CN106767817B

CN106767817B - A kind of method and aircraft obtaining flight location information

Info

Publication number: CN106767817B
Application number: CN201611100259.9A
Authority: CN
Inventors: 黄盈
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2016-12-01
Filing date: 2016-12-01
Publication date: 2019-01-04
Anticipated expiration: 2036-12-01
Also published as: CN106767817A

Abstract

The embodiment of the invention discloses a kind of methods for obtaining flight location information, comprising: there are two the aircraft of camera to determine the first intrinsic parameters according to the first realtime graphic for tool, determines the second intrinsic parameters according to the second realtime graphic；Obtain the first initial positioning information and the second initial positioning information of initial time；According to the first initial positioning information and the first intrinsic parameters, the first flight location information is determined, and according to the second initial positioning information and the second intrinsic parameters, determine the second flight location information；According to the first flight location information and the second flight location information, target flight location information is obtained using preset position constraint condition.The embodiment of the present invention also provides a kind of aircraft.The present invention can obtain the target flight location informations closer to true value, and in the case where not using light stream camera or high-precision inertial sensor, still available accurate location information reduces error amount, while also reducing the cost of aircraft.

Description

A kind of method and aircraft obtaining flight location information

Technical field

The present invention relates to Intelligent flight device technical field more particularly to a kind of methods and flight for obtaining flight location information Device.

Background technique

Unpiloted aircraft is referred to as aircraft, and aircraft has become various countries competitively due to the plurality of advantages of its own The hot spot of development.One side aircraft has small in size, maneuverability, is not easy the advantages of being found, another aspect aircraft can To carry multiple sensors, can provide the high-resolution target information of diversified forms not will cause furthermore aircraft is cheap Casualties has the characteristics that economic security.

Due to lacking extraneous assisting navigation, aircraft is difficult to estimate the positioning and movement of aircraft under circumstances not known, fly Need to solve this critical issue during row device independent navigation.And the solution of this problem and air craft carried sensing The type of device is closely connected, in existing scheme, can by aircraft fuselage install monocular cam, light stream camera or Person's inertial sensor measurement obtains the location information of aircraft, carries out flight control to aircraft using the location information.

However, in practical applications, the precision of the positioning of monocular cam and inertial sensor is poor, and accumulated error is big, And light stream camera or high-precision inertial sensor typically cost are higher, so as to cause the increase of the cost of aircraft, no Conducive to the generality of aircraft applications.

Summary of the invention

It is available closer to true the embodiment of the invention provides a kind of method and aircraft for obtaining flight location information The target flight location information of real value still may be used in the case where not using light stream camera or high-precision inertial sensor To obtain accurate location information, reduce error amount, while also reducing the cost of aircraft.

In view of this, first aspect present invention provides a kind of method for obtaining flight location information, the method is applied to Aircraft, the aircraft include the first camera and second camera, wherein first camera is N number of for obtaining N number of first realtime graphic corresponding to different moments, the second camera is for obtaining corresponding N of N number of different moments A second realtime graphic, the N are the positive integer more than or equal to 2, which comprises

(N-1) a first intrinsic parameters are determined according to N number of first realtime graphic, and in real time according to described N number of second Image determines (N-1) a second intrinsic parameters；

Obtain initial time described in the first camera the first initial positioning information and the second camera second Initial positioning information；

According to first initial positioning information and (N-1) a first intrinsic parameters, determine described in (N-1) a moment Corresponding (N-1) a first flight location information, and it is intrinsic according to second initial positioning information and (N-1) a second Parameter determines (N-1) a moment corresponding (N-1) a second flight location information；

According to (N-1) a first flight location information and (N-1) a second flight location information, using pre- It sets position constraint condition and obtains target flight location information corresponding to finish time in N number of different moments.

Second aspect of the present invention provides a kind of aircraft, and the aircraft includes the first camera and second camera, Wherein, first camera is for obtaining N number of first realtime graphic, the second camera corresponding to N number of different moments For obtaining corresponding N number of second realtime graphic of N number of different moments, the N is the positive integer more than or equal to 2, described Aircraft includes:

First determining module, for determining (N-1) a first intrinsic parameters, and root according to N number of first realtime graphic (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic；

First obtains module, for obtaining the first initial positioning information of the first camera described in initial time and described Second initial positioning information of second camera；

Second determining module, for according to it is described first obtain module obtain first initial positioning information with it is described (N-1) a first intrinsic parameters that first determining module determines, determine described in (N-1) a moment corresponding (N-1) a the One flight location information, and obtain second initial positioning information and described first that module obtains according to described first and determine (N-1) a second intrinsic parameters that module determines determine (N-1) a moment corresponding (N-1) a second flight positioning letter Breath；

Second obtain module, for according to second determining module determine described in (N-1) it is a first flight positioning letter Breath and (N-1) a second flight location information are obtained in N number of different moments using preset position constraint condition and are tied Target flight location information corresponding to the beam moment.

As can be seen from the above technical solutions, the embodiment of the present invention has the advantage that

In the embodiment of the present invention, aircraft includes the first camera and second camera, and the first camera is for obtaining N N number of first realtime graphic corresponding to a different moments, second camera is for obtaining N number of different moments corresponding N number of second Realtime graphic determines (N-1) a the according to N number of first realtime graphic using the available flight location information of above-mentioned aircraft One intrinsic parameters, and (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic, it obtains initial time first and images First initial positioning information of head and the second initial positioning information of second camera, then according to the first initial positioning information With (N-1) a first intrinsic parameters, (N-1) a moment corresponding (N-1) a first flight location information is determined, and according to second Initial positioning information and (N-1) a second intrinsic parameters determine (N-1) a moment corresponding (N-1) a second flight positioning letter Breath, according to (N-1) a first flight location information and (N-1) a second flight location information, finally about using preset positioning Beam condition obtains target flight location information corresponding to finish time in N number of different moments.By the above-mentioned means, using binocular Camera realizes Aerial vehicle position, can obtain corresponding image of multiple and different moment in real time, and then analyze and obtain every frame image Between translation parameters, two cameras are utilized respectively translation parameters and obtain corresponding location information, finally use preset positioning Constraint condition corrects location information, to obtain the target flight location information closer to true value, is not using light stream camera Or in the case where high-precision inertial sensor, still available accurate location information reduces error amount, while also reducing The cost of aircraft.

