CN106444844A - Program-control image collection method for multi-rotor aircraft - Google Patents
Program-control image collection method for multi-rotor aircraft Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
The invention discloses a program-control image collection method for a multi-rotor aircraft, relates to the technical field of unmanned aerial vehicles, and can be used to solve the problem that tour inspection cannot be completed unless a worker approaches a work site and implements manual control. The method comprises that an image collection equipment is mounted on the multi-rotor aircraft, collects image information in a specific path, and sends the image information to a ground station via a wireless network; a program-control flight module in the ground station sets a route point according to an output result of an environment construction module in the ground station; information of the route point is sent to the multi-rotor aircraft via the wireless network; and a flight control module in the multi-rotor aircraft tracks the route point output by the ground station. A motion capturing device obtains accurate environment information, route point information, real-time position and attitude information of the aircraft and position information of collection images. The method is suitable for occasions in which satellite signals are weak.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, the program control collection side of the more particularly, to a kind of image for multi-rotor aerocraft
Method.
Background technology
Multi-rotor aerocraft is due to having the various features such as structure is simple, mobility strong, VTOL and flying in low speed
The aspect such as row and static hovering has greater advantage, is particularly well-suited in some hazardous environments and special space, therefore in army/people
It is obtained for field and be widely applied.For example：In the rescue of earthquake disaster and harmful influence accidental detonation, relief department is
Carrying out site inspection, mapping etc. using multi-rotor aerocraft patrols and examines operation in a large number for beginning.
At present, the flight of multi-rotor aerocraft mainly passes through personnel's remotely control, relies on global position system offer portion
Divide navigation information.But, in various disaster fields, due to building knot irregular after radiation, smog, landslide landform and breakage
The problems such as structure, have a strong impact on the signal strength signal intensity of global position system, such as：Difficult in overpass and these regions of Super Long Tunnel
To carry out effective location navigation so that multi-rotor aerocraft is difficult to make effective for the automatic detecting of overpass and Super Long Tunnel
Industry is it is desired nonetheless to personnel carry out Non-follow control to complete to patrol and examine operation again near scene.When this undoubtedly can increase personnel's operation
Security risk.
Content of the invention
Embodiments of the invention provide a kind of program control acquisition method of image for multi-rotor aerocraft, can extenuate dependence
Personnel carry out Non-follow control to complete to patrol and examine the problem of operation again near scene.
For reaching above-mentioned purpose, embodiments of the invention adopt the following technical scheme that：
The program control acquisition method of described image is used for a kind of control system, and described control system includes：Multi-rotor aerocraft,
Face station and motion capture device, described multi-rotor aerocraft includes drive module, flight control modules and image capture device；Institute
State earth station to include：Environment construction module, program control Flight Design module, dynamic catch positioning navigation module and image receiver module；
The program control acquisition method of described image includes：
The signal being sent according to described motion capture device, obtains environment letter by the environment construction module of described earth station
Breath, and by described environmental information to described earth station described dynamic catch positioning navigation module, described program control Flight Design module and
Described image receiver module transmits；
Described dynamic by described earth station catches positioning navigation module, obtains described many rotors according to described environmental information and flies
The state of flight information of row device, and navigation information is obtained according to described state of flight information, then by described navigation information to described
Multi-rotor aerocraft sends, and described state of flight information at least includes：Attitude information and velocity information, described navigation information is at least
Including：The positional information of described multi-rotor aerocraft, velocity information and attitude information；
By the described program control Flight Design module of described earth station, way point is set according to described environmental information, and will
Set the way point obtaining to send to described multi-rotor aerocraft by wireless network；
By the described flight control modules of described multi-rotor aerocraft, according to the kinetic model of multi-rotor aerocraft,
Described multi-rotor aerocraft is controlled to fly according to the corresponding path of described way point；
By the described image collecting device of described multi-rotor aerocraft, real-time image acquisition information, and pass through wireless network
Network sends to the described image receiver module of described earth station.
