CN106525074A - Compensation method and device for holder drift, holder and unmanned aerial vehicle - Google Patents
Compensation method and device for holder drift, holder and unmanned aerial vehicle Download PDFInfo
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- CN106525074A CN106525074A CN201610893832.XA CN201610893832A CN106525074A CN 106525074 A CN106525074 A CN 106525074A CN 201610893832 A CN201610893832 A CN 201610893832A CN 106525074 A CN106525074 A CN 106525074A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
- G01C25/005—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass initial alignment, calibration or starting-up of inertial devices
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Abstract
The embodiment of the invention provides a compensation method and device for holder drift, a holder and an unmanned aerial vehicle, and is applied to the technical field of the unmanned aerial vehicle. The compensation method comprises the following steps: through a first image and a second image collected by an image acquisition device on the holder, obtaining a holder drift angle, and controlling the holder to move to compensate the drift angle. According to the compensation method, the technical problem that the estimation and the compensation of the holder drift cannot be accurately carried out when the zero drift of a gyroscope is compensated is solved.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, compensation method, device in particular to a kind of drift of head, cloud
Platform and unmanned plane.
Background technology
In the related, the stable platform apparatus of unmanned plane calculate acquisition gyroscope quick by reading gyro data
The movement angle of sense stage body relative inertness coordinate system, is compensated to the angle by closed-loop control torque motor, overcomes carrier to transport
Dynamic impact, it is ensured that gyroscope sensitivity stage body keeps local level.But gyroscope or Inertial Measurement Unit (Inertial
Measurement unit, abbreviation IMU) in gyroscope there is null offset, can there is larger error in long-time accumulation calculating.
In order to compensate due to the error caused by head drift, information can be obtained using other sensors and gyroscopic drift is estimated
And error compensation.Wherein, for airborne tripod head, can be compensated on course by the magnetic compass on the flight controller of unmanned plane
Error, but in the case where there is high-intensity magnetic field interference etc., magnetic compass affects larger due to being disturbed, therefore is not suitable for compensation
Course error, and for for example hand-held stabilized platform of application-specific, do not have magnetic compass with equipment sheet, cannot more pass through magnetic sieve
Error on disk compensation course.
The content of the invention
In view of this, a kind of compensation method of head drift, device, head and unmanned plane is embodiments provided,
It is intended to improve the problems referred to above.
A kind of compensation method of head drift provided in an embodiment of the present invention, methods described include：Obtain the figure on head
As first image and the second image of harvester collection.According to the coordinate information of the image characteristic point in described first image and
The variable quantity of the coordinate information of the image characteristic point in second image obtains the drift angle of the head.Will be acquired
The drift angle is sent to the head, so that the head carries out angle benefit of drifting about according to the drift angle of the head
Repay.
A kind of compensation device of head drift provided in an embodiment of the present invention, the compensation device of the head drift include：
Image collection module, for obtaining first image and the second image of the image acquisition device on head.Drift value is obtained
Module, for the image characteristic point in the coordinate information according to the image characteristic point in described first image and second image
The variable quantity of coordinate information obtain the drift angle of the head.Drift angle compensating module, described in will be acquired
Drift angle is sent to the head, so that the head carries out drift angle compensation according to the drift angle of the head.
A kind of head provided in an embodiment of the present invention, the head include：Head body, the figure being arranged on head body
As the processor that harvester, memory and the memory are electrically connected with；And the compensation device of head drift.The cloud
Platform drift compensation device be installed on the memory in and including one or more by the computing device software function
Module.The compensation device of the head drift includes：Image collection module, for obtaining the image acquisition device on head
The first image and the second image.Drift value acquisition module, for the coordinate according to the image characteristic point in described first image
The variable quantity of the coordinate information of the image characteristic point in information and second image obtains the drift angle of the head.Drift
Angle compensation module, for the acquired drift angle is sent to the head, so that the head is according to the cloud
The drift angle of platform carries out drift angle compensation.
A kind of unmanned plane provided in an embodiment of the present invention, memory, and processor, are electrically connected with the memory,
The compensation device of head drift, during the compensation device of head drift is installed on the memory and including one or more by
The software function module of the computing device.The compensation device of the head drift includes：Image collection module, for obtaining
First image and the second image of the image acquisition device on head.Drift value acquisition module, for according to described first
The variable quantity of the coordinate information of the image characteristic point in the coordinate information of the image characteristic point in image and second image is obtained
Take the drift angle of the head.Drift angle compensating module, for the acquired drift angle is sent to the cloud
Platform, so that the head carries out drift angle compensation according to the drift angle of the head.