Detailed description of the invention

Fig. 1 is method one embodiment schematic diagram that flight location information is obtained in the embodiment of the present invention；

Fig. 2 is the aircraft schematic diagram that binocular camera is equipped in the embodiment of the present invention；

Fig. 3 is the schematic diagram that binocular camera is positioned in the embodiment of the present invention；

Fig. 4 is the flow diagram that target flight location information is obtained in the embodiment of the present invention；

Fig. 5 is the workflow schematic diagram of binocular camera in application scenarios；

Fig. 6 is aircraft one embodiment schematic diagram in the embodiment of the present invention；

Fig. 7 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Fig. 8 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Fig. 9 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Figure 10 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Figure 11 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Figure 12 is another embodiment schematic diagram of aircraft in the embodiment of the present invention；

Figure 13 is one structural schematic diagram of aircraft in the embodiment of the present invention.

Specific embodiment

Description and claims of this specification and term " first ", " second ", " third ", " in above-mentioned attached drawing The (if present)s such as four " are to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should manage The data that solution uses in this way are interchangeable under appropriate circumstances, so that the embodiment of the present invention described herein for example can be to remove Sequence other than those of illustrating or describe herein is implemented.In addition, term " includes " and " having " and theirs is any Deformation, it is intended that cover it is non-exclusive include, for example, containing the process, method of a series of steps or units, system, production Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for this A little process, methods, the other step or units of product or equipment inherently.

It should be understood that the present invention program is mainly used in the operation of aircraft, aircraft (full name in English: Unmanned Aerial Vehicle, english abbreviation: UAV) it is exactly that flying for specific aviation mission is executed using wireless remote control or process control Row device refers to a kind of power airborne aircraft for not carrying operator, air force is used to provide required lift for aircraft, It can fly or remotely guide automatically, disposable can also can be carried out recycling and carry mortality and non-lethal Payload.

It should be noted that aircraft can be unmanned plane, it is also possible to aeromodelling airplane or other kinds of flying machine Device, herein without limitation.

Nowadays, unmanned plane positioning, which is hovered, can be achieved automatic suspension of the error in vertical 10 centimetres, 1 meter of accuracy rating of level Stop, when a higher accuracy is required, just needs to be finely adjusted manually.Unmanned plane realizes that automatic hovering is substantially fixed in On pre-set height and position and horizontal position, this is previously read itself that is, to realize hovering This move Position, that is, generating one group of three-dimensional coordinate this step seems most important.Relatively accurately determine that the location information of unmanned plane is nothing The premise of man-machine completion positioning hovering This move and basis.

In location technology used by unmanned plane it is relatively conventional there are several types of:

One, with global positioning system (full name in English: Global Positioning System, english abbreviation: GPS) mould Positioning based on block.GPS is after the location information of comprehensive at least 4 satellites, it can be achieved that the space orientation of unmanned plane.Utilize with Centered on GPS, auxiliary is nowadays mainstream locating scheme used by unmanned plane with the localization method of various sensors.In order to cope with It is selected in GPS system caused by availability technology (full name in English: Selective availability, english abbreviation: SA) accidentally Difference, unmanned plane GPS mounted usually improve positioning accuracy using Differential GPS Technology.

Two, with the positioning of vision system.The lasting shooting of Airborne camera provides continuous image for navigation system Frame, in the calculation procedure of Image Feature Matching, tracking features device obtains nature landmark information from continuous two picture frames, And displacement is measured in a pair of of physical feature.It, can by periodically recording new feature point, and more duplicate characteristic point The homography matrix for being used as three-dimensional geometry projection between each image capturing sequence is calculated, unmanned plane is determined so as to realize Position.

Three, the high accuracy positioning scheme that radio adds laser to pinpoint.Radio-positioning is in the accurate position of known guidance station It sets down, is received by the radio signal that receiver issues guidance station, calculating signal is issued between reception and is spaced Time, to handle the determination for obtaining guidance station to the relative distance between object and reaching position.

Then, it in these three modes, needs to receive the constraint of GPS signal since vision system is got rid of, can not have By the cooperation with the components such as inertial sensor in the case where GPS signal, the stabilization of unmanned plane is kept, so using the program It is significantly regional that unmanned plane can be used in some environmental characteristics, such as nearby there is a river, in a few things environment such as house.This hair Bright main use vision system is positioned, and will not be described in detail below.

Referring to Fig. 1, the method one embodiment for obtaining flight location information in the embodiment of the present invention includes:

201, the aircraft comprising the first camera and second camera determines (N-1) according to N number of first realtime graphic A first intrinsic parameters, and (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic, wherein the first camera is used In obtaining N number of first realtime graphic corresponding to N number of different moments, second camera is for obtaining corresponding N of N number of different moments A second realtime graphic, N are the positive integer more than or equal to 2；

In the present embodiment, aircraft includes one group of binocular camera, i.e., there are two cameras for tool, is respectively defined as first Camera and second camera.Binocular camera can provide depth information and location information simultaneously, wherein depth information master Referring to elevation information, the method for obtaining depth information can be the place vertically downward that binocular camera is mounted on to aircraft, It thus can preferably capture height change.

First camera and second camera are located at two different locations of aircraft, and at the same time capturing N frame figure Picture, N are greater than or equal to 2 positive integer, just can guarantee to obtain the two field pictures at front and back moment in this way, so as to carry out feature It compares.For corresponding each realtime graphic referred to as the first realtime graphic of N number of moment that the first camera is got, and Corresponding each realtime graphic referred to as the second realtime graphic of N number of moment that second camera is got.

