CN105716584A - Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera - Google Patents
Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera Download PDFInfo
- Publication number
- CN105716584A CN105716584A CN201610199998.1A CN201610199998A CN105716584A CN 105716584 A CN105716584 A CN 105716584A CN 201610199998 A CN201610199998 A CN 201610199998A CN 105716584 A CN105716584 A CN 105716584A
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- China
- Prior art keywords
- oblique photograph
- photograph camera
- inertial navigation
- photographic camera
- oblique
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Stereoscopic And Panoramic Photography (AREA)
Abstract
The invention discloses an oblique photographic camera provided with a self-stabilizing system and a control method of the oblique photographic camera. An inertial navigation system and a servo drive system are arranged on the oblique photographic camera, wherein the inertial navigation system comprises an inertial navigation sensor (1); the servo drive system comprises a roll servo brushless motor (2) and a pitch servo brushless motor (3); the oblique photographic camera further comprises a control circuit system. The control rate of the inertial navigation system is quite high, posture change of the oblique photographic camera due to posture change of an unmanned aerial vehicle can be responded rapidly, so that the servo drive system is controlled to calibrate the oblique photographic camera in real time, and a very good practical effect of the oblique photographic camera can be realized through combination with a physical damping system.
Description
Technical field
The present invention relates to the oblique photograph equipment used by survey field, especially relate to a kind of band oblique photograph camera from steady system and control method thereof.
Background technology
In recent years international remote sensing and survey field grown up a new and high technology it be exactly oblique photograph technology.It breaches tradition aerial survey one camera can only obtain the limitation of orthography from vertical angle shooting, by carrying multiple stage sensor on same flying platform, simultaneously from vertical, tilt multiple different angles collection real image with spatial information, to obtain more comprehensively atural object grain details, present the world true directly perceived meeting human eye vision for user.But oblique photograph camera traditional at present and aircraft (being mostly rotor wing unmanned aerial vehicle and gliding type unmanned plane at present) are all rigid connections or increase some damping devices (such as damping cotton or shock-absorbing ball etc.), aircraft can produce dither in the process of high-speed flight, above-mentioned rigid connection or physics damping device are not enough to filter out the image generation deleterious effect (as photo is stuck with paste) that inclined camera so will be collected by this dither, traditional mode is to be reduced by the time of exposure of reduction camera sensor to gather the probability that photo paste falls, under the weather that light is bad, so can bring image exposure shortcoming not fully equally；Oblique photograph technology requires that just penetrating camera is perpendicular to ground as much as possible simultaneously, the particularly feature of many rotor wing unmanned aerial vehicles, in rotor wing unmanned aerial vehicle flight course, the power rotor wing unmanned aerial vehicle in order to produce direction, course must keep the body such propeller of inclination could produce thrust forward, the more fast angle of inclination of unmanned plane speed must be more big, if carry oblique photograph equipment, each sensor can produce an angle of inclination with ground, as shown in figure, bring very big trouble so will to image acquisition and the 3D in later stage modeling, equally also can affect the quality of modeling, if ensureing that collection effect and the necessary flight speed of modeling quality unmanned plane can not be too high, collecting efficiency can be reduced so again.
Summary of the invention
It is an object of the invention to provide a kind of band oblique photograph camera from steady system and control method thereof, it is possible to reduce the impact that the dither of aircraft brings to oblique photograph camera；Increase the camera exposure time, strengthen image acquisition quality；Increase unmanned plane during flying speed and improve image acquisition efficiency.
The technical solution used in the present invention is:
A kind of band is from the oblique photograph camera of steady system, and described oblique photograph camera is provided with inertial navigation system and servo drive system；Described inertial navigation system includes inertial navigation sensor, and described servo drive system includes roll servo brushless electric machine and elevation servo brushless electric machine, and described oblique photograph camera also includes control circuit system.
Described inertial navigation sensor comprises gyroscope and accelerometer.
Described control method comprises the steps of: first oblique photograph camera is mounted on rotor wing unmanned aerial vehicle needs static a moment, oblique photograph camera can be carried out initialization of calibration by control circuit system so that the pitch axis of oblique photograph camera and roll axle all with ground level keeping parallelism；Then unmanned plane takes off in normal operation, and Attitude Algorithm passes through inertial navigation sensor generated data, will record the skyborne attitude of oblique photograph camera；Last control circuit system by Attitude Algorithm will draw oblique photograph camera pitch axis and roll axle respectively with the difference of original state, then by control roll servo brushless electric machine make oblique photograph camera remain parallel with ground level with elevation servo brushless electric machine.