The program control acquisition method of image for multi-rotor aerocraft provided in an embodiment of the present invention, image capture device is pacified
It is contained on multi-rotor aerocraft；Program control flight module in earth station sets according to the output result of environment construction module in earth station
Determine way point；And way point information is sent to multi-rotor aerocraft by wireless network；Flight control on multi-rotor aerocraft
The way point of module tracks earth station processed output；Gather the image information on particular path using image capture device, and pass through
Wireless network is sent to the image receiver module in earth station, realizes the program control collection of image to particular surroundings for the multi-rotor aerocraft
Function.And accurate environmental information, way point information, the real time position of aircraft and attitude letter are obtained by motion capture device
Breath, positional information of collection image etc..Need the multi-rotor aerocraft that satellite navigation system positioned, this reality with respect to tradition
Applying example uses motion capture device to provide high-precision environmental information, way point information, position and attitude for multi-rotor aerocraft
Information, instead of traditional airborne sensor so that multi-rotor aerocraft can be used in the satellites such as overpass and Super Long Tunnel leads
The automatic detecting operation of the faint particular application of the signal strength signal intensity of boat system, has extenuated dependence personnel and has carried out near scene again
Non-follow control is to complete to patrol and examine the problem of operation, thus reducing security risk during personnel's operation.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present invention, below by use required in embodiment
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present invention, for ability
For the those of ordinary skill of domain, on the premise of not paying creative work, can also be obtained other attached according to these accompanying drawings
Figure.
Fig. 1 is system architecture schematic diagram provided in an embodiment of the present invention；
Fig. 2 a is that the flow process of the program control acquisition method of the image for multi-rotor aerocraft provided in an embodiment of the present invention is illustrated
Figure；
Fig. 2 b is the schematic diagram of concrete implementation procedure in systems provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of the kinetic model of many rotor flyings provided in an embodiment of the present invention.
Specific embodiment
For making those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment party
Formula is described in further detail to the present invention.Embodiments of the present invention are described in more detail below, the showing of described embodiment
Example is shown in the drawings, and wherein same or similar label represents same or similar element or has identical or class from start to finish
Element like function.Embodiment below with reference to Description of Drawings is exemplary, is only used for explaining the present invention, and can not
It is construed to limitation of the present invention.Those skilled in the art of the present technique are appreciated that unless expressly stated, odd number shape used herein
Formula " one ", " one ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that the specification of the present invention
Used in wording " inclusion " refer to there is described feature, integer, step, operation, element and/or assembly, but it is not excluded that
Exist or add other features one or more, integer, step, operation, element, assembly and/or their group.It should be understood that
When we claim element to be " connected " or during " coupled " to another element, it can be directly connected or coupled to other elements, or
Can also there is intermediary element.Additionally, " connection " used herein or " coupling " can include wirelessly connecting or coupling.Here make
Wording "and/or" includes one or more associated any cell and all combinations of listing item.The art
Technical staff is appreciated that unless otherwise defined, and all terms (including technical term and scientific terminology) used herein have
General understanding identical meaning with the those of ordinary skill in art of the present invention.It should also be understood that it is such as general
Those terms defined in dictionary should be understood that there is the meaning consistent with the meaning in the context of prior art, and
Unless defined as here, will not be explained with idealization or excessively formal implication.
The embodiment of the present invention provides a kind of program control acquisition method of image for multi-rotor aerocraft, and described image is program control to adopt
Diversity method is used for a kind of control system as shown in Figure 1, and described control system includes：Multi-rotor aerocraft, earth station and motion
Seizure equipment, described multi-rotor aerocraft includes drive module, flight control modules and image capture device；Described earth station bag
Include：Environment construction module, program control Flight Design module, dynamic catch positioning navigation module and image receiver module.
Wherein, described motion capture device catches equipment for optical motion, by flying around described multi-rotor aerocraft
Multiple high speed camera compositions of row place setting.The wheelbase of the frame of described multi-rotor aerocraft is 450mm, and by carbon fiber material
Material is made.The processor unit of described multi-rotor aerocraft selects arm processor, and concrete model is STM32F427ARM
Cortex M4 32 bit processor, core frequency 168MHZ, the flash memory of RAM and 2MB of configuration 256K.