The compensation method of head drift provided in an embodiment of the present invention and device are applied to cloud provided in an embodiment of the present invention
Platform and unmanned plane, obtain the drift angle of head by first image and the second image of the image acquisition device on head
Degree, control head compensate the drift angle.Avoid the null offset using magnetic compass to gyroscope to be estimated and compensated
When, by the larger estimation and compensation for leading to not more accurately to carry out head drift of the interference effects such as magnetic field, null offset
Technical problem.
For enabling the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by to be used attached needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the block diagram of the compensation equipment of head drift provided in an embodiment of the present invention；
The step of Fig. 2 is the compensation method of the head drift that first embodiment of the invention is provided flow chart；
The sub-step flow process of the step of Fig. 3 is the compensation method of the head drift that first embodiment of the invention is provided S202
Figure；
The sub-step flow chart of the step of Fig. 4 is the compensation method shown in Fig. 3 S301；
The step of Fig. 5 is the default computation rule in the compensation method shown in Fig. 4 flow chart；
The sub-step flow process of the step of Fig. 6 is the compensation method of the head drift that first embodiment of the invention is provided S203
Figure；
Fig. 7 is the functional block diagram of the compensation device of the head drift that second embodiment of the invention is provided.
Specific embodiment
For making purpose, technical scheme and the advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
The a part of embodiment of the present invention, rather than the embodiment of whole.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.Therefore,
The detailed description of the embodiments of the invention to providing in the accompanying drawings is not intended to limit the model of claimed invention below
Enclose, but be merely representative of the selected embodiment of the present invention.
Fig. 1 is the block diagram of compensation equipment provided in an embodiment of the present invention 100, and the compensation equipment can include cloud
Platform or the unmanned plane comprising head.The compensation equipment 100 includes：Compensation device 101, memory 102, storage control
103rd, processor 104, Peripheral Interface 105, input-output unit 106 and display unit 107.The memory 102, storage control
Device 103, processor 104, Peripheral Interface 105, input-output unit 106,107 each element of display unit each other directly or
Ground connection is electrically connected with, to realize the transmission or interaction of data.For example, these elements each other can be by one or more communication
Bus or holding wire are realized being electrically connected with.The compensation device 101 includes that at least one can be with software or firmware (firmware)
Form be stored in the memory 102.The executable module that the processor 104 is stored in being used for performing memory 102,
Software function module or computer program that such as described track up device includes.
Wherein, memory 102 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only storage (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 102 is used for storage program, and the processor 104 performs described program, subsequently after execute instruction is received
Method performed by the server/computer of the flow definition that embodiment of the present invention any embodiment is disclosed can apply to process
In device 104, or realized by processor 104.
A kind of possibly IC chip of processor 104, the disposal ability with signal.Above-mentioned processor 104 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), special IC (ASIC),
It is ready-made programmable gate array (FPGA) or other PLDs, discrete gate or transistor logic, discrete hard
Part component.Can realize or perform disclosed each method in the embodiment of the present invention, step and logic diagram.General processor
Can be microprocessor or the processor can also be any conventional processor etc..
Various input-output units 106 are coupled to processor 104 and memory 102 by the Peripheral Interface 105.One
In a little embodiments, Peripheral Interface 105, processor 104 and storage control 103 can be realized in one single chip.At other
In some examples, they can be realized by independent chip respectively.
Input-output unit 106 is used for being supplied to user input data to realize interacting for user and the head.It is described defeated
Enter output unit 106 may be, but not limited to, touch-screen, mouse and keyboard etc., export correspondence for the operation in response to user
Signal.
Display unit 107 provide between the unmanned plane and user an interactive interface (such as user interface) or
Refer to user for display image data.In the present embodiment, the display unit can be that liquid crystal display or touch-control are aobvious
Show device.If touch control display, which can be support single-point and the capacitance type touch control screen or resistance type touch control screen of multi-point touch operation
Deng.Support that single-point and multi-point touch operation refer to that touch control display can sense one or more positions on the touch control display
The touch control operation of place's simultaneously generation is put, and transfers to processor to be calculated and processed the touch control operation for sensing.
Refer to Fig. 2, be first embodiment of the invention provide head drift compensation method the step of flow chart.Below
Idiographic flow shown in Fig. 2 will be described in detail.
Step S201, first image and the second image of the image acquisition device on acquisition head.
Head is generally positioned at the end of image collecting device, and the fixed support as image collecting device and bottom connect
Axle, realizes image collecting device in diverse location, the IMAQ of different visual angles by the position movement and attitudes vibration of head
Operation.The change that therefore, it can the pixel coordinate of the characteristic point in the image information by image acquisition device obtains institute
State the drift angle of head.