Corresponding N frame image of N number of moment is contained in the first realtime graphic, front and back two field pictures are by aspect ratio to rear Multiple groups translation parameters is obtained, N frame image can obtain (N-1) a translation parameters, then uniformly be referred to as (N-1) a translation parameters For the first intrinsic parameters.Similarly, corresponding N frame image of N number of moment, two frame figure of front and back are also contained in the second realtime graphic As obtaining multiple groups translation parameters to after by aspect ratio, N frame image can obtain (N-1) a translation parameters, and then this is by (N-1) A translation parameters referred to as the second intrinsic parameters.

202, the first initial positioning information of initial time in N number of different moments, Yi Jitong are obtained by the first camera Cross the second initial positioning information that second camera obtains initial time in N number of different moments；

In the present embodiment, in aircraft available N number of moment corresponding first initial positioning information of initial time and Second initial positioning information.

Wherein, the first initial positioning information is that the first camera obtains captured by initial time in N number of different moments, Second initial positioning information is that second camera obtains captured by initial time in N number of different moments.By aircraft flight Entire space regard a three-dimensional system of coordinate as, then the first initial positioning information is exactly that the three-dimensional of the first camera shooting is sat The position of origin in mark system, the second initial positioning information are exactly the position of origin in the three-dimensional system of coordinate of second camera shooting.

203, according to the first initial positioning information and (N-1) a first intrinsic parameters, determine that (N-1) a moment is corresponding (N-1) a first flight location information, and according to the second initial positioning information and (N-1) a second intrinsic parameters, it determines (N-1) A moment corresponding (N-1) a second flight location information；

In the present embodiment, aircraft has got the first initial positioning information, and (N-1) a first has been calculated Parameter is levied, so as to determine (N-1) a moment corresponding (N- using the first initial positioning information and the first initial positioning information 1) a first flight location information.It similarly, can also be with according to the second initial positioning information and (N-1) a second intrinsic parameters Determine (N-1) a moment corresponding (N-1) a second flight location information.

Specifically, for obtaining the first flight location information, it is assumed that N 5, the first initial positioning information are X₁, N₁Moment The first intrinsic parameters be a, N₂First intrinsic parameters at moment are b, N₃First intrinsic parameters at moment are c and N₄The of moment One intrinsic parameters are d, then N₁First intrinsic parameters at moment are a X₁, N₂First intrinsic parameters at moment are ab X₁, N₃Moment The first intrinsic parameters be abc X₁, N₄First intrinsic parameters at moment are abcdX₁。

204, according to (N-1) a first flight location information and (N-1) a second flight location information, using preset fixed Position constraint condition obtains target flight location information corresponding to finish time in N number of different moments.

In the present embodiment, aircraft can be using the first flight positioning a to obtained (N-1) of preset position constraint condition Information and (N-1) a second flight location information are modified and adjust, (N-1) adjusted a first flight location information And the error between (N-1) a second flight location information is minimum value, is finally flown using solver to adjusted first Row location information and the second flight location information carry out the calculating of optimal solution, so that target flight location information is obtained, the target Flight location information of the flight location information as finish time in N number of different moments.

Target flight location information is sent to the winged control module of aircraft, it is made to be flown or be hanged using the information Stop.

Optionally, on the basis of above-mentioned Fig. 1 corresponding embodiment, acquisition flight positioning letter provided in an embodiment of the present invention In first alternative embodiment of method of breath, the first initial positioning information and second for obtaining the first camera of initial time are taken the photograph As head the second initial positioning information before, can also include:

In preset camera distance range, the first camera and second camera are set to the same level of aircraft On line.

In the present embodiment, referring to Fig. 2, Fig. 2 is the aircraft signal for being equipped with binocular camera in the embodiment of the present invention Both figure, as shown, need for the first camera and second camera to be mounted in the same horizontal line of aircraft, and guarantee Between spacing distance meet within default camera distance range, and two camera positions in Fig. 2 are only a signal, It should not be construed as the restriction to this case.

It should be noted that preset camera distance range is usually 6 centimetres to 10 centimetres, it in practical applications, can also To carry out some adjustment, herein without limitation.

However, mounted two cameras mathematically can not be realized really and be accurate to same level in practical applications On line, it is therefore desirable to carry out stereo calibration to two cameras respectively, stereo calibration can use Zhang Zhengyou calibration method.

Specifically, the implementation process of Zhang Zhengyou calibration method may comprise steps of:

1, a gridiron pattern is printed, it is pasted in one plane, as calibration object；

2, by adjusting the direction of calibration object or video camera, the photo of some different directions is shot for calibration object；

3, characteristic point (such as angle point) is extracted from photo；

4, in the ideal distortionless situation of estimation, five internal references and all outer ginsengs；

5, it is estimated using least square method.Distortion factor under physical presence radial distortion.

6, maximum-likelihood method, optimal estimating promote estimated accuracy.

Process in this way, we just obtain five internal references with high estimated accuracy, join outside three and two abnormal Variable coefficient.Using these information, we can carry out distortion correction, image rectification and final three dimensional signal space.

It includes but is not limited to camera intrinsic parameter matrix, distortion factor matrix, sheet that binocular camera, which needs the parameter demarcated, Levy matrix, basis matrix, spin matrix and translation matrix.Wherein camera intrinsic parameter matrix and distortion factor matrix can lead to The method for crossing monocular calibration, which calibrates, to be come.Binocular camera calibration and the most important difference of monocular-camera calibration are exactly that binocular is taken the photograph Camera needs to calibrate the relativeness between left and right cameras coordinate system.

Secondly, binocular camera vertically downward requires to be mounted on the same horizontal line in the embodiment of the present invention, and The distance at two camera intervals, by above-mentioned mounting means, can make the first camera shooting in preset camera distance range Head and second camera can take satisfactory realtime graphic, if two camera intervals are too small, be difficult to To reasonable depth information and location information, and two camera intervals will lead to greatly very much object nearby shoot less than, To lack object of reference.