The invention has the beneficial effects as follows:
Increase the impact that inclined camera can be made to avoid dither to bring from steady system, it is possible to extend camera exposure time acquirement better image collection effect.
Increase the work not interfering with inclined camera from the flight inclination angle of steady system unmanned plane and therefore can increase the flight speed of unmanned plane thus improving the collecting efficiency of image.
Accompanying drawing explanation
Fig. 1 is that many rotors normal flight oblique photograph camera is not added with from steady schematic diagram；
Fig. 2 is that many rotors normal flight oblique photograph camera adds from steady schematic diagram；
Fig. 3 is the band oblique photograph camera schematic diagram from steady system.
Wherein: 1, inertial navigation sensor；2, roll servo brushless electric machine；3, elevation servo brushless electric machine；4, control circuit system.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As Figure 1-3, a kind of band is from the oblique photograph camera of steady system, and described oblique photograph camera is provided with inertial navigation system and servo drive system；Described inertial navigation system includes inertial navigation sensor 1, and described servo drive system includes roll servo brushless electric machine 2 and elevation servo brushless electric machine 3, and described oblique photograph camera also includes control circuit system 4.
Described inertial navigation sensor 1 comprises gyroscope and accelerometer.
Described control method comprises the steps of: first oblique photograph camera is mounted on rotor wing unmanned aerial vehicle needs static a moment, control circuit system 4 can carry out initialization of calibration to oblique photograph camera so that the pitch axis of oblique photograph camera and roll axle all with ground level keeping parallelism；Then unmanned plane takes off in normal operation, and Attitude Algorithm produces data by inertial navigation sensor 1, will record the skyborne attitude of oblique photograph camera；Last control circuit system 4 by Attitude Algorithm will draw oblique photograph camera pitch axis and roll axle respectively with the difference of original state, then make oblique photograph camera remain parallel with ground level with elevation servo brushless electric machine 3 by controlling roll servo brushless electric machine 2.
Owing to the speed control of this inertial navigation control system is very fast, can the attitudes vibration of inclined camera that brings of the attitudes vibration of response unmanned plane self quickly, thus inclined camera is corrected by real-time control servosystem, then in conjunction with physics shock mitigation system, inclined camera will obtain extraordinary practical function, as in figure 2 it is shown, the flight of unmanned plane normal dip, band is also to maintain parallel with ground level from steady system tilt camera.
Above-mentioned detailed description of the invention is used for illustrating the present invention, rather than limits the invention, in the spirit and scope of the claims of the present invention, and any amendment that the present invention is made and change, both fall within protection scope of the present invention.
Claims (3)
1. a band is from the oblique photograph camera of steady system, it is characterised in that: described oblique photograph camera is provided with inertial navigation system and servo drive system；Described inertial navigation system includes inertial navigation sensor (1), described servo drive system includes roll servo brushless electric machine (2) and elevation servo brushless electric machine (3), and described oblique photograph camera also includes control circuit system (4).
2. a kind of band according to claim 1 is from the oblique photograph camera of steady system, it is characterised in that: described inertial navigation sensor (1) comprises gyroscope and accelerometer.
