CN106197422A - A kind of unmanned plane based on two-dimensional tag location and method for tracking target - Google Patents
A kind of unmanned plane based on two-dimensional tag location and method for tracking target Download PDFInfo
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- CN106197422A CN106197422A CN201610481721.8A CN201610481721A CN106197422A CN 106197422 A CN106197422 A CN 106197422A CN 201610481721 A CN201610481721 A CN 201610481721A CN 106197422 A CN106197422 A CN 106197422A
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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
- G01C21/20—Instruments for performing navigational calculations
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
Abstract
The invention discloses a kind of unmanned plane based on two-dimensional tag location and method for tracking target, including: use the computer vision storehouse OpenCV that increases income that The Cloud Terrace camera is demarcated；Use virtual vision identification system AprilTags storehouse that the image after processing is carried out the detection of two-dimensional tag；Calculate the outer parameter of camera and two-dimensional tag further relative to the three-dimensional coordinate of camera coordinates system and rotation relationship, owing to the space coordinates of two-dimensional tag is previously known, thus obtain the coordinate of unmanned plane；According to the three dimensions distance of obtained two-dimensional tag Yu unmanned plane, independently realized the accurate tracking to target by closed loop control.The present invention has that process is simple, low cost, precision high and the feature such as robustness is good, and recognition speed disclosure satisfy that the demand of high speed and real time control, and can autonomously carry out unmanned plane accurately following the tracks of target.
Description
Technical field
The present invention relates to a kind of unmanned plane location and method for tracking target, belong to Navigation of Pilotless Aircraft field.
Background technology
Existing unmanned plane location has based on the GPS i.e. location of GPS and target with target following technology
Unmanned plane dynamic object location and the tracking technique etc. of tracking technique, radio-frequency (RF) tag location technology and view-based access control model.Wherein based on
The location technology of GPS is by obtaining the gps coordinate of target, and settles accounts coordinate, thus obtains real position coordinates, but
The shortcomings such as it exists cost intensive, and positioning precision is low.Radio frequency tag technology is a kind of to utilize radiofrequency signal automatically to identify target
Technology, during identifying, by setting up many power modules of label, can position the position of label, but it exists cost
Height, the shortcomings such as positioning precision is low.They all cannot meet the needs meeting unmanned plane hi-Fix well.
Unmanned plane dynamic object location and the tracking technique of view-based access control model can carry out the detection of dynamic object and image with
Track, it is achieved the ground dynamic object that is relatively accurately positioned and independently follows the tracks of of dynamic object flies.But its process is complicated, computationally intensive and
Easily disturbed by noise, illumination etc..
Summary of the invention
Goal of the invention: in order to overcome existing unmanned plane to position and deficiency present in target following technology, the present invention provides
A kind of unmanned plane based on two-dimensional tag location and method for tracking target, the method have that process is simple, low cost, precision high and
The features such as robustness is good, it is possible to autonomously carry out the unmanned plane accurate tracking to target.
Technical scheme: for achieving the above object, the technical solution used in the present invention is: by the height being mounted on unmanned plane
The Aerial Images of unmanned plane is processed by Project Computer, thus identify two-dimensional tag distance unmanned plane three dimensions away from
From.Owing to the position of two-dimensional tag is it is known that thus calculate the space coordinates of unmanned plane, and realize real-time to label of unmanned plane
Follow the tracks of.
A kind of unmanned plane based on two-dimensional tag location and method for tracking target, comprise the following steps:
(a) demarcation to The Cloud Terrace camera: call the interface in airborne equipment software development kit and realize the control to unmanned plane
And the reading of flying quality；The transmission of video images shot by The Cloud Terrace camera after scanned chequered with black and white chessboard is to airborne
Computer also uses the calibration function provided in the computer vision storehouse OpenCV that increases income, and calibrates the intrinsic parameter of The Cloud Terrace camera, i.e.
