CN106199039A - A kind of unmanned plane speed monitoring method and system - Google Patents
A kind of unmanned plane speed monitoring method and system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
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Abstract
The invention provides a kind of unmanned plane speed monitoring method and system, method includes: obtain current flying height, angular velocity and image；Obtain the characteristic point of described image, calculate the light stream of each characteristic point；Add up the light stream of each characteristic point, select light stream that same direction light stream repetitive rate is the highest as the light stream of described image；According to the flight speed that the optical flow computation of described flying height, angular velocity and described image is current.The invention still further relates to the system that a kind of and above-mentioned unmanned plane speed monitoring method is corresponding, calculate the light stream of each characteristic point by calculating the characteristic point obtaining present image, and select light stream that same direction light stream repetitive rate is the highest as the light stream of described image；Calculating current flight speed according to the light stream of described image, current flying height and turn meter again, calculate simple, operand is little, and considers the impact of multiple factor, and result of calculation is accurate.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, particularly to a kind of unmanned plane speed monitoring method and system.
Background technology
At present in unmanned plane industry, computer vision has obtained paying close attention to widely for speed monitoring, especially based on
The speed monitoring aspect of image light flow algorithm.Such as, the Chinese invention patent of Publication No. CN102298070B discloses one
Estimation unmanned plane, the method that especially can perform the horizontal velocity of the unmanned plane of hovering flight under automatic Pilot, described side
Method includes: the movement of the scene between the consecutive image of estimation video camera shooting, and using as the scale factor recording height function
Being applied to estimated movement, the estimation of movement includes: periodically with the pyramidal multi-resolution representation of more new image type continuously,
This multi-resolution representation is with the given image that is taken of the different resolution scene modeling reduced continuously；With to each new shooting
Image, application light flow pattern iterative algorithm to described multi-resolution representation moves with the difference of the scene between estimation consecutive image；Also
Including: from the data that optical flow algorithm generates, obtain at least one parametric texture, obtain the approximation of unmanned plane horizontal translation speed
Value, is applied to described parametric texture and described velocity approximation by first group of preassigned, makes a reservation for if meeting described first group
Standard, forwards corner detection type algorithm to from optical flow algorithm and moves with the difference of the scene between estimation consecutive image.Such scheme
Although can be evaluated whether the horizontal velocity of the unmanned plane performing hovering flight of unmanned plane, but the process of calculating being complex, to place
Reason device chip requires height.
Summary of the invention
The technical problem to be solved is: provides unmanned plane speed monitoring side that a kind of data processing amount is little and is
System, it is possible to calculate speed during unmanned plane during flying simply, exactly.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
A kind of unmanned plane speed monitoring method, including:
Obtain current flying height, angular velocity and image；
Obtain the characteristic point of described image, calculate the light stream of each characteristic point；
Add up the light stream of each characteristic point, select light stream that same direction light stream repetitive rate is the highest as the light of described image
Stream；
According to the flight speed that the optical flow computation of described flying height, angular velocity and described image is current.
Knowable to foregoing description, having the beneficial effects that of unmanned plane speed monitoring method of the present invention: obtain current flight
Image such that it is able to obtain the characteristic point of described image further, and then this width image characteristic point light stream can be calculated；To each spy
The light stream levied is added up, and the light stream that same direction light stream repetitive rate is the highest best embodies the mobility of this image, therefore
Select light stream that same direction light stream repetitive rate is the highest as the light stream of this image；Again according to the light stream of this image and current
Flying height and goniometer calculate current flight speed, have merged multiple parameter and have calculated, and result is accurate, and calculate letter
Single, operand is little.
Another technical scheme of the present invention is:
A kind of unmanned plane speed monitoring system, including:
Acquisition module, for obtaining current flying height, angular velocity and image；
Optical flow computation module, for obtaining the characteristic point of described image, calculates the light stream of each characteristic point；
Select module, for adding up the light stream of each characteristic point, select the light stream that same direction light stream repetitive rate is the highest to make
Light stream for described image；
Speed calculation module, current for the optical flow computation according to described flying height, angular velocity and described image
Flight speed.