Optionally, on the basis of above-mentioned Fig. 1 corresponding embodiment, acquisition flight positioning letter provided in an embodiment of the present invention In second alternative embodiment of method of breath, the first initial of initial time in N number of different moments is obtained by the first camera Location information, and before obtaining by second camera the second initial positioning information of initial time in N number of different moments, also May include:

The first moment corresponding first subgraph and the second moment corresponding second subgraph are obtained by the first camera Picture, wherein the first moment and two moment that the second moment was in N number of different moments, the first subgraph and the second subgraph Belong to the first realtime graphic；

The second moment corresponding third subgraph and the second moment corresponding 4th subgraph are obtained by second camera Picture, wherein third subgraph and the 4th subgraph belong to the second realtime graphic；

The first depth information and the second depth information are obtained using based on the measurement of binocular stereo vision mode.

It, can be with before aircraft obtains the first initial positioning information and the second initial positioning information in the present embodiment The first moment corresponding first subgraph is obtained using the first camera, at next moment, i.e. the second moment obtains corresponding Second subgraph similarly also obtains corresponding third subgraph at the first moment by second camera, and at the second moment The 4th subgraph is obtained, certainly, the first subgraph and the second subgraph belong to the first realtime graphic, and third subgraph and Four subgraphs belong to the second realtime graphic.

Then it can measure to obtain the letter of the first depth in the first subgraph respectively using based on binocular stereo vision mode Breath, the second depth information in the second subgraph, the in the third depth information and the 4th subgraph in third subgraph Four depth informations.Wherein, binocular stereo vision is a kind of important form of machine vision, it be based on principle of parallax and using at As equipment is from the two images of different position acquisition testees, by calculating the position deviation between image corresponding points, to obtain The method for taking object dimensional geological information.

Specifically, first subgraph and the third subgraph at the first moment at the first moment of comparison, merge two eyes and obtain Image and observe the difference between them, so that us is obtained apparent sense of depth, establish the corresponding relationship between feature, Photosites of the same space physical points in different images are mapped, the first depth information can be obtained.Similarly, it compares The second depth information can be obtained in second subgraph at the first moment and the 4th subgraph at the first moment.

Binocular stereo vision measurement method has many advantages, such as that high-efficient, precision is suitable, system structure is simple and at low cost, non- It is very suitable for online, non-contact product testing and the quality control at manufacture scene.To moving object measurement in, due to image obtain It is to be completed in moment, therefore Stereo Vision is a kind of more effective measurement method.

Secondly, aircraft obtains the first moment corresponding first subgraph by the first camera in the embodiment of the present invention And second moment corresponding second subgraph, and by second camera obtain the second moment corresponding third subgraph and Then second moment corresponding 4th subgraph obtains the first of the first subgraph using based on binocular stereo vision mode measurement The of depth information, the second depth information of the second subgraph, the third depth information of third subgraph and the 4th subgraph Four depth informations.By the above-mentioned means, the first camera and second camera can also obtain depth information, i.e. elevation information, Monocular cam is overcome and the shortcomings that light stream camera can not provide depth information, to enhance the practicability of scheme, together When, it can also be used in landform identification, object identification after obtaining depth information and determine height, with the diversity of this lifting scheme.

Optionally, on the basis of above-mentioned Fig. 1 corresponding second embodiment, acquisition flight provided in an embodiment of the present invention In the method third alternative embodiment of location information, the first intrinsic parameters may include the first spin matrix and the first translation Vector, the second intrinsic parameters include the second spin matrix and the second translation vector, wherein the first spin matrix is for indicating the The angle change of one camera, the second spin matrix are used to indicate the angle change of second camera, and the first translation vector is used for Indicate the height change of the first camera, the second translation vector is used to indicate the height change of second camera.

In the present embodiment, what the first camera obtained is the first intrinsic parameters, and what second camera obtained is second intrinsic Parameter, the first intrinsic parameters and the second intrinsic parameters belong to intrinsic parameters, and intrinsic parameters include spin matrix and translation Vector will introduce spin matrix and translation vector respectively below.

Relative positional relationship between any two coordinate system can be described by two matrixes: spin matrix R and Translation matrix T.We describe the relativeness of two camera coordinate systems in left and right with R and T herein, specially by left video camera Under coordinate be transformed into the coordinate under right video camera, i.e., the seat being transformed into the coordinate under the first video camera under the second video camera Mark.

Assuming that there is a point P in space, the coordinate under coordinate system is P_W, the left camera of r expression, the right camera of l expression Its coordinate under left and right cameras coordinate system can indicate are as follows:

Wherein, P_lAnd p_τThere is following relationship again:

P_r=RP_l+T (2)

Wherein, often with left video camera in binocular camera analysis, i.e. the first camera is master coordinate system, but R and T are but It is from left to right conversion, so T_xFor negative.Comprehensive (1) and (2) two formulas, can be derived from following formula:

Camera extrinsic number is exactly R herein in monocular calibration_l, T_l, R_rAnd T_r, substitute into (3) formula can find out spin matrix With R and translation matrix T, according to the available translation vector t of translation matrix T.

The intrinsic parameters being made of spin matrix and translation vector are very important in binocular problem to grade geometry, can be with The problems such as simplifying Stereo matching, and to apply and grade geometry is gone to solve the problems, such as, for example seek a grade line, need to know intrinsic parameters, because Intrinsic parameters can also be determined according to spin matrix and R and translation matrix T during this binocular calibration.

Intrinsic parameters often indicate that physical significance is the parameter that left and right coordinate system is mutually converted with letter e, can describe Relationship on the left and right cameras plane of delineation between corresponding points.

Again, it in the embodiment of the present invention, illustrates that binocular camera is available to spin matrix and translation vector, utilizes Spin matrix and translation vector construct to obtain intrinsic parameters, by the above-mentioned means, being respectively necessary for each taking the photograph in binocular camera As head is demarcated, spin matrix and translation vector are obtained to describe relative positional relationship between two cameras, and may be used also To constitute intrinsic parameters, to guarantee the feasibility and practicability of scheme.