The focal length of camera, principal point；
B () carries out the detection of two-dimensional tag: the transmission of video images continuing after having demarcated to shoot The Cloud Terrace camera is to machine
Borne computer also uses the computer vision storehouse OpenCV that increases income to be decoded video image, is then used by virtual vision identification system
System AprilTags storehouse, to carrying out the identification of two-dimensional tag after decoding through the image of size compression, obtain two-dimensional tag sequence number and
Two-dimensional tag coordinate in the picture；
C () carries out the location of two-dimensional tag: intrinsic parameter and two-dimensional tag by the camera obtained in step (a), (b) are at figure
Coordinate in Xiang calculates the outer parameter of camera, i.e. sets up the coordinate of label in image and the coordinate of label right in actual environment
Should be related to, and calculate two-dimensional tag further relative to the three-dimensional coordinate of camera coordinates system and rotation relationship, due to two dimension mark
The space coordinates signed is previously known, thus obtains the coordinate i.e. coordinate of unmanned plane of camera；
(d) realization tracking to target two-dimensional tag: the two-dimensional tag obtained according to step (c) and the three-dimensional space of unmanned plane
Spacing, realizes the tracking to two-dimensional tag by closed loop control；Detailed process is divided into three parts: Part I is The Cloud Terrace camera
Tracking to two-dimensional tag, i.e. The Cloud Terrace SERVO CONTROL, adjusted by the pitching deflection angle of The Cloud Terrace, it is ensured that two-dimensional tag is at camera
The central authorities of image；Part II is that the direction of two-dimensional tag is followed the tracks of by unmanned plane, i.e. adjusts flying of unmanned plane by closed loop control
Row attitude, keeps unmanned plane consistent with the direction that two-dimensional tag is moved；Part III is the aircraft speed Tracking to two-dimensional tag,
Inner and outer ring is used to control the flight speed of unmanned plane so that unmanned plane follows two-dimensional tag flight all the time.
Said process uses multi-thread programming to coordinate, and makes the control of unmanned plane enter with the detection and location of two-dimensional tag simultaneously
Go and conflict the most mutually.Image is decoded, size reduction after compression, it is possible to fully improves the recognition speed of two-dimensional tag, meets
The demand of high speed and real time control, it is to avoid lose target.The identification of two-dimensional tag is had by virtual vision identification system AprilTags storehouse
There are the highest precision and good robustness, when intensity of illumination changes, and two-dimensional tag is at least partially obscured, during two-dimensional tag bending,
Also can accurately identify, be 16.6*16.6cm when the size of two-dimensional tag simultaneously, decoding picture size after compression is 640*
When 360, the identification distance of two-dimensional tag can reach 5 meters.
Further, in order to reduce effect of noise, from the chess that m different angle shot is chequered with black and white in step (a)
Dish, takes the meansigma methods of result to camera after carrying out n time demarcating, wherein m and n is the biggest, and result is the most accurate, thus obtains the interior of camera
Parameter matrix K is i.e.
Wherein, fx、fyRepresent the focal length of camera, u0、v0Represent the photocentre of camera.
Further, the sequence number and the two-dimensional tag that obtain two-dimensional tag in step (b) after AprilTags storehouse identifies are being schemed
Coordinate [x y 1] in Xiang, x, y are horizontal stroke, the vertical coordinate represented with pixel value.
Further, the outer parameter calculation formula of step (c) camera is:
Wherein, s represents a proportionality coefficient, above-mentioned equation can solve；Equation second right matrix is camera
Outer parameter matrix, the i.e. transformation matrix of the coordinate system that the three-dimensional coordinate from reality is tied in image, wherein r1 to r9 characterizes two
Rotation relationship between individual coordinate system, t1, t2, t3 characterize the translation relation between two coordinate systems；[X Y Z 1] is two dimension mark
Sign the three-dimensional coordinate in reality；Calculate two-dimensional tag the most further relative to the three-dimensional coordinate of camera coordinates system and rotation
Relation, owing to the space coordinates of two-dimensional tag is previously known, thus obtains the coordinate i.e. coordinate of unmanned plane of camera.
Further, using inner and outer ring to control the flight speed of unmanned plane in step (d), wherein internal ring input is two dimension mark
The movement velocity signed, is calculated relative to the distance of unmanned plane by two-dimensional tag, uses P controller to control；Outer shroud input is unmanned
Machine and the distance of two-dimensional tag difference, use PID to control ring and control；Whole controller is obtained after the output of inner and outer ring being added
Output V, V represent the control parameter of aircraft flight speed so that unmanned plane follows two-dimensional tag flight all the time.