Having the beneficial effects that of the unmanned plane speed monitoring system of the present invention: acquisition module obtain current flying height,
After angular velocity and image, optical flow computation module can obtain its characteristic point by the image obtained, and then calculates each feature
The light stream of point；Select module that the light stream of individual characteristic point is added up, and select the light that same direction light stream repetitive rate is the highest
Flow the light stream as this image so that the light stream selected can embody current state；Speed calculation module flies according to current
Line height, angular velocity and the optical flow computation of present image calculated obtain current flight speed, calculate simple, operand
Little, and merged multiple parameter, result is accurate.
Accompanying drawing explanation
Fig. 1 is the flow chart one of the unmanned plane speed monitoring method of the embodiment of the present invention one；
Fig. 2 is the flowchart 2 of the unmanned plane speed monitoring method of the embodiment of the present invention one；
Fig. 3 is the structure chart one of the unmanned plane speed monitoring system of the embodiment of the present invention two；
Fig. 4 is the structure chart two of the unmanned plane speed monitoring system of the embodiment of the present invention two；
Label declaration:
1, acquisition module；2, optical flow computation module；21, the first acquisition module；22, the second acquisition module；23, mould is calculated
Block；3, module is selected；4, speed calculation module；5, memory module；6, the first judge module；7, the first handover module；8, second
Judge module；9, the second handover module.
Detailed description of the invention
By describing the technology contents of the present invention in detail, being realized purpose and effect, below in conjunction with embodiment and coordinate attached
Figure is explained.
The design of most critical of the present invention is: obtain current flying height, angular velocity and image, calculates present image
Light stream, calculate current flight speed according to parameters such as this light stream and the flying height of correspondence, angular velocity.
The explanation of technical terms that the present invention relates to is shown in Table 1:
Table 1
Refer to Fig. 1 and Fig. 2, the invention provides one
A kind of unmanned plane speed monitoring method, including:
S1, obtain current flying height, angular velocity and image；
S2, obtain the characteristic point of described image, calculate the light stream of each characteristic point；
S3, add up the light stream of each characteristic point, select the light stream that same direction light stream repetitive rate is the highest as described image
Light stream；
S4, according to the current flight speed of the optical flow computation of described flying height, angular velocity and described image.
Knowable to foregoing description, having the beneficial effects that of unmanned plane speed monitoring method of the present invention: fly currently without man-machine
Line speed calculation is simple, and operand is little, and has merged multiple parameter, it is contemplated that the impact of many factors, and result is accurate.
Further, described " obtaining current flying height, angular velocity and image " particularly as follows:
S11, frame per second of sampling with default first obtain current flying height, angular velocity and image；
Described " according to the flight speed that the optical flow computation of described flying height, angular velocity and described image is current " it
After, farther include:
S5, the light stream storing described image are history light stream；
S6, judge described history light stream whether in default first time period continuously less than the switching threshold preset；
S7, if so, switch described first sampling frame per second to preset second sampling frame per second, described first sampling frame per second be more than
Second sampling frame per second.
Further, after described " switching described first sampling frame per second to the second sampling frame per second preset ", wrap further
Include:
S8, judge history light stream whether within the second default time period continuously more than the switching threshold preset；
S9, if so, switch described second sampling frame per second to preset first sampling frame per second.
Knowable to foregoing description, can judge according to history light stream to flying height, angular velocity and image sampling frame per second be
No too high or too low, the frame per second of regulation sampling in real time so that adopt frame per second most preferably, thus taken into account high-speed motion and low-speed motion, suitable
Wider by property, result of calculation is the most accurate.
Further, described " obtaining the characteristic point of described image, calculate the light stream of each characteristic point " particularly as follows:
S21, the position obtaining each characteristic point of described image and eigenvalue；
S22, the position of each characteristic point obtained in previous frame image and eigenvalue；
S23, according to the position of each characteristic point in previous frame image and eigenvalue calculation and record each spy in present image
Levy light stream a little.