Optionally, on the basis of above-mentioned Fig. 1 corresponding third embodiment, acquisition flight provided in an embodiment of the present invention In the 4th alternative embodiment of method of location information, (N-1) a first intrinsic parameters are determined according to N number of first realtime graphic, And (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic, may include:

(N-1) a first intrinsic parameters are calculated as follows:

Wherein, λ₁Indicate the first depth information, λ₂Indicate the second depth information,Indicate target point X in the first subgraph^j Three-dimensional space,Indicate target point X in second subgraph^jThree-dimensional space, C indicates the inner parameter that measures in advance, R₁Indicate the first spin matrix, t₁Indicate the first translation vector；

(N-1) a second intrinsic parameters are calculated as follows:

Wherein, λ₃Indicate third depth information, λ₄Indicate the 4th depth information,Indicate target point Y in third subgraph^k Three-dimensional space,Indicate target point Y in the 4th subgraph^kThree-dimensional space, R₂Indicate the second spin matrix, t₂Indicate second Translation vector.

In the present embodiment, referring to Fig. 3, Fig. 3 is the schematic diagram that binocular camera is positioned in the embodiment of the present invention, In, (N-1) a first intrinsic parameters, i.e. R in Fig. 3, (N-1) a second intrinsic parameters, i.e. L in Fig. 3, E is preset Position constraint condition.

Specifically, can be calculated using based on feature extraction in the corresponding realtime graphic of each moment of each camera shooting Method (full name in English: ORiented Brief, english abbreviation: ORB) calculates the spin matrix and translation vector of realtime graphic.It is first The ORB characteristic point of every frame realtime graphic is first extracted, is then matched with the ORB characteristic point of previous frame realtime graphic, it is possible thereby to Obtain the two of them moment corresponding ORB set of characteristic points in N number of moment:

z₁For the set of characteristic points of previous moment image, z₂For when the set of characteristic points of the one before time chart picture.Actually answering The matched point of n group is had in, only uses one group of meeting point as signal herein, if z₁And z₂It is perfect matching, then every group of point Between should meet following formula:

Wherein, λ₁Indicate the first depth information, λ₂Indicate the second depth information,Indicate target point X in the first subgraph^j Three-dimensional space,Indicate target point X in second subgraph^jThree-dimensional space, C indicates the inner parameter that measures in advance, R₁Indicate the first spin matrix, t₁Indicate the first translation vector.

Certainly, it is equally determining using aforesaid way in second camera and meets following formula between every group of point:

Convolution (6), formula (7), formula (8) and formula (9) composition equation group, can be calculated the first intrinsic parameters and Second intrinsic parameters obtain first the first translation vector of spin matrix, the second spin matrix and the second translation vector.

Further, in the embodiment of the present invention, how to determine (N-1) a first intrinsic parameters and (N-1) a second It levies parameter and corresponding calculation formula is provided, intrinsic parameters can be calculated by corresponding formula, provided for the realization of scheme Feasible foundation, to increase the feasibility of scheme.

Optionally, on the basis of above-mentioned Fig. 1 corresponding embodiment, acquisition flight positioning letter provided in an embodiment of the present invention In the 5th alternative embodiment of method of breath, positioned according to a second flight of (N-1) a first flight location information and (N-1) Information obtains target flight location information corresponding to finish time in N number of different moments using preset position constraint condition, can To include:

It is fixed that the second flight location information and the first flight under the conditions of meeting preset position constraint are calculated as follows Variance minimum value between the information of position:

Wherein, X indicates the first flight location information, and Y indicates the second flight location information,Indicate meet it is preset Variance minimum value under the conditions of position constraint between the second flight location information and the first flight location information, when N indicates n-th It carves, j indicates j-th of moment in N number of moment, X_jIndicate j-th of moment corresponding second flight location information, Y_jIt indicates j-th Moment corresponding second flight location information, R_extIndicate the rotation between the first camera measured in advance and second camera Matrix, t_extIndicate the translation vector between the first camera measured in advance and second camera；

Target flight location information is calculated according to variance minimum value.

In the present embodiment, calculated in every group of first flight location information and the second flight location information first with following formula Minimum value:

Wherein, X indicates the first flight location information, and Y indicates the second flight location information,Indicate meet it is preset Variance minimum value under the conditions of position constraint between the second flight location information and the first flight location information, when N indicates n-th It carves, j indicates j-th of moment in N number of moment, X_jIndicate j-th of moment corresponding second flight location information, Y_jIt indicates j-th Moment corresponding second flight location information, R_extIndicate the rotation between the first camera measured in advance and second camera Matrix, t_extIndicate the translation vector between the first camera measured in advance and second camera.

The flight location information that namely available N group was adjusted, such as the first flight location information fly with second Row location information collectively forms { X1, Y1 }, { X2, Y2 } ... ..., { Xn, Yn }, every group of { X1, Y1 } after adjustment, and X2, Y2 } ... ..., { Xn, Yn } can be closer to minimum, so that measurement result is also more accurate.

Wherein, R_extIndicate the spin matrix between the first camera measured in advance and second camera, t_extIndicate pre- Translation vector between the first camera first measured and second camera, R_extAnd t_extCollectively as the external ginseng of camera Number, can be obtained by stereo calibration.

For the ease of introducing, referring to Fig. 4, Fig. 4 is one for obtaining target flight location information in the embodiment of the present invention Flow diagram, in step 201, aircraft calculates separately the current pose of left and right camera, i.e., current flight location information, Flight location information can specifically include coordinate points position and heading in three-dimensional coordinate system；In step 202, benefit With standard drawing optimization algorithm (full name in English: General Graph Optimization, english abbreviation: g2o) structural map relationship, And constrained using binocular, i.e., preset position constraint condition corrects flight location information, wherein and g2o is the realization of a set of algorithms, According to the theory for solving non-linear least square, most suitable algorithm is selected according to specific problem.It is a platform, can be with Linear equation solver is added, writes the optimization object function of oneself, determines the mode updated；In step 203, using g2o's Solver solves to obtain optimal solution, finally updates current posture information using optimal solution in step 204, that is, updates current fly Row location information, updated flight location information are exactly target flight location information.