As shown in Figure 2 a, the program control acquisition method of described image includes：
S1, the signal being sent according to described motion capture device, obtain ring by the environment construction module of described earth station
Environment information, and described environmental information is caught positioning navigation module, described program control Flight Design mould to the described dynamic of described earth station
Block and the transmission of described image receiver module.
S2, positioning navigation module is caught by the described dynamic of described earth station, described revolve is obtained according to described environmental information more
The state of flight information of rotor aircraft, and navigation information is obtained according to described state of flight information, then by described navigation information to
Described multi-rotor aerocraft sends.
Wherein, described state of flight information at least includes：Attitude information and velocity information, described navigation information at least wraps
Include：The positional information of described multi-rotor aerocraft, velocity information and attitude information.For example：As shown in Figure 2 b, as shown in Figure 1
The carrying out practically flow process of control system include：
Flight control modules initialize, mainly include gyroscope, the initialization of the sensor such as accelerometer, clock initial
Initialization of change and drive system etc..Image capture device initializes, and the main image capturing system that includes initializes.Environment construction
Module initialization, mainly includes copying human visual system that surrounding environment is entered according to the multiple vision sensor of motion capture device
Row is three-dimensional to be built.Go out the stereo scene similar to human visual perception in the environment construction module construction of earth station, and set up many
Rotor craft rigid model, environmental information is transferred to the dynamic of earth station and catches positioning navigation module, program control Flight Design module
And image receiver module.Obtain the attitude information of multi-rotor aerocraft, speed letter through the dynamic positioning navigation module of catching of earth station
Breath etc..Afterwards the position of multi-rotor aerocraft, attitude, speed etc. are sent by serial ports by the dynamic positioning navigation module of catching of earth station
Navigation information is to aircraft, and the flight control modules in aircraft carry out the reception of related data.
S3, by the described program control Flight Design module of described earth station, way point is set according to described environmental information, and
Sent setting the way point obtaining to described multi-rotor aerocraft by wireless network.
S4, by the described flight control modules of described multi-rotor aerocraft, according to the kinetic simulation of multi-rotor aerocraft
Type, controls described multi-rotor aerocraft to fly according to the corresponding path of described way point.
S5, by the described image collecting device of described multi-rotor aerocraft, real-time image acquisition information, and by wireless
Network sends to the described image receiver module of described earth station.
For example：As shown in Figure 2 b, the image capture device on multi-rotor aerocraft gathers the image letter on particular path
Breath, and it is sent to the image receiver module of earth station by wireless network, realize real-time monitoring, simultaneously the image-receptive of earth station
Module, also receives the stereo scene information of the environment construction module construction from earth station.And above-mentioned image information is all protected
Deposit, for the use in later stage.
In the present embodiment, the described kinetic model according to multi-rotor aerocraft in S4, controls described many rotors to fly
Row device can include S41-S42 according to the specific implementation flown in the corresponding path of described way point, wherein：
S41, set up the kinetic model of described multi-rotor aerocraft.And on the basis of this model, follow the tracks of earth station defeated
The way point going out, and control multi-rotor aerocraft to realize carrying out IMAQ according to particular path.
In the preferred version of the present embodiment, the kinetic model of described multi-rotor aerocraft is as shown in figure 3, in this model
On the basis of, the kinetic model of multi-rotor aerocraft is set up according to Newton-Euler horn cupping, including：
Wherein, ωi(i=1,2,3,4) is the rotating speed of i-th rotor, and (x, y, z) represents that the centroid position of aircraft is sat
Mark, φ, θ, ψ are respectively three-dimension altitude angle,It is respectively aircraft along x, the acceleration of tri- axles of y, z,It is respectively three Eulerian angles φ, θ, the angular acceleration of ψ,It is respectively three Eulerian angles φ, θ, the angles of ψ
Speed, Ix、Iy、IzFor aircraft around three axis rotary inertia, l is the rotor lift arm of force, and m is multi-rotor aerocraft
Quality, b is lift coefficient, and d is anti-twisted moment coefficient, and g is acceleration of gravity.
S42, by the described flight control modules of described multi-rotor aerocraft, according to described state of flight information, in real time
Update the attitude angle of described multi-rotor aerocraft.