Described image harvester is fixedly installed with the head, is driven by three spindle motors of the head solid on head
If image collecting device be rotated up in roll, pitching and boat.Described image harvester collection at least two field pictures, wherein
Including the first image and the second image, preferably the acquisition time of described first image is prior to second image.Described image is adopted
Acquisition means can gather multiple image with any attitude, therefrom select the two field pictures for meeting computation rule as first figure
Picture and second image.Described image harvester can be to gather two field pictures with default rule, will be with preset rules
Before and after collection, two field pictures are used as the first image and the second image.The preset rules can include：Default collection image
The attitude of time, scene, three spindle motors collection described first image and second image, displacement etc. arrange rule.In view of not
Same scene, different acquisition time period, when different attitude, the difference such as the amount of movement of three spindle motors, side-play amount is larger, no
Beneficial to the calculating of head drift value, therefore preferably preset rules are same collection position and same attitude, further, can be with
Select the two field pictures that described first image and second image are that described image harvester is continuously shot.As, it is described
The image collecting device being fixedly installed on head is successively gathered described in Same Scene with same attitude at same collection position
First image and the second image.Certainly, arranged according to the actual drift value of the head in practical application and calculation procedure, can be by
The acquisition condition of described first image and second image is appropriately modified, and for example, acquisition time is set to 1s
Deng.
In other embodiments, the image acquisition device described first image on the head and described second
Before image, condition adjudgement process can also be increased, to carry out the measurement and compensation of head drift in inactive state, with reality
The compensation effect that now preferably head drifts about.The condition adjudgement process of head includes：The attitude information of the head is obtained, is passed through
The attitude information of the head judges the head state in which.If judging the cloud by the attitude information of the head
Platform remains static, in execution step S201, obtain head on image acquisition device described first image and institute
The step of stating the second image.
The attitude information of the head, can include attitude angle of the head on three axis of orientations, the three-dimensional of head
Coordinate etc..The mode for obtaining the attitude information of the head can include：By the Inertial Measurement Unit of head, inertial navigation system
The output data of IMU etc. obtains the attitude information of the head.If being judged at the head by the attitude information of the head
In inactive state, the first image and the step of the second image for obtaining the image collecting device on the head can be continued executing with
Suddenly.If judging that the head is kept in motion by the attitude information of the head, can select not performing follow-up cloud
The compensating operation of platform drift, or in the compensating operation of head drift, by the exercise data of head itself from the shifting of head
Reject in dynamic data, or for the different ginseng of the calculating process matched size of the drift angle of the head of different motion state
Number, to obtain more accurate measurement data.Other schemes that can obtain more accurate measurement data may be applicable to this
Embodiment.
Step S202, according to the figure in the coordinate information and second image of the image characteristic point in described first image
As the variable quantity of the coordinate information of characteristic point, the drift angle of the head is obtained.
After obtaining first image and the second image of described image harvester collection, by described first image and second
The variable quantity of the coordinate information of corresponding image characteristic point on image, with reference to Formula of Coordinate System Transformation, obtains described image collection dress
The deviation angle on three axles is put, the drift angle of the head is as obtained.
Step S203, the acquired drift angle is sent to the head, so that the head is according to the cloud
The drift angle of platform carries out drift angle compensation.
After obtaining the drift angle of the head, corresponding compensation rate is obtained according to drift angle, control head according to
The compensation rate is moved and pose adjustment, to compensate the drift of head itself generation.The drift angle of the head can be with
Be the head during described image harvester gathers the first image and second image, three spindle motors are in three axles
Drift angle on direction.Then correspondingly, the compensation rate can be equal with the numerical value of the drift value, in opposite direction
Vector.
For example, if the drift angle for obtaining is：Roll, 1 °；- 1 ° of pitching；5 ° of course, represents that the head there occurs roll
The positive 5 ° drift in positive 1 °, 1 ° of pitching negative sense and course.Corresponding compensation rate is set to：Roll, -1 °；1 ° of pitching；Course-
5 °, as control head and 1 ° is rotated along roll negative sense, rotate forward 1 ° along pitching, move 5 ° along row course negative sense, to compensate cloud
The drift that roll is positive 1 °, 1 ° of pitching negative sense and course are positive 5 ° that platform occurs.
Drift in view of roll direction and pitch orientation by low pass filter accelerometer data, and can combine card
Kalman Filtering scheduling algorithm is accurately estimated and is compensated, therefore the image using above-mentioned image acquisition device carries out head
When the estimation and compensation of drift, can be estimated and be compensated only for the drift on head course.
The compensation method of head provided in an embodiment of the present invention drift, control image collecting device fixed on head according to
Preset rules successively gather two field pictures.By the coordinate information of individual features point in described first image and second image
Change, with reference to default Coordinate Conversion Rule image collecting device in three axial side-play amounts, and be derived from cloud
The drift value of platform.Compensation is corrected according to the drift value by cradle head controllor control head.The drift value of head drift is obtained
Take the estimation and compensation for affecting to drift about with the interference of factor such as external magnetic field in compensation process, will not be subject to easily, very big journey
Improve head drift-compensated accuracy degree.