Knowable to foregoing description, go out the light of each characteristic point according to the characteristic point position of adjacent two two field pictures and eigenvalue calculation
Stream.
Further, by position and the eigenvalue of the characteristic point in the FAST Corner Detection Algorithm every two field picture of calculating, logical
Cross LK algorithm and calculate the light stream of each characteristic point in every two field picture.
Knowable to foregoing description, it is possible to obtain position and the eigenvalue of characteristic point quickly and easily and calculate characteristic point
Light stream.
Further, described image is obtained by photographic head；
According to formula v=, (flow-α t f/ Δ x) t/f Δ x h calculates current flight speed；Wherein v is for working as
Front flight speed, flow is the light stream of present image, and α is current angular velocity, and t is that present image obtains with previous frame image
Interval time, f is photographic head focal length, and Δ x is photographic head photosensitive unit length, and h is the height of current flight.
Knowable to foregoing description, calculate current flight degree and consider the light stream of present image, current angular velocity, the highest
Degree, present image and the interval time of previous frame image acquisition, photographic head focal length, photographic head photosensitive unit length many factors, knot
Fruit is accurately.
Further, described flying height is measured by ultrasound height module, and described angular velocity passes through three axis angular rates
Measurement module is measured.
Knowable to foregoing description, measuring module by ultrasound height module and three axis angular rates can simply, exactly
Measure flying height and angular velocity.
Refer to Fig. 3 and Fig. 4, the invention provides one
A kind of unmanned plane speed monitoring system, including:
Acquisition module 1, for obtaining current flying height, angular velocity and image；
Optical flow computation module 2, for obtaining the characteristic point of described image, calculates the light stream of each characteristic point；
Select module 3, for adding up the light stream of each characteristic point, select the light stream that same direction light stream repetitive rate is the highest to make
Light stream for described image；
Speed calculation module 4, current for the optical flow computation according to described flying height, angular velocity and described image
Flight speed.
Knowable to foregoing description, having the beneficial effects that of unmanned plane speed monitoring system of the present invention: consider many factors
Impact, speed calculation has merged multiple parameter, and result is accurate；Calculation is simple simultaneously, and operand is little.
Further, described acquisition module 1 is for the flying height current with the first default sampling frame per second acquisition, angle speed
Degree and image；Also include:
Memory module 5, is history light stream for storing the light stream of described image；
First judge module 6, pre-for judging whether described history light stream is less than in default first time period continuously
If switching threshold；
First handover module 7, if be less than the switching threshold preset continuously in default first time period for history light stream
Value, switch described first sampling frame per second to preset second sampling frame per second, described first sampling frame per second more than second sampling frame per second；
Second judge module 8, for judge history light stream whether within the second default time period continuously more than presetting
Switching threshold；
Second handover module 9, if be more than the switching threshold preset continuously within the second default time period for history light stream
Value, switches described second sampling frame per second to the first sampling frame per second preset.
Knowable to foregoing description, cut by first judge module the 6, first handover module the 7, second judge module 8 and second
Die change block 9 can regulate sampling frame per second in real time so that adopts frame per second optimal such that it is able to adapts to different state of flights, result of calculation
The most accurate.
Further, described optical flow computation module 2 includes:
First acquisition module 21, for obtaining position and the eigenvalue of each characteristic point of described image；
Second acquisition module 22, for obtaining position and the eigenvalue of each characteristic point in previous frame image；
Computing module 23, for currently scheming according to the position of each characteristic point in previous frame image and eigenvalue calculation recording
The light stream of each characteristic point in Xiang.
Knowable to foregoing description, obtain present image and front respectively by the first acquisition module 21 and the second acquisition module 22
Position that each spy of one two field picture decorates and eigenvalue, thus computing module 23 according to characteristic point each in two two field pictures position and
Eigenvalue calculation goes out the light stream of each characteristic point in present image, and method is simple.
