate system can obtain, the expression of { B } at { GB }The expression of { B } at { GB }For：
Camera coordinate system { C } relative to { B } pose by video camera fixed positionBPCO=(BxCO,ByCO,BzCO)T, when
Preceding angle of site α and azimuthal angle beta determine that after setting angle is fixed, the expression of { C } at { B } immobilizes：
Image coordinate system is determined that camera intrinsic parameter includes in image with camera coordinate system relationship by camera intrinsic parameter
Heart coordinateIPIcent=(IxIcent,IyIcent,1)T, focal length f, proportionality factors lambda etc..By perspective projection model it is found that in image
Heart pixel coordinate coordinate representation under camera coordinate system { C } isCPIcent=(0,0, f)T, then { I } be expressed as at { C }：
According to the relationship between above-mentioned each coordinate system, arbitrary point can be easily found out under a certain coordinate system in other coordinates
The coordinate representation of system.
2 maneuvering targets are accurately positioned
When unmanned plane flies to after scouting region, opening load video camera proceeds by scouting, remembers the intersection point of optical axis and ground
For A.According to the relationship between each coordinate system described above, unit vector i on camera light axis is defined, then it sits in video camera
Mark is that the homogeneous coordinates under { C } areCPi=(0,0,1,1)T, according to the pose of video camera by formula (5), body coordinate system can be obtained
Expression under { B }BPi：
According to the pose of aircraft by formula (1), the expression under earth coordinates { G } is acquiredGPi：
According to perspective imaging principle and imaging triangular relationship, calculates to obtain optical axis by aircraft altitude and ground intersection point A exists
Coordinate under { G }GPA.It is found out further according to formula (2)BPA, use in subsequent calculations.(by earth model and the current longitude and latitude of aircraft
Degree, byBPAA point longitudes and latitude can be obtained.The origin of earth coordinates can take a certain moment platform information to calculate according to the method
It obtains, also can use known point.)
After unmanned plane finds target, interesting target point is selected according to reconnaissance mission, by selected target point t in image coordinate
It is the homogeneous coordinates under { I }IPt=(Ixt,Iyt,1,1)T, obtained according to formula (6)CPt, can then find out successivelyBPt、GPt：
By earth model and longitude and latitude relationship, the high information of longitude and latitude of target point t is found out, realizes that target is accurately positioned.For
For maneuvering target, this method can be according to positioning states estimating target motion information twice.At usual pattern process computer
Time interval, the flight information of aircraft that speed is very fast, is positioned according to target twice are managed, the current movement shape of target is obtained
State, and estimate maneuvering target subsequent time positionTo improve system hit rate in maneuvering target strike.
Maneuvering target tracking under 3 unmanned plane Visual servoing controls
In unmanned plane autonomous surveillance flight course, it is desirable to keep target point in the center of image, it is maximum to obtain
Stability margin.For the scouting load for having holder, after providing unmanned plane reconnaissance route or trajectory planning, track and localization mistake
Journey can rely on the SERVO CONTROL lock onto target heart position in the picture of holder.When load holder motion failures or no holder
When, to realize that stability margin maximizes, can be realized by controlling UAV Attitude, it is specific as follows：
According to the derivation of formula (7) and (8), required by convolution (3) and frontBPA, can acquire respectivelyGPtWithGBPtr=GPA, then error is ΔGPt=GPtr-GPt, thus equation group find out attitude angle given value θt、φtAnd ψt；
By aircraft desired locations in flight trackWith aircraft current locationGPBOError
Roll angle given value φ is found out according to horizontal lateral control lawr
Find out pitch angle given value θ respectively according to Longitudinal Control Lawr
In conjunction with task weight λmThe attitude angle given value for distributing target following and course line tracking, is always exported
θ=λmθt+(1-λm)φr
φ=λmφt+(1-λm)φr (12)
ψ=ψt
Given in this, as the inner ring of flight control, each related rudder face of SERVO CONTROL unmanned plane realizes target locating
The maximized Visual servoing control of stability margin in the process.
Claims (5)
1. a kind of Visual servoing control method in UAV Maneuver target locating, which is characterized in that the method application
Unmanned plane carries out Visual servoing control, by target lock-on among camera field of view；
The method establishes earth coordinates, body coordinate system, camera coordinate system, image coordinate system, body the earth transition seat
Mark system, by the relationship between the coordinate system of above-mentioned foundation, carry out positioning and the target following of target attitude angle given value and
The calculating of the attitude angle given value of course line tracking, completes Visual servoing control；
It the described method comprises the following steps：
A the equipment state and device parameter of positioning device on unmanned plane, Inertial Measurement Unit and video camera, the camera shooting) are determined
The device parameter of machine includes camera intrinsic parameter and setting angle, determines that optical axis refers to according to camera intrinsic parameter and setting angle
To determining that the position of optical axis and ground intersection point on unmanned plane body coordinate system indicates by correlation between each coordinate system；
B it) being imaged according to the scouting of video camera, selection target point determines coordinate position of the target point in camera coordinate system, then
Position location of the target point on earth model is obtained in conjunction with the device parameter of video camera；
C the current motion state of target point) is obtained, and estimate target point in conjunction with the flight information of unmanned plane according to positioning result
The position at lower a moment；
D) using picture centre as the desired locations of target point, the attitude angle given value of target following is gone out according to error calculation；
E) by the error of aircraft desired locations and aircraft current location in unmanned aerial vehicle flight path, according to horizontal lateral control law and longitudinal control
System rule finds out the attitude angle given value of course line tracking respectively, the posture tracked according to the attitude angle given value of target following and course line
Angle given value obtains the total given value of each attitude angle, with the related rudder face of this SERVO CONTROL unmanned plane, realizes target locating mistake
The maximized Visual servoing control of stability margin in journey.