Refer to Fig. 3, be first embodiment of the invention provide head drift compensation method the step of S202 sub-step
Rapid flow chart.Specific explanations will be carried out to the content shown in Fig. 3 below.
Step S301, according to the coordinate information of at least four described image characteristic points in described first image is obtained
First attitude angle of head, according to the coordinate information of at least four described image characteristic points in second image is obtained
Second attitude angle of head.
After obtaining the first image, according to coordinate information and the Coordinate Conversion rule of the image characteristic point in described first image
First attitude angle of the head is obtained then.Correspondingly, according to the picture corresponding with described first image in second image
The coordinate of vegetarian refreshments obtains the second attitude angle of the head.Fig. 4 is referred to, is the sub-step flow chart of step S301, below will
Step shown in Fig. 4 is specifically described.
Step S401, obtains the characteristic information of the fisrt feature point and fisrt feature point in described first image.
After obtaining the first gathered image, choose with certain identification from multiple pixels of described first image
Characteristic information fisrt feature point, such as characteristic point of the characteristic information with invariable rotary, and obtain selected first
The characteristic information of characteristic point.
Step S402, on second image, selected characteristic information is corresponding with the characteristic information of the fisrt feature point
Second feature point.
After obtaining the second gathered image, according to the characteristic information of the fisrt feature point chosen in the first image, from institute
The second feature point of the characteristic information with certain identification is chosen in stating multiple pixels of the second image, and obtains selected
Second feature point characteristic information.
Step S403, according to the pixel coordinate of the fisrt feature point and it is default calculate Rule described in head first
Attitude angle.
After the characteristic information of the fisrt feature point for obtaining the first image according to above-mentioned steps, from the fisrt feature point
The pixel coordinate of fisrt feature point is obtained in characteristic information.Using the pixel coordinate of fisrt feature point, and default computation rule is obtained
Take the first attitude angle of the head.The default computation rule can be imaging coordinate system and the corresponding conversion of world coordinate system
Rule, gathers the first appearance during described first image using the pixel coordinate and Coordinate Conversion Rule head of fisrt feature point
State angle.The imaging coordinate system mainly includes two steps with the corresponding conversion rule of the world coordinate system：Feature on image
The imaging coordinate system of point is tied to the transfer process of world coordinate system with the transfer process of camera coordinates system, and camera coordinates.It is logical
Cross above-mentioned transfer process and can realize that characteristic point two-dimensional coordinate in imaging coordinate system is three-dimensional in world coordinate system on image
The conversion of coordinate.
Step S404, according to the pixel coordinate of the second feature point and it is default calculate Rule described in head second
Attitude angle.
After obtaining the characteristic information of second feature point of the second image, obtain from the characteristic information of the second feature point
Take the pixel coordinate of second feature point.Using the pixel coordinate of second feature point, and default computation rule, obtain head and adopt
Collect the second attitude angle during second image.What the default computation rule can be applied with the first attitude angle acquisition process
Default computation rule, is the corresponding conversion rule of imaging coordinate system and world coordinate system, and its specific transfer process can be joined
See Fig. 5.Step shown in Fig. 5 will be specifically described below.
Step S501, obtains the pixel coordinate of pixel described at least four.
Mainly include four data in the corresponding conversion rule of imaging coordinate system and world coordinate system, two-dimensional pixel coordinate,
Attitude angle matrix, camera internal reference matrix and three-dimensional world coordinate, carry out two-dimensional coordinate to three-dimensional seat hence with the transformation rule
The pixel coordinate of at least four pixels when target is changed, is needed, the concrete numerical value of attitude angle matrix can be just drawn.Four pixels
The higher pixel of four identifications that point can be included for a certain characteristic point, it is also possible to four characteristic points.Certainly, pixel
Quantity is chosen at least four, and obtaining multiple pixels carries out Coordinate Conversion calculating, can further improve the accurate of calculating process
Degree.
The pixel coordinate of pixel described at least four is substituted into Formula of Coordinate System Transformation by step S502 respectively, obtains attitude
Angular moment battle array.
If OXYZ is world coordinate system, uv is the image coordinate system in units of pixel.If certain object point P is in world coordinates
Coordinate under system is (X, Y, Z), then corresponding picture point p is (u, v) in the coordinate of image coordinate system.