3. the band utilized described in claim 2 is from the control method of the oblique photograph camera of steady system, it is characterized in that, described control method comprises the steps of: first oblique photograph camera is mounted on rotor wing unmanned aerial vehicle needs static a moment, control circuit system (4) can carry out initialization of calibration to oblique photograph camera so that the pitch axis of oblique photograph camera and roll axle all with ground level keeping parallelism；Then unmanned plane takes off in normal operation, and Attitude Algorithm produces data by inertial navigation sensor (1), will record the skyborne attitude of oblique photograph camera；Last control circuit system (4) by Attitude Algorithm will draw oblique photograph camera pitch axis and roll axle respectively with the difference of original state, then by control roll servo brushless electric machine (2) make oblique photograph camera remain parallel with ground level with elevation servo brushless electric machine (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199998.1A CN105716584A (en) | 2016-03-31 | 2016-03-31 | Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610199998.1A CN105716584A (en) | 2016-03-31 | 2016-03-31 | Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105716584A true CN105716584A (en) | 2016-06-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610199998.1A Pending CN105716584A (en) | 2016-03-31 | 2016-03-31 | Oblique photographic camera provided with self-stabilizing system and control method of oblique photographic camera |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502258A (en) * | 2016-10-28 | 2017-03-15 | 易瓦特科技股份公司 | A kind of method and apparatus of adjustment UAV Attitude |
| WO2019001000A1 (en) * | 2017-06-29 | 2019-01-03 | 京东方科技集团股份有限公司 | Method and device for stabilizing imaging apparatus at motorized device, and device |
| CN109634292A (en) * | 2018-12-03 | 2019-04-16 | 广东国图勘测地理信息有限公司 | A kind of oblique photograph aerial surveying camera system |
| CN113625738A (en) * | 2021-08-17 | 2021-11-09 | 佛山市鹰火微峰科技有限公司 | Self-adaptive attitude adjustment system and method |
| CN114449164A (en) * | 2021-12-27 | 2022-05-06 | 广州极飞科技股份有限公司 | Photographing method and device, unmanned equipment and storage medium |
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| CN2060537U (en) * | 1989-08-12 | 1990-08-15 | 陕西省地质矿产局测绘队 | Self-controlled platform for aerial remote sense photographic instrument |
| CN202295294U (en) * | 2011-09-15 | 2012-07-04 | 深圳市大疆创新科技有限公司 | Cradle head for unmanned aerial vehicle |
| CN104390110A (en) * | 2014-11-04 | 2015-03-04 | 南京航空航天大学 | Tri-axial dynamic self-stabilizing cradle head and working method thereof |
| CN204937523U (en) * | 2015-08-06 | 2016-01-06 | 江苏优埃唯智能科技有限公司 | Unmanned aerial vehicle camera The Cloud Terrace |
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2016
- 2016-03-31 CN CN201610199998.1A patent/CN105716584A/en active Pending
Patent Citations (4)
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| CN2060537U (en) * | 1989-08-12 | 1990-08-15 | 陕西省地质矿产局测绘队 | Self-controlled platform for aerial remote sense photographic instrument |
| CN202295294U (en) * | 2011-09-15 | 2012-07-04 | 深圳市大疆创新科技有限公司 | Cradle head for unmanned aerial vehicle |
| CN104390110A (en) * | 2014-11-04 | 2015-03-04 | 南京航空航天大学 | Tri-axial dynamic self-stabilizing cradle head and working method thereof |
| CN204937523U (en) * | 2015-08-06 | 2016-01-06 | 江苏优埃唯智能科技有限公司 | Unmanned aerial vehicle camera The Cloud Terrace |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106502258A (en) * | 2016-10-28 | 2017-03-15 | 易瓦特科技股份公司 | A kind of method and apparatus of adjustment UAV Attitude |
| WO2019001000A1 (en) * | 2017-06-29 | 2019-01-03 | 京东方科技集团股份有限公司 | Method and device for stabilizing imaging apparatus at motorized device, and device |
| US11115592B2 (en) | 2017-06-29 | 2021-09-07 | Boe Technology Group Co., Ltd. | Method and device for stabilizing photographic equipment on mobile device |
| CN109634292A (en) * | 2018-12-03 | 2019-04-16 | 广东国图勘测地理信息有限公司 | A kind of oblique photograph aerial surveying camera system |
| CN113625738A (en) * | 2021-08-17 | 2021-11-09 | 佛山市鹰火微峰科技有限公司 | Self-adaptive attitude adjustment system and method |
| CN113625738B (en) * | 2021-08-17 | 2024-04-12 | 佛山市鹰火微峰科技有限公司 | Self-adaptive posture adjustment system and method |
| CN114449164A (en) * | 2021-12-27 | 2022-05-06 | 广州极飞科技股份有限公司 | Photographing method and device, unmanned equipment and storage medium |
| CN114449164B (en) * | 2021-12-27 | 2023-07-18 | 广州极飞科技股份有限公司 | Photographing method and device, unmanned equipment and storage medium |
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Application publication date: 20160629 |