Beneficial effect: a kind of based on two-dimensional tag the unmanned plane that the present invention provides positions and method for tracking target, relatively
Have the advantage that in prior art
1, process is simple, and cost is relatively low, the most accurately the location a range of real time position of unmanned plane, as precisely
Location unmanned plane real time position in Factory Building or the automobile etc. in real-time tracking traveling, positioning precision can reach Centimeter Level
Not, and the unmanned plane accurate tracking to target can be autonomously carried out；
2, there is good robustness, when intensity of illumination changes, and two-dimensional tag is at least partially obscured, during two-dimensional tag bending,
Also can accurately identify, be 16.6*16.6cm when the size of two-dimensional tag simultaneously, decoding picture size after compression is 640*
When 360, the identification distance of two-dimensional tag can reach 5 meters；
3, recognition speed disclosure satisfy that the demand of high speed and real time control, through optimizing, can reach the recognition speed of label
To 50 frames/s, even if label higher speed moves, do not have the phenomenon losing target yet.
Accompanying drawing explanation
A kind of based on two-dimensional tag the unmanned plane that Fig. 1 provides for the present invention positions and method for tracking target FB(flow block)；
Fig. 2 is the chessboard of the black and white camera used in the process of camera calibration；
Fig. 3 is unmanned plane location and follows the tracks of the target i.e. example of two-dimensional tag.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
It is illustrated in figure 1 a kind of unmanned plane based on two-dimensional tag location and method for tracking target, comprises the following steps:
(a) demarcation to The Cloud Terrace camera: call the interface in airborne equipment software development kit and realize the control to unmanned plane
And the reading of flying quality；The video shot by The Cloud Terrace camera after the black and white chessboard Fig. 2 is crossed from m different angle shot
Image transmitting is to airborne computer and uses the calibration function provided in the computer vision storehouse OpenCV that increases income, and calibrates The Cloud Terrace phase
The intrinsic parameter of machine；In order to reduce effect of noise, taking the meansigma methods of result to camera after carrying out n time demarcating, wherein m and n is the biggest,
Result is the most accurate, thus obtains the Intrinsic Matrix K of camera i.e.
Wherein, fx、fyRepresent the focal length of camera, u0、v0Represent the photocentre of camera.
B () carries out the detection of two-dimensional tag: the transmission of video images continuing after having demarcated to shoot The Cloud Terrace camera is to machine
Borne computer also uses the computer vision storehouse OpenCV that increases income to be decoded video image, is then used by virtual vision identification system
System AprilTags storehouse, to carrying out the identification of two-dimensional tag after decoding through the image of size compression, obtain two-dimensional tag sequence number and
Two-dimensional tag coordinate [x y 1] in the picture, x, y are horizontal stroke, the vertical coordinate represented with pixel value.
C () carries out the location of two-dimensional tag: intrinsic parameter and two-dimensional tag by the camera obtained in step (a), (b) are at figure
Coordinate in Xiang calculates the outer parameter of camera, and computing formula is:
Wherein, s represents a proportionality coefficient, above-mentioned equation can solve；Equation second right matrix is camera
Outer parameter matrix, the i.e. transformation matrix of the coordinate system that the three-dimensional coordinate from reality is tied in image, wherein r1 to r9 characterizes two
Rotation relationship between individual coordinate system, t1, t2, t3 characterize the translation relation between two coordinate systems；[X Y Z 1] is two dimension mark
Sign the three-dimensional coordinate in reality；Calculate two-dimensional tag the most further relative to the three-dimensional coordinate of camera coordinates system and rotation
Relation, owing to the space coordinates of two-dimensional tag is previously known, thus obtains the coordinate i.e. coordinate of unmanned plane of camera.
(d) realization tracking to target two-dimensional tag: the two-dimensional tag obtained according to step (c) and the three-dimensional space of unmanned plane
Spacing, realizes the tracking to two-dimensional tag by closed loop control；Detailed process is divided into three parts: Part I is The Cloud Terrace camera
Tracking to two-dimensional tag, i.e. The Cloud Terrace SERVO CONTROL, adjusted by the pitching deflection angle of The Cloud Terrace, it is ensured that two-dimensional tag is at camera
The central authorities of image；Part II is that the direction of two-dimensional tag is followed the tracks of by unmanned plane, i.e. adjusts flying of unmanned plane by closed loop control
Row attitude, keeps unmanned plane consistent with the direction that two-dimensional tag is moved；Part III is the aircraft speed Tracking to two-dimensional tag,
Using inner and outer ring to control the flight speed of unmanned plane, wherein internal ring input is the movement velocity of two-dimensional tag, by two-dimensional tag phase
Distance for unmanned plane calculates, and uses P controller to control；Outer shroud input is unmanned plane and the distance of two-dimensional tag difference, makes
Control ring with PID to control；The output V, V that obtain whole controller after the output of inner and outer ring being added represent aircraft flight speed
Control parameter so that unmanned plane follows two-dimensional tag flight all the time.