After obtaining the pixel coordinate of at least described pixel, the pixel coordinate of each pixel is brought into coordinate respectively
Conversion formula：
In above-mentioned Formula of Coordinate System Transformation,The two-dimensional pixel coordinate of the characteristic point on image acquired in representing, R are represented
Attitude angle matrix, C represent the internal reference matrix of camera,Represent the three-dimensional world coordinate of the object point of Feature point correspondence.By related ginseng
Number brings above-mentioned Formula of Coordinate System Transformation () into, can obtain：
In above-mentioned formula (two), fu, fv, u0、v0It is only relevant with the inner parameter of image collecting device, therefore matrix M1 is called
Intrinsic Matrix.fu=f/dX, fv=f/dY, the normalization focal length being referred to as on u axles and v axles；F is the focal length of camera, dXWith
dYThe size of unit pixel on sensor u axles and v axles is represented respectively.u0And v0What is then represented is optical centre, i.e. video camera
Optical axis and the intersection point of the plane of delineation, are usually located at picture centre, therefore its value often take the half of resolution ratio.
For example, when the focal length f=35mm of certain image collecting device, highest resolution：4256 × 2832, size sensor：
36.0×23.9mm.Then u0=4256/2=2128；V0=2832/2=1416.Dx=36.0/4256；Dy=23.9/2832.
Fu=f/dx=4137.8；Fv=f/dy=4147.3.
In above-mentioned formula (two),In 1 expression Projection Depth, its geometric meaning is that object point P is sat in camera coordinates system
Target Z component, generally, the value is set to 1.R, t constitute the external parameter matrix of image collecting device, are referred to as rotation
Torque battle array and translation matrix.R is the matrix of a 3X3, and t is then the matrix of a 3X1.R can be represented using Quaternion method
Can be represented using Eulerian angles.Can be withIt is reduced to the attitude angle matrix of 3x1Wherein, θ x represent pitch orientation
Attitude angle, represent head around x-axis rotate when angle.θ y represent the attitude angle in course, represent head around y-axis rotate when angle
Degree.θ z represent the attitude angle in roll direction, represent head around z-axis rotate when angle.
Step S503, obtains attitude angle according to the attitude angle matrix.
Obtain after attitude angle matrix according to above-mentioned Formula of Coordinate System Transformation, three direction of principal axis are obtained based on the attitude angle matrix
Attitude angle：θ x, θ y and θ z.Certainly, if having adopted drift of the modes such as low pass filter to roll direction and pitch orientation
When shifting is compensated, the present embodiment according to attitude angle matrix obtain attitude angle the step of in, can only obtain head course
On attitude angle.
Step S302, obtains the drift value of the head according to first attitude angle and second attitude angle.
According to above-mentioned default computation rule, the first attitude angle of head when obtaining collection described first imageOr
First course attitude angle [θ1Y], and gather second image when head the second attitude angleOr second course
Attitude angle [θ2y].Attitude angle offset is obtained according to first attitude angle and second attitude angle
Or course attitude angle offset [Δ θ y]=[θ2y-θ1y].Attitude angle drift value or boat of three spindle motors on three direction of principal axis
To attitude angle drift value, the drift value of as described head.
Such as in above-mentioned embodiment, if the head there occurs the positive 5 ° drift in positive 1 ° roll, 1 ° of pitching negative sense and course
Move, then the attitude angle drift moment matrix of the head is represented by：
The compensation method of the head drift that the embodiments of the present invention are provided, the satisfaction for obtaining image acquisition device are pre-
If the first image of rule and the second image.According to Formula of Coordinate System Transformation, the pixel of the fisrt feature point on the first image is obtained
First attitude angle of the corresponding head of coordinate, and the of the corresponding head of pixel coordinate of the second feature point on the second image
Two attitude angles.Three spindle motors of the head are obtained in three axles according to the difference of first attitude angle and second attitude angle
The drift value in direction or drift value right on the course, the drift value for controlling three axle of head carry out three axial drift compensations,
Or only control head carries out the drift compensation in course according to the drift value in course.By the image of Real-time Collection and default calculating
Rule carries out the real-time estimation of head drift and compensation, the drift compensation of control head itself that can be more accurate, easy, pole
The impact of head drift is reduced big degree.
Fig. 6 is referred to, the sub-step of S203 the step of the compensation method of the head drift provided for first embodiment of the invention
Rapid flow chart, will carry out specific explanations to the step shown in Fig. 6 below.
Step S601, obtains the goal-selling angle of the head.
After the drift value of the head is obtained according to above-mentioned steps, institute is obtained according to the current motion data of the head
State the real offset of head.First, the goal-selling angle of the head is obtained, is that cradle head controllor is default for the head
Object attitude angle, can be expressed as：For example, if cradle head controllor is to control the IMAQ that head drives which fixed
The image in device collection front, then can be set to the goal-selling angle：
Step S602, obtains the actual mesh of the head according to the drift angle and the goal-selling angle of the head
Mark angle.