Refer to Fig. 2, embodiments of the invention one are:
A kind of unmanned plane speed monitoring method, including:
Current flying height, angular velocity and image is obtained with the first default sampling frame per second；Concrete, by ultrasonic
Ripple is surveyed high module and is measured described flying height, measures module by three axis angular rates and measures described angular velocity；Described photographic head bag
Including but be not limited to IP Camera module, the image direction of described photographic head is consistent with unmanned plane direction, the one-tenth of described photographic head
Image plane and the plane-parallel of unmanned plane, the optical axis of described photographic head is perpendicular to unmanned plane plane and shoots earthward；Described
Ultrasound height module includes but not limited to the double end ultrasound wave that the single head ultrasonic wave module of sending and receiving one separates with sending and receiving；Described
The ultrasonic emitting direction of ultrasound height module is vertical with unmanned plane plane and launches earthward；Above-mentioned photographic head, ultrasound wave
Survey high module, the data of three axis angular rates measurement modules acquisitions send the Data processing to unmanned plane by wire communication mode
The heart；Described data processing centre includes but not limited to various single-chip microcomputer based on arm instruction set；Described data processing centre foundation
Described data carry out following computing:
Obtain the characteristic point of described image, calculate the light stream of each characteristic point；Concrete: obtain each characteristic point of described image
Position and eigenvalue；The position of each characteristic point in acquisition previous frame image and eigenvalue；According to each spy in previous frame image
Levy position a little and eigenvalue calculation and record the light stream of each characteristic point in present image；Preferably, examined by FAST angle point
Method of determining and calculating calculates the characteristic point position in every two field picture and eigenvalue, is calculated the light stream of each characteristic point by LK algorithm；Such as, will
The position at the characteristic point place of previous frame image, as initial position, uses FAST Corner Detection Algorithm to calculate in present image
Characteristic point position and eigenvalue；Fixed area around initial position, in such as 5x5 pixel, uses LK algorithm to calculate characteristic point
Light stream；
Add up the light stream of each characteristic point, select light stream that same direction light stream repetitive rate is the highest as the light of described image
Stream；
According to formula v=, (flow-α t f/ Δ x) t/f Δ x h calculates current flight speed；Wherein v is for working as
Front flight speed, flow is the light stream of present image, and α is current angular velocity, and t is that present image obtains with previous frame image
Interval time, f is photographic head focal length, and Δ x is photographic head photosensitive unit length, and h is the height of current flight；
The light stream storing described image is history light stream；
Judge whether described history light stream is less than the switching threshold preset in default first time period continuously；
If so, described first sampling frame per second is switched to the second sampling frame per second preset, entrance low speed optical flow computation pattern, institute
State the first sampling frame per second more than the second sampling frame per second；If it is not, maintain the first sampling frame per second, i.e. maintain high-speed light stream calculation mould
Formula；
Judge whether history light stream is more than the switching threshold preset within the second default time period continuously；When described first
Between section and the second time period be all set to the time T of horizontal drift 10cm during unmanned plane hovering；Described switching threshold is that unmanned plane hangs
Stop in T time light stream by the maximum fluctuation amplitude of vibration influence；
If so, described second sampling frame per second is switched to the first sampling frame per second preset, entrance high-speed light stream calculation pattern；If
No, maintain the second sampling frame per second, i.e. maintain low speed optical flow computation pattern.