S43, by the kinetic model of described multi-rotor aerocraft, multi-rotor aerocraft according to described real-time update
Attitude angle and described positional information, obtain the rotating speed of described each rotor of multi-rotor aerocraft, and export described many rotors
The described drive module of aircraft, is rotated by described drive module motor, orders about described multi-rotor aerocraft and follows the tracks of ground
Stand output way point.
For example：Can obtain in the flight controller module of the information inputs such as attitude angle and position to multi-rotor aerocraft
To current and desired roll angle, the angle of pitch, yaw angle, horizontal level and height position information, and then realize many rotors and fly
The way point of earth station's output followed the tracks of by row device.After the rotating speed obtaining multiple rotors, export the driving mould of multi-rotor aerocraft
Block, is rotated by motor, orders about multi-rotor aerocraft and reaches specified target position, is finally completed particular path image and adopts
Collection.
Further, S42：By the described flight control modules of described multi-rotor aerocraft, according to described state of flight
Information, described in real-time update, the specific implementation of the attitude angle of multi-rotor aerocraft includes：
From described attitude information, read and the roll angle that positioning navigation module calculates is caught by the described dynamic of described earth station
φm, pitching angle thetamAnd yaw angle ψm, and be converted to attitude angle quaternary number Qm=[qm0qm1qm2qm3]T, wherein qm0, qm1, qm2,
qm3It is respectively quaternary number QmFour elements.
And read three reference axis x, the magnitude of angular velocity ω on y, z from the gyroscope of described multi-rotor aerocraftx, ωy,
ωz, and be converted to the quantity of state Q of quaternary numberw=[qw0qw1qw2qw3]T, wherein qw0, qw1, qw2, qw3It is respectively quaternary number Qw's
Four elements, T represents the transposition of column vector.
Further according to Qm=[qm0qm1qm2qm3]TAnd Qw=[qw0qw1qw2qw3]T, by Kalman filtering estimation accurately
Quaternary number Q=[q0q1q2q3]T, and the attitude angle of the described multi-rotor aerocraft after being merged, described after fusion are revolved more
The attitude angle of rotor aircraft includes：Roll angle φ, pitching angle theta and yaw angle ψ.
Wherein, Qm=[qm0qm1qm2qm3]TTransfer process specifically can using attitude angle arrive quaternary number conversion pass
System.
Specifically, the Eulerian angles described in the present embodiment and quaternary number are the multi-forms of two kinds of description Rigid Body in Rotation With, two
Plant and can mutually convert, for example between description method：The dynamic of earth station catches the roll angle φ that positioning navigation module calculatesm, pitching
Angle θmAnd yaw angle ψmThe quaternary number Q being converted intom=[qm0qm1qm2qm3]T, it is embodied as：
Wherein, with respect to parameter：Roll angle φ, pitching angle theta and yaw angle ψ, are designated as the roll angle φ of m under havingm, pitching
Angle θmAnd yaw angle ψmAs motion capture system obtain attitude angle it can be understood as a kind of intermediate variable, be translated into four
The quaternary number that first number and gyroscope obtain merges the quaternary number obtaining final no subscript m, is reconverted into the roll angle of no subscript m
φ, pitching angle theta and yaw angle ψ.
Unsubscripted be the flight control modules for described multi-rotor aerocraft attitude angle, that is, eventually for control
The attitude angle of system.
Qw=[qw0qw1qw2qw3]TTransfer process specifically can utilize rotating vector algorithm and the differential equation, for example：
Note tk+1And tkThe attitude angle quaternary number in moment is respectively
△θx, △ θy, △ θzIt is gyroscope x, tri- axles of y, z are in [tk,tk+1] angle increment output in the time period, andBy the attitudes vibration quaternary number of angle increment output construction it is then
By tkMoment is to tk+1The quaternary number renewal process in moment is expressed as：
Wherein,Can be understood as formula：
Central?.
The transformation matrix of coordinates being tied to navigation system by body being determined by quaternary numberAs follows：
Wherein, q0, q1, q2, q3Four units for quaternary number
Element.