After obtaining the goal-selling angle of drift value and the head of the head, obtain cradle head controllor and should actually set
The angle on target of the head put, as, obtains according to the difference of the goal-selling angle of the drift value and the head of the head
The realistic objective angle of the head is taken, can be expressed as：It is applied in above-described embodiment, if institute
The attitude angle matrix for stating the drift of head isGoal-selling angle matrix isThe then realistic objective of the head
Angle is
Step S603, obtains the current time angle of the head and the deviation angle of the realistic objective angle.
The current time angle of the head is obtained by the cradle head controllor, the current time angle includes described
Head current time, in three axial attitude angles, can be expressed as：Then the head current time angle with it is described
The side-play amount of realistic objective can be expressed as：
For example, the current time angle of the head of acquisition is：Then the head current time angle and institute
The side-play amount for stating realistic objective angle is：
Step S604, controls the head according to the deviation angle movement to compensate the drift angle of the head.
After obtaining the current time angle of the head and the side-play amount of the realistic objective angle, control the head and press
Move according to the deviation angle, to compensate the drift angle of head.
For example, if the head current time angle with the side-play amount of the realistic objective angle is：Control cloud
Platform rotates 2 ° along the negative direction of pitch orientation, and the negative direction along course moves 3 °, and the negative direction along roll rotates 1 °, to compensate cloud
The error that platform itself drift is produced.
Fig. 7 is referred to, the functional block diagram of the compensation device 101 of the head drift provided for second embodiment of the invention.
The compensation device 101 includes：Image collection module 701, drift value acquisition module 702 and drift angle compensating module 703.
Described image acquisition module 701, for obtaining first image and second of the image acquisition device on head
Image.
The drift value acquisition module 702, for the coordinate information according to the image characteristic point in described first image and
The variable quantity of the coordinate information of the image characteristic point in second image, obtains the drift angle of the head.
The drift angle compensating module 703, for the drift angle of the acquired head is sent to the cloud
Platform, so that the head carries out drift angle compensation according to the drift angle of the head.
On the basis of above-described embodiment, the drift value acquisition module 702 specifically for：
The of the head is obtained according to the coordinate information of at least four described image characteristic points in described first image
One attitude angle, according to the coordinate letter of at least four described image characteristic point corresponding with described first image in second image
Breath, obtains the second attitude angle of the head；
The drift angle of the head is obtained according to first attitude angle and second attitude angle.
On the basis of above-described embodiment, the drift angle compensating module 703 specifically for：
Obtain the goal-selling angle of the head；
The realistic objective angle of the head is obtained according to the drift value and the goal-selling angle；
Obtain the current time angle of the head and the side-play amount of the angle on target；
The head is controlled according to the side-play amount movement to compensate the drift value of the head.
The compensation device of head provided in an embodiment of the present invention drift, control image collecting device fixed on head according to
Preset rules successively gather two field pictures.By the coordinate information of individual features point in described first image and second image
Change, with reference to default Coordinate Conversion Rule image collecting device in three axial side-play amounts, and be derived from cloud
The drift value of platform.Compensation is corrected according to the drift value by cradle head controllor control head.The drift value of head drift is obtained
Take the estimation and compensation for affecting to drift about with the interference of factor such as external magnetic field in compensation process, will not be subject to easily, very big journey
Improve head drift-compensated accuracy degree.The compensation device of head provided in an embodiment of the present invention drift is embodied as
Process refers to the specific implementation process of the compensation method of above-mentioned head drift, and this is no longer going to repeat them.
Continuing with referring to Fig. 1 and Fig. 7, the head that third embodiment of the invention is provided is shown.The head includes：Head
Body, the image collecting device being arranged on head body, memory 102, and the memory 102 be electrically connected with processor
104；And
The compensation device 104 of head drift.The compensation device 101 of the head drift is installed in the memory 102
And including the software function module that one or more are performed by the processor 104.The compensation device 101 includes：Image is obtained
Delivery block 701, drift value acquisition module 702 and drift angle compensating module 703.
Described image acquisition module 701, for obtaining first image and second of the image acquisition device on head
Image.
The drift value acquisition module 702, for the coordinate information according to the image characteristic point in described first image and
The variable quantity of the coordinate information of the image characteristic point in second image, obtains the drift angle of the head.
The drift angle compensating module 703, for the drift angle of the acquired head is sent to the cloud
Platform, so that the head carries out drift angle compensation according to the drift angle of the head.