Refer to Fig. 4, embodiments of the invention two are:
A kind of unmanned plane speed monitoring system corresponding with the unmanned plane speed monitoring method of above-described embodiment one, including:
Acquisition module 1, for obtaining current flying height, angular velocity and image with the first default sampling frame per second；
Optical flow computation module 2, for obtaining the characteristic point of described image, calculates the light stream of each characteristic point；Described smooth flowmeter
Calculate module 2 to include: the first acquisition module 21, for using the position of each characteristic point of the FAST Corner Detection Algorithm described image of acquisition
Put and eigenvalue；Second acquisition module 22, for using FAST Corner Detection Algorithm to obtain each characteristic point in previous frame image
Position and eigenvalue；Computing module 23, for using position and the feature of each characteristic point in LK algorithm foundation previous frame image
Value calculates and records the light stream of each characteristic point in present image；
Select module 3, for adding up the light stream of each characteristic point, select the light stream that same direction light stream repetitive rate is the highest to make
Light stream for described image；
Speed calculation module 4, current for the optical flow computation according to described flying height, angular velocity and described image
Flight speed；Concrete, according to formula v=, (flow-α t f/ Δ x) t/f Δ x h calculates current flight speed；Its
Middle v is current flight speed, and flow is the light stream of present image, and α is current angular velocity, and t is present image and former frame figure
As the interval time obtained, f is photographic head focal length, and Δ x is photographic head photosensitive unit length, and h is the height of current flight；
Memory module 5, is history light stream for storing the light stream of described image；
First judge module 6, pre-for judging whether described history light stream is less than in default first time period continuously
If switching threshold；
First handover module 7, if be less than the switching threshold preset continuously in default first time period for history light stream
Value, switch described first sampling frame per second to preset second sampling frame per second, described first sampling frame per second more than second sampling frame per second；
Second judge module 8, for judge history light stream whether within the second default time period continuously more than presetting
Switching threshold；Described first time period and the second time period are all set to the time T of horizontal drift 10cm during unmanned plane hovering；Described
Switching threshold be in unmanned plane hovering T time light stream by the maximum fluctuation amplitude of vibration influence；
Second handover module 9, if be more than the switching threshold preset continuously within the second default time period for history light stream
Value, switches described second sampling frame per second to the first sampling frame per second preset.
In sum, the unmanned plane speed monitoring method of present invention offer and system, obtain current flight by photographic head
Image obtain the characteristic point of this image, and then calculate the light stream of each characteristic point；Select same direction light stream repetitive rate
High light stream is as the light stream of this image so that the light stream selected can embody current state；Again according to this image light stream,
Current flying height, goniometer, present image and the interval time of previous frame image acquisition, photographic head focal length, photographic head sense
Light unit length many factors, result is accurate, and calculation is simple, and operand is little；And judge flight height according to history light stream
Degree, angular velocity and image sampling frame per second are the most too high or too low, the frame per second of regulation sampling in real time so that adopt frame per second most preferably, thus
Having taken into account high-speed motion and low-speed motion, it is possible to preferably tackle different state of flights, the suitability is wide.
The foregoing is only embodiments of the invention, not thereby limit the scope of the claims of the present invention, every utilize this
The equivalents that bright description and accompanying drawing content are made, or directly or indirectly it is used in relevant technical field, the most in like manner include
In the scope of patent protection of the present invention.
Claims (10)
1. a unmanned plane speed monitoring method, it is characterised in that including:
Obtain current flying height, angular velocity and image；
Obtain the characteristic point of described image, calculate the light stream of each characteristic point；
Add up the light stream of each characteristic point, select light stream that same direction light stream repetitive rate is the highest as the light stream of described image；
According to the flight speed that the optical flow computation of described flying height, angular velocity and described image is current.
Unmanned plane speed monitoring method the most according to claim 1, it is characterised in that described " obtain current flight high
Degree, angular velocity and image " particularly as follows:
Current flying height, angular velocity and image is obtained with the first default sampling frame per second；
After described " according to the flight speed that the optical flow computation of described flying height, angular velocity and described image is current ", enter
One step includes:
The light stream storing described image is history light stream；
Judge whether described history light stream is less than the switching threshold preset in default first time period continuously；
If so, switch described first sampling frame per second to adopt to the second sampling frame per second preset, described first sampling frame per second more than second
Sample frame per second.
Unmanned plane speed monitoring method the most according to claim 2, it is characterised in that described " switch described first sampling
Frame per second is to the second sampling frame per second preset " after, farther include:
Judge whether history light stream is more than the switching threshold preset within the second default time period continuously；
If so, described second sampling frame per second is switched to the first sampling frame per second preset.