Specifically, according to gyroscope tkMoment angular speed measuring value, can update tk+1The attitude of moment multi-rotor aerocraft
Quaternary number, thus obtain accurate attitude angle.
Wherein, renewal process foundation：
Multi-rotor aerocraft one-step prediction mean square error：
Filtering gain solves：Kk+1=Pk+1|k(Pk+1|k+Rk)-1
Update state observation：
Estimate mean square error：Pk+1|k+1=(I-Kk+1)Pk+1|k
Wherein, φk+1,kFor tkMoment is to tk+1The Matrix of shifting of a step in moment,For φk+1,kTransposed matrix,WithIt is respectively tkMoment is to tk+1The State Estimation in moment,For state one-step prediction, Zk+1It is rightMeasurement
Value, RkFor measuring noise square difference battle array, QkFor system noise variance matrix, Kk+1For filtering gain, Pk+1|k+1For estimating mean squared error matrix,
Pk+1|kFor one-step prediction mean square error battle array, I is unit matrix.
In the present embodiment, can design Kalman filter will both quaternary number Q above-mentionedm=[qm0qm1qm2qm3]TWith Qw
=[qw0qw1qw2qw3]TMerged, estimated accurate quaternary number Q=[q0q1q2q3]T, thus solving accurate attitude angle,
It is respectively roll angle φ, pitching angle theta and yaw angle ψ.
The program control acquisition method of image for multi-rotor aerocraft provided in an embodiment of the present invention, image capture device is pacified
It is contained on multi-rotor aerocraft；Program control flight module in earth station sets according to the output result of environment construction module in earth station
Determine way point；And way point information is sent to multi-rotor aerocraft by wireless network；Flight control on multi-rotor aerocraft
The way point of module tracks earth station processed output；Gather the image information on particular path using image capture device, and pass through
Wireless network is sent to the image receiver module in earth station, realizes the program control collection of image to particular surroundings for the multi-rotor aerocraft
Function.And accurate environmental information, way point information, the real time position of aircraft and attitude letter are obtained by motion capture device
Breath, positional information of collection image etc..Need the multi-rotor aerocraft that satellite navigation system positioned, this reality with respect to tradition
Applying example uses motion capture device to provide high-precision environmental information, way point information, position and attitude for multi-rotor aerocraft
Information, instead of traditional airborne sensor so that multi-rotor aerocraft can be used in the satellites such as overpass and Super Long Tunnel leads
The automatic detecting operation of the faint particular application of the signal strength signal intensity of boat system, has extenuated dependence personnel and has carried out near scene again
Non-follow control is to complete to patrol and examine the problem of operation, thus reducing security risk during personnel's operation.
Each embodiment in this specification is all described by the way of going forward one by one, identical similar portion between each embodiment
Divide mutually referring to what each embodiment stressed is the difference with other embodiment.Real especially for equipment
For applying example, because it is substantially similar to embodiment of the method, so describing fairly simple, referring to embodiment of the method in place of correlation
Part illustrate.The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited to
This, any those familiar with the art the invention discloses technical scope in, the change that can readily occur in or replace
Change, all should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claim
Enclose and be defined.
Claims (6)
1. a kind of program control acquisition method of the image for multi-rotor aerocraft is it is characterised in that the program control acquisition method of described image
For a kind of control system, described control system includes：Multi-rotor aerocraft, earth station and motion capture device, described many rotations
Rotor aircraft includes drive module, flight control modules and image capture device；Described earth station includes：Environment construction module,
Program control Flight Design module, dynamic catch positioning navigation module and image receiver module；
The program control acquisition method of described image includes：
The signal being sent according to described motion capture device, obtains environmental information by the environment construction module of described earth station,
And described environmental information is caught positioning navigation module, described program control Flight Design module and described to the described dynamic of described earth station
Image receiver module transmits；
Described dynamic by described earth station catches positioning navigation module, obtains described multi-rotor aerocraft according to described environmental information
State of flight information, and navigation information is obtained according to described state of flight information, more described navigation information is revolved to described more
Rotor aircraft sends, and described state of flight information at least includes：Attitude information and velocity information, described navigation information at least wraps
Include：The positional information of described multi-rotor aerocraft, velocity information and attitude information；
By the described program control Flight Design module of described earth station, way point is set according to described environmental information, and will set
The way point obtaining is sent to described multi-rotor aerocraft by wireless network；
By the described flight control modules of described multi-rotor aerocraft, according to the kinetic model of multi-rotor aerocraft, control
Described multi-rotor aerocraft flies according to the corresponding path of described way point；
By the described image collecting device of described multi-rotor aerocraft, real-time image acquisition information, and by wireless network to
The described image receiver module of described earth station sends.