Head provided in an embodiment of the present invention, by controlling image collecting device fixed on head according to preset rules elder generation
After gather two field pictures.By the change of the coordinate information of individual features point in described first image and second image, tie
Default Coordinate Conversion Rule image collecting device is closed in three axial side-play amounts, and is derived from the drift of head
Amount.Compensation is corrected according to the drift value by cradle head controllor control head.The drift value of head drift is obtained and is compensated
During, the interference of factor such as external magnetic field will not be subject to easily and affect the estimation and compensation of drift, dramatically be improved
Head drift-compensated accuracy.The specific implementation process of the compensation device of head drift provided in an embodiment of the present invention please be joined
See the specific implementation process of the compensation method of above-mentioned head drift, this is no longer going to repeat them.
Continuing with referring to Fig. 1 and Fig. 7, the unmanned plane that fourth embodiment of the invention is provided is shown.The unmanned plane includes：
Memory 102；And
Processor 104, is electrically connected with the memory 102；And
The compensation device 101 of head drift, the compensation device 101 of the head drift are installed in the memory 102
And including the software function module that one or more are performed by the processor 104, the compensation device 101 includes：Image is obtained
Delivery block 701, drift value acquisition module 702 and drift angle compensating module 703.
Described image acquisition module 701, for obtaining first image and second of the image acquisition device on head
Image.
The drift value acquisition module 702, for the coordinate information according to the image characteristic point in described first image and
The variable quantity of the coordinate information of the image characteristic point in second image, obtains the drift angle of the head.
The drift angle compensating module 703, for the drift angle of the acquired head is sent to the cloud
Platform, so that the head carries out drift angle compensation according to the drift angle of the head.
Unmanned plane provided in an embodiment of the present invention, by controlling image collecting device fixed on head according to preset rules
Two field pictures are gathered successively.By the change of the coordinate information of individual features point in described first image and second image,
With reference to default Coordinate Conversion Rule image collecting device in three axial side-play amounts, and it is derived from the drift of head
Amount.Compensation is corrected according to the drift value by cradle head controllor control head.The drift value of head drift is obtained and is compensated
During, the interference of factor such as external magnetic field will not be subject to easily and affect the estimation and compensation of drift, dramatically be improved
Head drift-compensated accuracy.The specific implementation process of the compensation device of head drift provided in an embodiment of the present invention please be joined
See the specific implementation process of the compensation method of above-mentioned head drift, this is no longer going to repeat them.
In several embodiments provided herein, it should be understood that disclosed apparatus and method, it is also possible to pass through
Other modes are realized.Device embodiment described above is only schematically, for example flow chart and block diagram in accompanying drawing
Show the device of multiple embodiments of the invention, the architectural framework in the cards of method and computer program product,
Function and operation.At this point, each square frame in flow chart or block diagram can represent the one of module, program segment or a code
Part, a part for the module, program segment or code are used for realizing holding for the logic function for specifying comprising one or more
Row instruction.It should also be noted that at some as in the implementations replaced, the function of being marked in square frame can also be being different from
The order marked in accompanying drawing occurs.For example, two continuous square frames can essentially be performed substantially in parallel, and they are sometimes
Can perform in the opposite order, this is depending on involved function.It is also noted that every in block diagram and/or flow chart
The combination of individual square frame and block diagram and/or the square frame in flow chart, can be with the special base for performing the function or action for specifying
Realize in the system of hardware, or can be realized with the combination of specialized hardware and computer instruction.
In addition, each functional module in each embodiment of the invention can integrate to form an independent portion
Divide, or modules individualism, it is also possible to which two or more modules are integrated to form an independent part.
If the function is realized using in the form of software function module and as independent production marketing or when using, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, is used including some instructions so that a computer equipment (can be individual
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the invention.
And aforesaid storage medium includes：USB flash disk, portable hard drive, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.Need
Illustrate, herein, such as first and second or the like relational terms be used merely to by an entity or operation with
Another entity or operation make a distinction, and not necessarily require or imply these entities or there is any this reality between operating
The relation or order on border.And, term " including ", "comprising" or its any other variant are intended to the bag of nonexcludability
Contain, so that a series of process, method, article or equipment including key elements is not only including those key elements, but also including
Other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.
In the absence of more restrictions, the key element for being limited by sentence "including a ...", it is not excluded that including the key element
Process, method, also there is other identical element in article or equipment.
The preferred embodiments of the present invention are the foregoing is only, the present invention is not limited to, for the skill of this area
For art personnel, the present invention can have various modifications and variations.It is all within the spirit and principles in the present invention, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.It should be noted that：Similar label and letter exist
Similar terms is represented in figure below, therefore, once being defined in a certain Xiang Yi accompanying drawing, then it is not required in subsequent accompanying drawing
Which is further defined and is explained.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, any
Those familiar with the art the invention discloses technical scope in, change or replacement can be readily occurred in, should all be contained
Cover within protection scope of the present invention.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
1. a kind of compensation method of head drift, it is characterised in that methods described includes：
First image and the second image of the image acquisition device on acquisition head；
According to the seat of the image characteristic point in the coordinate information and second image of the image characteristic point in described first image
The variable quantity of mark information, obtains the drift angle of the head；
The drift angle of the acquired head is sent to the head, so that drift of the head according to the head
Angle carries out drift angle compensation.