Said process uses multi-thread programming to coordinate, and makes the control of unmanned plane enter with the detection and location of two-dimensional tag simultaneously
Go and conflict the most mutually.
The above is only the preferred embodiment of the present invention, it should be pointed out that: for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (5)
1. unmanned plane based on a two-dimensional tag location and method for tracking target, it is characterised in that comprise the following steps:
(a) demarcation to The Cloud Terrace camera: call interface in airborne equipment software development kit realize the control to unmanned plane and
The reading of flying quality, the transmission of video images shot by The Cloud Terrace camera after scanned chequered with black and white chessboard is to airborne calculating
Machine also uses the calibration function provided in the computer vision storehouse OpenCV that increases income, and calibrates the intrinsic parameter of The Cloud Terrace camera, i.e. camera
Focal length, principal point；
B () carries out the detection of two-dimensional tag: the transmission of video images continuing after having demarcated to shoot The Cloud Terrace camera is to airborne meter
Calculation machine also uses the computer vision storehouse OpenCV that increases income to be decoded video image, is then used by virtual vision identification system
AprilTags storehouse, to carrying out the identification of two-dimensional tag after decoding through the image of size compression, obtains the sequence number and two of two-dimensional tag
Dimension label coordinate in the picture；
C () carries out the location of two-dimensional tag: by the intrinsic parameter of the camera obtained in step (a), (b) and two-dimensional tag in the picture
Coordinate calculate the outer parameter of camera, and calculate two-dimensional tag further relative to the three-dimensional coordinate of camera coordinates system and rotation
Transfer the registration of Party membership, etc. from one unit to another, owing to the space coordinates of two-dimensional tag is previously known, thus obtain the coordinate i.e. coordinate of unmanned plane of camera；
D () realizes tracking to target two-dimensional tag: the three dimensions of the two-dimensional tag obtained according to step (c) and unmanned plane away from
From, realize the tracking to two-dimensional tag by closed loop control；Detailed process is divided into three parts: Part I is that The Cloud Terrace camera is to two
The tracking of dimension label, i.e. The Cloud Terrace SERVO CONTROL, adjusted by the pitching deflection angle of The Cloud Terrace, it is ensured that two-dimensional tag is at camera image
Central authorities；Part II is that the direction of two-dimensional tag is followed the tracks of by unmanned plane, is i.e. adjusted the flight appearance of unmanned plane by closed loop control
State, keeps unmanned plane consistent with the direction that two-dimensional tag is moved；Part III is the aircraft speed Tracking to two-dimensional tag, uses
Inner and outer ring controls the flight speed of unmanned plane so that unmanned plane follows two-dimensional tag flight all the time.
A kind of unmanned plane based on two-dimensional tag the most according to claim 1 location and method for tracking target, its feature exists
In, from the chessboard that m different angle shot is chequered with black and white in step (a), after carrying out camera n time demarcating, take the average of result
Value, obtains the Intrinsic Matrix K of camera i.e.
Wherein, fx、fyRepresent the focal length of camera, u0、v0Represent the photocentre of camera.
A kind of unmanned plane based on two-dimensional tag the most according to claim 2 location and method for tracking target, its feature exists
In, step (b) obtains after AprilTags storehouse identifies sequence number and two-dimensional tag coordinate [the x y in the picture of two-dimensional tag
1], x, y are horizontal stroke, the vertical coordinate represented with pixel value.
A kind of unmanned plane based on two-dimensional tag the most according to claim 3 location and method for tracking target, its feature exists
In, the outer parameter calculation formula of step (c) camera is:
Wherein, s represents a proportionality coefficient, above-mentioned equation can solve；Equation second right matrix is the outer ginseng of camera
Matrix number, the i.e. transformation matrix of the coordinate system that the three-dimensional coordinate from reality is tied in image, wherein r1 to r9 characterizes two seats
Rotation relationship between mark system, t1, t2, t3 characterize the translation relation between two coordinate systems；[X Y Z 1] is that two-dimensional tag exists
Three-dimensional coordinate in reality；Calculate two-dimensional tag the most further and relative to the three-dimensional coordinate of camera coordinates system and rotate pass
System, owing to the space coordinates of two-dimensional tag is previously known, thus obtains the coordinate i.e. coordinate of unmanned plane of camera.