Unmanned plane speed monitoring method the most according to claim 1, it is characterised in that described " obtain the spy of described image
Levy a little, calculate the light stream of each characteristic point " particularly as follows:
Obtain position and the eigenvalue of each characteristic point of described image；
The position of each characteristic point in acquisition previous frame image and eigenvalue；
According to the position of each characteristic point in previous frame image and eigenvalue calculation the light recording each characteristic point in present image
Stream.
Unmanned plane speed monitoring method the most according to claim 1, it is characterised in that by FAST Corner Detection Algorithm meter
Calculate position and the eigenvalue of characteristic point in every two field picture, calculate the light stream of each characteristic point in every two field picture by LK algorithm.
Unmanned plane speed monitoring method the most according to claim 1, it is characterised in that obtain described figure by photographic head
Picture；
According to formula v=, (flow-α t f/ Δ x)/t/f Δ x h calculates current flight speed；Wherein v is current
Flight speed, flow is the light stream of present image, and α is current angular velocity, and t is present image and the interval of previous frame image acquisition
Time, f is photographic head focal length, and Δ x is photographic head photosensitive unit length, and h is the height of current flight.
Unmanned plane speed monitoring method the most according to claim 1, it is characterised in that described flying height passes through ultrasound wave
Surveying high module to measure, described angular velocity is measured module by three axis angular rates and is measured.
8. a unmanned plane speed monitoring system, it is characterised in that including:
Acquisition module, for obtaining current flying height, angular velocity and image；
Optical flow computation module, for obtaining the characteristic point of described image, calculates the light stream of each characteristic point；
Select module, for adding up the light stream of each characteristic point, select the light stream that same direction light stream repetitive rate is the highest as institute
State the light stream of image；
Speed calculation module, for the flight current according to the optical flow computation of described flying height, angular velocity and described image
Speed.
Unmanned plane speed monitoring system the most according to claim 8, it is characterised in that described acquisition module specifically for
The the first sampling frame per second preset obtains current flying height, angular velocity and image；
Described unmanned plane speed monitoring system also includes:
Memory module, is history light stream for storing the light stream of described image；
First judge module, for judging whether described history light stream cuts less than default in default first time period continuously
Change threshold value；
First handover module, if be less than the switching threshold preset in default first time period continuously for history light stream, cuts
Change described first sampling frame per second to preset second sampling frame per second, described first sampling frame per second more than second sampling frame per second；
Second judge module, for judging whether history light stream is more than the switching threshold preset within the second default time period continuously
Value；
Second handover module, if be more than the switching threshold preset within the second default time period continuously for history light stream, cuts
Change described second sampling frame per second to the first sampling frame per second preset.
Unmanned plane speed monitoring system the most according to claim 8, it is characterised in that described optical flow computation module includes:
First acquisition module, for obtaining position and the eigenvalue of each characteristic point of described image；
Second acquisition module, for obtaining position and the eigenvalue of each characteristic point in previous frame image；
Computing module, for according to the position of each characteristic point in previous frame image and eigenvalue calculation and record in present image
The light stream of each characteristic point.
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| CN107044855A (en) * | 2017-05-05 | 2017-08-15 | 南京信息工程大学 | A kind of inertial measuring unit and method based on camera array |
| CN107093187A (en) * | 2017-03-31 | 2017-08-25 | 上海拓攻机器人有限公司 | The measuring method and device of a kind of unmanned plane during flying speed |
| CN107289910A (en) * | 2017-05-22 | 2017-10-24 | 上海交通大学 | A kind of light stream alignment system based on TOF |
| CN107609635A (en) * | 2017-08-28 | 2018-01-19 | 哈尔滨工业大学深圳研究生院 | A kind of physical object speed estimation method based on object detection and optical flow computation |
| CN109489621A (en) * | 2018-10-25 | 2019-03-19 | 航天时代飞鸿技术有限公司 | A kind of unmanned plane pressure altitude scaling method and system based on image and ground velocity |
| WO2019061083A1 (en) * | 2017-09-27 | 2019-04-04 | Sz Dji Technology Co. , Ltd. | System and method for determining airspeed |
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