Secondly, the first flight location information measured respectively in the embodiment of the present invention based on binocular camera and Two flight location informations, establish the constraint between binocular camera flight location information, can solve flight by the constraint The flight optimization location information of device promotes the accuracy of positioning to reduce error to get to target flight location information.

Optionally, on the basis of any one of corresponding first to the 5th embodiment of above-mentioned Fig. 1 and Fig. 1, this hair It is fixed according to (N-1) a first flight in the 6th alternative embodiment of method for the acquisition flight location information that bright embodiment provides Position information and (N-1) a second flight location information, at the end of being obtained in N number of different moments using preset position constraint condition After carving corresponding target flight location information, can also include:

According to target flight location information, the first sub- flight location information corresponding to (N+1) moment, the first son are determined Flight location information is an information in target flight location information；

Using preset position constraint condition and the first sub- flight location information, the is obtained corresponding to (N+1) moment Two sub- flight location informations；

According to the first sub- flight location information and the first intrinsic parameters, of third corresponding to (N+2) moment is determined Flight location information；

Using preset position constraint condition and the sub- flight location information of third, the is obtained corresponding to (N+2) moment Four sub- flight location informations；

The first optimal solution of the first sub- flight location information and third target flight location information is calculated, and calculates the second son Second optimal solution of flight location information and the 4th sub- flight location information, the first optimal solution optimal are deconstructed into (N+ with second 2) the flight location information at moment.

It is right using finish time institute in preset position constraint condition acquisition N number of different moments in aircraft in the present embodiment After the target flight location information answered, subsequent flight positioning letter can also be calculated using target flight location information Breath.

Specifically, including the location information and the second camera shooting of the first camera in known target flight location information The location information of head, it is assumed that only one of location information X1 corresponding to selection (N+1) moment, X1 are referred to as the first son flight Then location information is retrodicted to obtain location information Y1 corresponding to (N+1) moment, i.e., second using preset position constraint condition Sub- flight location information, so far, one group of sub- flight location information acquisition finish, and then start next group of sub- flight location information It obtains.

According to XI and the first intrinsic parameters, the sub- flight location information of third corresponding to (N+2) moment is calculated, That is using preset position constraint condition and X2, it is fixed similarly to calculate the 4th son flight corresponding to (N+2) moment by X2 Position information, i.e. Y2, so far, next group of sub- flight location information are also obtained and are finished, and then can also continue to carry out subsequent child flight The acquisition of location information, is not repeated herein.

In practical applications, two cameras acquire optimal solution according to the X and Y that are calculated respectively, for example, by using minimum For square law come the optimal solution asked, two optimal solutions are that may make up the flight location information at (N+2) moment.

Secondly, after obtaining optimal target flight location information, can use the target in the embodiment of the present invention and fly Row positioning letter predicts flight location information optimal in following a period of time with preset position constraint condition.Pass through above-mentioned side On the one hand formula provides a kind of feasible means to obtain the mode of accurate flight location information, increases the flexible of scheme with this Property, on the other hand, the flight location information of subsequent acquisition is more focused on consideration of overall importance, is conducive in global coordinate system really Determine the location information of aircraft.

Optionally, on the basis of above-mentioned Fig. 1 corresponding 6th embodiment, acquisition flight provided in an embodiment of the present invention In the 7th alternative embodiment of method of location information, according to the first sub- flight location information and the first intrinsic parameters, determine The sub- flight location information of third corresponding to (N+2) moment may include:

The sub- flight location information of third corresponding to (N+2) moment is calculated as follows:

X_N+2=R_N+1X_N+1+t_N+1

Wherein, X_N+2Indicate the sub- flight location information of third corresponding to (N+2) moment, R_N+1Indicate the first intrinsic parameters In (N+1) moment spin matrix, t_N+1Indicate the translation vector at (N+1) moment in the first intrinsic parameters, X_N+1Indicate the (N+1) the first sub- flight location information corresponding to the moment.

In the present embodiment, will specifically introduce how to calculate the sub- flight location information of third corresponding to (N+2) moment, by Intrinsic parameters have been obtained in us, and include spin matrix and translation vector in intrinsic parameters, using spin matrix and Translation vector can carry out obtaining the sub- flight location information of third.

The sub- flight location information of third corresponding to (N+2) moment is calculated using following formula:

X_N+2=R_N+1X_N+1+t_N+1 (11)

Wherein, the X in formula_N+2Indicate the sub- flight location information of third corresponding to (N+2) moment, R_N+1Indicate first The spin matrix at (N+1) moment in intrinsic parameters, t_N+1Indicate the translation vector at (N+1) moment in the first intrinsic parameters, X_N+1Indicate the first sub- flight location information corresponding to (N+1) moment.

By the above-mentioned means, when can be calculated current using the sub- flight location information at a upper moment every time The sub- flight location information carved.Secondly by the external parameter of a series of sub- the flight location informations and binocular camera calculated It is input to g2o and constructs native relationship, the solver of g2o is then called to acquire the optimal solution of its least square method, it is finally optimal with this Solution updates target flight location information, meanwhile, optimal solution is also sent to the winged control module of aircraft.

Again, it in the embodiment of the present invention, is calculated using last moment corresponding first sub- flight location information latter A moment corresponding sub- flight location information of third, i.e., can be calculated using corresponding formula, by the above-mentioned means, can be with The practicability and feasibility of lifting scheme.