A kind of unmanned plane based on two-dimensional tag the most according to claim 1 location and method for tracking target, its feature exists
In, step (d) use inner and outer ring control the flight speed of unmanned plane, wherein internal ring input is the movement velocity of two-dimensional tag,
Calculated relative to the distance of unmanned plane by two-dimensional tag, use P controller to control；Outer shroud input is unmanned plane and two-dimensional tag phase
The distance of difference, uses PID to control ring and controls；The output V, V that obtain whole controller after the output addition of inner and outer ring are represented and flies
The control parameter of machine flight speed so that unmanned plane follows two-dimensional tag flight all the time.
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| CN106527487A (en) * | 2016-12-23 | 2017-03-22 | 北京理工大学 | Autonomous precision landing system of unmanned aerial vehicle on motion platform and landing method |
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| CN107240063A (en) * | 2017-07-04 | 2017-10-10 | 武汉大学 | A kind of autonomous landing method of rotor wing unmanned aerial vehicle towards mobile platform |
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| CN108180913A (en) * | 2018-01-03 | 2018-06-19 | 深圳勇艺达机器人有限公司 | A kind of Quick Response Code alignment system based on 3D cameras |
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| US11153494B2 (en) | 2017-11-30 | 2021-10-19 | SZ DJI Technology Co., Ltd. | Maximum temperature point tracking method, device and unmanned aerial vehicle |
| US11798172B2 (en) | 2017-11-30 | 2023-10-24 | SZ DJI Technology Co., Ltd. | Maximum temperature point tracking method, device and unmanned aerial vehicle |
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| CN108648237A (en) * | 2018-03-16 | 2018-10-12 | 中国科学院信息工程研究所 | A kind of space-location method of view-based access control model |
| CN108648237B (en) * | 2018-03-16 | 2022-05-03 | 中国科学院信息工程研究所 | Space positioning method based on vision |
| CN108563241A (en) * | 2018-03-30 | 2018-09-21 | 哈尔滨理工大学 | A kind of shared based on embedded vision module independently follows carrying apparatus |
| WO2020061771A1 (en) * | 2018-09-25 | 2020-04-02 | 深圳市大疆创新科技有限公司 | Parameter processing method and device for camera and image processing apparatus |
| CN109655069A (en) * | 2019-02-03 | 2019-04-19 | 上海允登信息科技有限公司 | A kind of data center machine room robot navigation positioning system |
| CN110122958A (en) * | 2019-05-06 | 2019-08-16 | 大有智能科技(嘉兴)有限公司 | Three-dimensional scanner and application method |
| CN111380535A (en) * | 2020-05-13 | 2020-07-07 | 广东星舆科技有限公司 | Navigation method and device based on visual label, mobile machine and readable medium |
| CN111397609A (en) * | 2020-05-13 | 2020-07-10 | 广东星舆科技有限公司 | Route planning method, mobile machine and computer readable medium |
| CN111812584A (en) * | 2020-06-22 | 2020-10-23 | 中国科学院重庆绿色智能技术研究院 | Unmanned aerial vehicle positioning system and positioning method |
| CN113220020A (en) * | 2021-04-30 | 2021-08-06 | 西安鲲鹏易飞无人机科技有限公司 | Unmanned aerial vehicle task planning method based on graphic label |
| CN113220020B (en) * | 2021-04-30 | 2023-10-31 | 西安鲲鹏易飞无人机科技有限公司 | Unmanned aerial vehicle task planning method based on graphic labels |
| CN113237478A (en) * | 2021-05-27 | 2021-08-10 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude and position estimation method and unmanned aerial vehicle |
| CN113237478B (en) * | 2021-05-27 | 2022-10-14 | 哈尔滨工业大学 | Unmanned aerial vehicle attitude and position estimation method and unmanned aerial vehicle |
| WO2023097769A1 (en) * | 2021-12-03 | 2023-06-08 | 深圳先进技术研究院 | Unmanned ground vehicle-unmanned aerial vehicle collaborative autonomous tracking and landing method |
| CN114296479A (en) * | 2021-12-30 | 2022-04-08 | 哈尔滨工业大学 | Image-based ground vehicle tracking method and system by unmanned aerial vehicle |
| CN114706187A (en) * | 2022-04-13 | 2022-07-05 | 大连理工大学 | Automatic tracking focusing method based on positioning system |
| CN114706187B (en) * | 2022-04-13 | 2023-06-16 | 大连理工大学 | Automatic tracking focusing method based on positioning system |
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