2. the Visual servoing control method in a kind of UAV Maneuver target locating according to claim 1, special
Sign is, the earth coordinates { G }：The target locating moment is proceeded by with unmanned plane, projection of the center of gravity on ground is made
For global changeless geodetic coordinates origin, X-axis is parallel to warp, and Y-axis is parallel to weft, and Z axis refers to perpendicular to XOY plane
To the earth's core；
Body coordinate system { B }：It using drone center of unmanned aerial vehicle as origin, is connected on unmanned plane, X-axis is parallel in unmanned plane symmetrical plane
It is directed toward head in design axis, Y-axis is directed toward perpendicular to unmanned plane symmetrical plane on the right side of body, and Z axis is in symmetrical plane perpendicular to X
Axis is directed toward below fuselage；
Camera coordinate system { C }：Using camera optical center as origin, the vertical and horizontal that X-axis is respectively parallel to image with Y-axis are straight
Line, Z axis is camera optical axis, vertical with the plane of delineation；The XOY plane angle for defining camera optical axis and { B } is angle of site α,
Optical axis is just on plane；The plane included angles XOZ of optical axis and { B } are azimuthal angle beta, and optical axis is on the right side of plane for just；
Image coordinate system { I }：Using image upper left angle point as origin two-dimensional coordinate system, X-axis is parallel to image leftmost side longitudinal direction pixel
Line, Y-axis are parallel to horizontal pixel line, and coordinate value x and y indicate the line number and columns of pixel respectively；
Body the earth interim coordinate system { GB }：Using drone center of unmanned aerial vehicle as origin, X, Y, Z are each
Axis is parallel to earth coordinates { G }.
3. the Visual servoing control method in a kind of UAV Maneuver target locating according to claim 2, special
Sign is that the relationship between the coordinate system includes：
Coordinate of { B } origin at { G } is obtained according to location information and earth modelGPBO=(GxBO,GyBO,GzBO)T, in conjunction with body
Pitching angle theta, yaw angle ψ, roll angle φ obtain the expression of { B } at { G }The expression of { G } at { B }
It is defined and is obtained by coordinate system, the expression of { B } at { GB }The expression of { GB } at { B }For：
Camera coordinate system { C } relative to { B } pose by video camera fixed positionBPCO=(BxCO,ByCO,BzCO)T, angle of site α
Determine that { C } is expressed as at { B } with azimuthal angle beta：
Image coordinate system is determined that camera intrinsic parameter includes that picture centre is sat with camera coordinate system relationship by camera intrinsic parameter
MarkIPIcent=(IxIcent,IyIcent,1)T, focal length f, proportionality factors lambda；By perspective projection model it is found that picture centre pixel
Coordinate coordinate representation under camera coordinate system { C } isCPIcent=(0,0, f)T, then { I } be expressed as at { C }：
4. the Visual servoing control method in a kind of UAV Maneuver target locating according to claim 3, special
Sign is that the optical axis of the video camera and the intersection point on ground are A, and the unit vector on camera light axis is i, and i is in video camera
The homogeneous coordinate system of coordinate system isCPi=(0,0,1,1)T, according to the pose of video camera by formula (5), body coordinate system can be obtained
Expression under { B }BPi：
According to the pose of aircraft by formula (1), the expression under earth coordinates { G } is acquiredGPi：
According to perspective imaging principle and imaging triangular relationship, calculated to obtain optical axis with ground intersection point A at { G } by aircraft altitude
CoordinateGPA, found out further according to formula (2)BPA；
After unmanned plane finds target, by homogeneous coordinates of the selected target point t under image coordinate system { I }IPt=(Ixt,Iyt,1,1
)T, obtained according to formula (6)CPt, can then find out successivelyBPt、GPt：
5. the Visual servoing control method in a kind of UAV Maneuver target locating according to claim 4, special
Sign is, according to formula (7) and (8), convolution (3) and obtainedBPA, acquire respectivelyGPtWithGBPtr=GPA, then error is ΔGPt=GPtr-GPt, describedGBPtrThe expectation coordinate for being target point at { GB }；Thus equation group finds out attitude angle given value θt、
φtAnd ψt；
By aircraft desired locations in flight trackWith aircraft current locationGPBOErrorAccording to cross
Lateral control law finds out roll angle given value φr
Find out pitch angle given value θ respectively according to Longitudinal Control Lawr
In conjunction with task weight λmThe attitude angle given value for distributing target following and course line tracking, is always exported
θ=λmθt+(1-λm)θr
φ=λmφt+(1-λm)φr (12)
ψ=ψt
In this, as flight control inner ring given value, SERVO CONTROL unmanned plane rudder face, realize target locating during
Visual servoing control.
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