For ease of understanding, below with a concrete application scene to the method for obtaining flight location information a kind of in the present invention It is described in detail, referring to Fig. 5, Fig. 5 is the workflow schematic diagram of binocular camera in application scenarios, specifically:

In step 301, it is assumed that the aircraft of use is unmanned plane, first unmanned plane by its carry vertically downward Binocular camera acquires the realtime graphic of right and left eyes respectively；

In step 302, the depth value of image is calculated using the realtime graphic of right and left eyes；

In step 303, the spin matrix of two cameras in left and right is calculated separately based on ORB image characteristic point and is translated towards Amount, because the image of left and right camera acquisition is different, image characteristic point will be different, therefore left and right camera calculates Error is had between spin matrix and translation vector；

In step 304, we establish two groups between spin matrix and translation vector according to the constraint between binocular camera Restrictive condition, the optimal solution of its UAV position and orientation is acquired using the method for least square method.The optimal solution is unmanned plane Location information；

In step 305, which is sent to system for flight control computer, so that unmanned plane is available more accurately Location information.

The aircraft in the present invention is described in detail below, referring to Fig. 6, the aircraft packet in the embodiment of the present invention Include the first camera and second camera, wherein first camera is N number of corresponding to N number of different moments for obtaining First realtime graphic, the second camera is for obtaining corresponding N number of second realtime graphic of N number of different moments, the N For the positive integer more than or equal to 2, the aircraft includes:

First determining module 401, for determining (N-1) a first intrinsic parameters according to N number of first realtime graphic, and (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic；

First obtains module 402, for obtaining initial time in N number of different moments by first camera First initial positioning information, and at the beginning of obtaining second of initial time in N number of different moments by the second camera Beginning location information；

Second determining module 403, for obtaining first initial positioning information that module 402 obtains according to described first With first determining module 401 determine described in (N-1) a first intrinsic parameters, determine described in (N-1) a moment it is corresponding (N-1) a first flight location information, and according to it is described first obtain module 402 obtain second initial positioning information with (N-1) a second intrinsic parameters that first determining module 401 determines determine that (N-1) a moment corresponding (N-1) is a Second flight location information；

Second obtains module 404, for according to second determining module 403 determination (N-1) a first flight Location information and (N-1) a second flight location information, when obtaining described N number of different using preset position constraint condition Target flight location information corresponding to finish time in quarter.

In the present embodiment, the first determining module 401 determines that (N-1) a first is intrinsic according to N number of first realtime graphic Parameter, and (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic, first obtains module 402 described in First camera obtains the first initial positioning information of initial time in N number of different moments, and takes the photograph by described second As head obtains the second initial positioning information of initial time in N number of different moments, the second determining module 403 is according to described (N-1) that first initial positioning information and first determining module 401 that one acquisition module 402 obtains determine is a First intrinsic parameters, determine described in (N-1) a moment corresponding (N-1) a first flight location information, and according to described first Obtain second initial positioning information that module 402 obtains and (N-1) a that first determining module 401 determines Two intrinsic parameters determine (N-1) a moment corresponding (N-1) a second flight location information, and second obtains module 404 according to institute State (N-1) a first flight location information and (N-1) a second flight positioning that the second determining module 403 determines Information obtains the positioning of target flight corresponding to finish time letter in N number of different moments using preset position constraint condition Breath.

In the embodiment of the present invention, aircraft using binocular camera realize Aerial vehicle position, can obtain in real time it is multiple not Corresponding image in the same time, and then analyze and obtain the translation parameters between every frame image, two cameras are utilized respectively translation ginseng Number obtains corresponding location information, finally corrects location information using preset position constraint condition, to obtain closer to true value Target flight location information still can be obtained in the case where not using light stream camera or high-precision inertial sensor To accurate location information, reduce error amount, while also reducing the cost of aircraft.

Optionally, on the basis of above-mentioned Fig. 6 corresponding embodiment, referring to Fig. 7, flight provided in an embodiment of the present invention In another embodiment of device, the aircraft further include:

Setup module 405 obtains module 402 for described first and obtains N number of difference by first camera First initial positioning information of initial time in moment, and obtained in N number of different moments by the second camera Before second initial positioning information of initial time, in preset camera distance range, by first camera with it is described Second camera is set in the same horizontal line of the aircraft.

Optionally, on the basis of above-mentioned Fig. 6 corresponding embodiment, referring to Fig. 8, flight provided in an embodiment of the present invention In another embodiment of device, the aircraft further include:

Third obtains module 406, determines (N- according to N number of first realtime graphic for first determining module 402 1) a first intrinsic parameters, and before determining (N-1) a second intrinsic parameters according to N number of second realtime graphic, pass through institute It states the first camera and obtains the first moment corresponding first subgraph and the second moment corresponding second subgraph, wherein institute Stated for the first moment and second moment be two moment in N number of different moments, first subgraph with it is described Second subgraph belongs to first realtime graphic；

4th obtains module 407, for obtaining second moment corresponding third subgraph by the second camera Picture and second moment corresponding 4th subgraph, wherein the third subgraph is belonged to the 4th subgraph Second realtime graphic；

Measurement module 408, for obtaining the first depth information and second using based on the measurement of binocular stereo vision mode Depth information.

Optionally, on the basis of above-mentioned Fig. 8 corresponding embodiment, another implementation of aircraft provided in an embodiment of the present invention In example, first intrinsic parameters include the first spin matrix and the first translation vector, and second intrinsic parameters include the Two spin matrixs and the second translation vector, wherein first spin matrix is used to indicate the angle of first camera Variation, second spin matrix are used to indicate the angle change of the second camera, and first translation vector is used for table Show the height change of first camera, second translation vector is used to indicate the height change of the second camera.