2. method according to claim 1, it is characterised in that obtain the first figure of the image acquisition device on head
Before the step of picture and the second image, methods described also includes：
Obtain the attitude information of the head；
If judging that the head remains static by the attitude information of the head, perform the image obtained on head and adopt
The step of first image and the second image of acquisition means collection.
3. method according to claim 1, it is characterised in that the quantity of the image characteristic point in described first image and institute
The quantity for stating the image characteristic point in the second image is at least four, according to the seat of the image characteristic point in described first image
The variable quantity of the coordinate information of the image characteristic point in mark information and second image, obtains the drift angle of the head
Step includes：
First appearance of the head is obtained according to the coordinate information of at least four described image characteristic points in described first image
State angle, according to the coordinate information of at least four described image characteristic point corresponding with described first image in second image,
Obtain the second attitude angle of the head；
According to first attitude angle and the difference of second attitude angle, the drift angle of the head is obtained.
4. method according to claim 3, it is characterised in that first attitude angle includes the first course angle, described
Two attitude angles include the second course angle, according to first attitude angle and the difference of second attitude angle, obtain the head
Drift angle the step of include：
According to first course angle and the difference of second course angle, the heading effect angle of the head is obtained.
5. method according to claim 1, it is characterised in that send the drift angle of the acquired head to institute
Head is stated, so that the head includes the step of drift angle compensation being carried out according to the drift angle of the head：
Obtain the goal-selling angle of the head；
The realistic objective angle of the head is obtained according to the drift angle and the goal-selling angle of the head；
Obtain the current time angle of the head and the deviation angle of the realistic objective angle；
The head is controlled according to the deviation angle movement to compensate the drift angle of the head.
6. the compensation device that a kind of head drifts about, it is characterised in that the compensation device of the head drift includes：
Image collection module, for obtaining first image and the second image of the image acquisition device on head；
Drift angle acquisition module, for the coordinate information according to the image characteristic point in described first image and second figure
The variable quantity of the coordinate information of the image characteristic point as in, obtains the drift angle of the head；
Drift angle compensating module, for the drift angle of the acquired head is sent to the head, so that described
Head carries out drift angle compensation according to the drift angle of the head.
7. device according to claim 6, it is characterised in that the drift angle acquisition module specifically for：
First appearance of the head is obtained according to the coordinate information of at least four described image characteristic points in described first image
State angle, according to the coordinate information of at least four described image characteristic point corresponding with described first image in second image,
Obtain the second attitude angle of the head；
According to first attitude angle and the difference of second attitude angle, the drift angle of the head is obtained.
8. device according to claim 6, it is characterised in that the drift angle compensating module specifically for：
Obtain the goal-selling angle of the head；
The realistic objective angle of the head is obtained according to the drift angle and the goal-selling angle of the head；
Obtain the current time angle of the head and the deviation angle of the realistic objective angle；
The head is controlled according to the deviation angle movement to compensate the drift angle of the head.
9. a kind of head, it is characterised in that the head includes：
The process that head body, the image collecting device being arranged on head body, memory and the memory are electrically connected with
Device；And the compensation device of head drift, during the compensation device of the head drift is installed on the memory and including one
Or multiple software function modules by the computing device, the compensation device of head drift includes：
Image collection module, for obtaining first image and the second image of the image acquisition device on head；
Drift angle acquisition module, for the coordinate information according to the image characteristic point in described first image and second figure
The variable quantity of the coordinate information of the image characteristic point as in, obtains the drift angle of the head；
Drift angle compensating module, for the drift angle of the acquired head is sent to the head, so that described
Head carries out drift angle compensation according to the drift angle of the head.
10. a kind of unmanned plane, it is characterised in that the unmanned plane includes：
Memory；And processor, it is electrically connected with the memory；And the compensation device of head drift, the head drift
Compensation device be installed on the memory in and including one or more by the computing device software function module, institute
The compensation device for stating head drift includes：
Image collection module, for obtaining first image and the second image of the image acquisition device on head；
Drift angle acquisition module, for the coordinate information according to the image characteristic point in described first image and second figure
The variable quantity of the coordinate information of the image characteristic point as in, obtains the drift angle of the head；
Drift angle compensating module, for the drift angle of the acquired head is sent to the head, so that described
Head carries out drift angle compensation according to the drift angle of the head.
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| CN201610893832.XA CN106525074B (en) | 2016-10-13 | 2016-10-13 | A kind of compensation method, device, holder and the unmanned plane of holder drift |
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