2. method according to claim 1, it is characterised in that the described kinetic model according to multi-rotor aerocraft, is controlled
Make described multi-rotor aerocraft to fly according to the corresponding path of described way point, including：
Set up the kinetic model of described multi-rotor aerocraft；
By the described flight control modules of described multi-rotor aerocraft, according to described state of flight information, described in real-time update
The attitude angle of multi-rotor aerocraft；
By the kinetic model of described multi-rotor aerocraft, the attitude angle of multi-rotor aerocraft according to described real-time update
Information and described positional information, obtain the rotating speed of described each rotor of multi-rotor aerocraft, and export described many rotor flyings
The described drive module of device, is rotated by described drive module motor, orders about described multi-rotor aerocraft tracking earth station defeated
The way point going out.
3. method according to claim 2 is it is characterised in that the kinetic model of described many rotor flyings, including：
Wherein, ωi(i=1,2,3,4) is the rotating speed of i-th rotor, the centroid position coordinate of (x, y, z) expression aircraft, φ,
θ, ψ are respectively three-dimension altitude angle,It is respectively aircraft along x, the acceleration of tri- axles of y, z,Respectively
For the angular acceleration of three Eulerian angles φ, θ, ψ,It is respectively three Eulerian angles φ, θ, the angular speed of ψ, Ix、Iy、Iz
For aircraft around three axis rotary inertia, l be the rotor lift arm of force, m be multi-rotor aerocraft quality, b be lift
Coefficient, d is anti-twisted moment coefficient, and g is acceleration of gravity.
4. method according to claim 2 is it is characterised in that the described described flight control by described multi-rotor aerocraft
Molding block, according to described state of flight information, the attitude angle of multi-rotor aerocraft described in real-time update, including：
From described attitude information, read and the roll angle φ that positioning navigation module calculates is caught by the described dynamic of described earth stationm,
Pitching angle thetamAnd yaw angle ψm, and be converted to attitude angle quaternary number Qm=[qm0qm1qm2qm3]T, wherein qm0, qm1, qm2, qm3Point
Wei not quaternary number QmFour elements, T represents the transposition of column vector；
Read three reference axis x, the magnitude of angular velocity ω on y, z from the gyroscope of described multi-rotor aerocraftx, ωy, ωz, and turn
It is changed to the quantity of state Q of quaternary numberw=[qw0qw1qw2qw3]T, wherein qw0, qw1, qw2, qw3It is respectively quaternary number QwFour units
Element, T represents the transposition of column vector；
According to Qm=[qm0qm1qm2qm3]TAnd Qw=[qw0qw1qw2qw3]T, accurate quaternary number Q is estimated by Kalman filtering
=[q0q1q2q3]T, and the attitude angle of the described multi-rotor aerocraft after being merged, the described many rotor flyings after fusion
The attitude angle of device includes：Roll angle φ, pitching angle theta and yaw angle ψ.
5. method according to claim 1 is it is characterised in that described motion capture device sets for optical motion seizure
Standby, it is made up of the multiple high speed cameras arranging around the flying field of described multi-rotor aerocraft.
6. method according to claim 1 it is characterised in that the frame of described multi-rotor aerocraft wheelbase be 450mm,
And be made up of carbon fibre material.
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| CN114397900A (en) * | 2021-11-29 | 2022-04-26 | 国家电投集团数字科技有限公司 | Unmanned aerial vehicle aerial photo picture center point longitude and latitude error optimization method |
| CN114397900B (en) * | 2021-11-29 | 2024-02-09 | 国家电投集团数字科技有限公司 | Unmanned aerial vehicle aerial photo center point longitude and latitude error optimization method |
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