Optionally, on the basis of above-mentioned Fig. 8 corresponding embodiment, referring to Fig. 9, flight provided in an embodiment of the present invention In another embodiment of device,

First determining module 401 includes:

First computing unit 4011, for calculating (N-1) a first intrinsic parameters as follows:

Wherein, the λ₁Indicate first depth information, the λ₂Indicate second depth information, it is describedIt indicates Target point X in first subgraph^jThree-dimensional space, it is describedIndicate target point X described in second subgraph^jThree Dimension space, C indicate the inner parameter measured in advance, the R₁Indicate first spin matrix, the t₁Indicate that described first is flat The amount of shifting to；

(N-1) a second intrinsic parameters are calculated as follows:

Wherein, the λ₃Indicate the third depth information, the λ₄Indicate the 4th depth information, it is describedIt indicates Target point Y in the third subgraph^kThree-dimensional space, it is describedIndicate target point Y described in the 4th subgraph^kThree Dimension space, the R₂Indicate second spin matrix, the t₂Indicate second translation vector.

Optionally, on the basis of above-mentioned Fig. 6 corresponding embodiment, referring to Fig. 10, provided in an embodiment of the present invention fly In another embodiment of row device,

Described second, which obtains module 404, includes:

Second computing unit 4041, it is described under the conditions of meeting the preset position constraint for calculating as follows Variance minimum value between second flight location information and the first flight location information:

Wherein, the X indicates the first flight location information, and the Y indicates the second flight location information, describedIndicate the second flight location information and the first flight positioning letter under the conditions of meeting the preset position constraint Variance minimum value between breath, the N indicate the n-th moment, and the j indicates j-th of moment in N number of moment, the X_jTable Show j-th of moment corresponding second flight location information, the Y_jIndicate j-th of moment corresponding described Two flight location informations, the R_extIndicate the rotation between first camera measured in advance and the second camera Matrix, the t_extIndicate the translation vector between first camera measured in advance and the second camera；

Third computing unit 4042, the variance minimum value for being calculated according to second computing unit 4041 calculate The target flight location information.

Optionally, on the basis of above-mentioned Fig. 6 corresponding any embodiment into Figure 10, Figure 11 is please referred to, the present invention is real In another embodiment of aircraft that example offer is provided, the aircraft further include:

Third determining module 409A obtains module 404 according to (N-1) a first flight positioning letter for described second Breath and (N-1) a second flight location information are obtained in N number of different moments using preset position constraint condition and are tied After target flight location information corresponding to the beam moment, according to the target flight location information, (N+1) moment institute is determined Corresponding first sub- flight location information, the first sub- flight location information are one in the target flight location information Information；

5th obtains module 409B, for using the preset position constraint condition and the third determining module 409A The sub- flight location information of determining described first obtains the second sub- flight location information corresponding to (N+1) moment；

4th determining module 409C, the first son flight positioning for being determined according to the third determining module 409A Information and the first intrinsic parameters, determine the sub- flight location information of third corresponding to (N+2) moment；

6th obtains module 409D, for using the preset position constraint condition and the 4th determining module 409C The sub- flight location information of the determining third obtains the 4th sub- flight location information corresponding to (N+2) moment；

Computing module 409E, for calculate the third determining module 409A determine the described first sub- flight location information with First optimal solution of the third target flight location information that the 4th determining module 409C is determined, and calculate the described 5th It obtains the described second sub- flight location information and the described 6th that module 409B is obtained and obtains the module 409D is obtained the described 4th Second optimal solution of sub- flight location information, first optimal solution optimal are deconstructed into (N+2) moment with described second Flight location information.

Optionally, on the basis of above-mentioned Figure 11 corresponding embodiment, Figure 12 is please referred to, it is provided in an embodiment of the present invention to fly In another embodiment of row device,

The 4th determining module 409C includes:

4th computing unit 409C1 flies for calculating third corresponding to (N+2) moment as follows Row location information:

X_N+2=R_N+1X_N+1+t_N+1

Wherein, the X_N+2Indicate the sub- flight location information of third corresponding to (N+2) moment, the R_N+1It indicates The spin matrix at (N+1) moment, the t in first intrinsic parameters_N+1It indicates in first intrinsic parameters (N+1) The translation vector at moment, the X_N+1Indicate the first sub- flight location information corresponding to (N+1) moment.

The embodiment of the invention also provides another aircraft, as shown in figure 13, for ease of description, illustrate only and this The relevant part of inventive embodiments, it is disclosed by specific technical details, please refer to present invention method part.With aircraft For unmanned plane:

Figure 13 shows the block diagram of the part-structure of unmanned plane relevant to aircraft provided in an embodiment of the present invention.Ginseng Figure 13 is examined, unmanned plane includes: radio frequency (full name in English: Radio Frequency, english abbreviation: RF) circuit 510, memory 520, input unit 530, display unit 540, sensor 550, voicefrequency circuit 560, Wireless Fidelity (full name in English: wireless Fidelity, english abbreviation: WiFi) components such as module 570, processor 580 and power supply 590.Those skilled in the art can be with Understand, unmanned plane structure shown in Figure 13 does not constitute the restriction to unmanned plane, may include more more or fewer than illustrating Component perhaps combines certain components or different component layouts.

It is specifically introduced below with reference to each component parts of the Figure 13 to unmanned plane:

RF circuit 510 can be used for receiving and sending messages or communication process in, signal sends and receivees, particularly, by aircraft After the downlink information of control device receives, handled to processor 580；In addition, the data for designing uplink are sent to aircraft control Device processed.In general, RF circuit 510 including but not limited to antenna, at least one amplifier, transceiver, coupler, low noise are put Big device (full name in English: Low Noise Amplifier, english abbreviation: LNA), duplexer etc..In addition, RF circuit 510 can be with It is communicated by wireless communication with network and other equipment.Any communication standard or agreement can be used in above-mentioned wireless communication, including But it is not limited to global system for mobile communications (full name in English: Global System of Mobile communication, English Abbreviation: GSM), general packet radio service (full name in English: General Packet Radio Service, GPRS), code it is point more (English is complete for location (full name in English: Code Division Multiple Access, english abbreviation: CDMA), wideband code division multiple access Claim: Wideband Code Division Multiple Access, english abbreviation: WCDMA), long term evolution (full name in English: Long Term Evolution, english abbreviation: LTE), Email, short message service (full name in English: Short Messaging Service, SMS) etc..

Memory 520 can be used for storing software program and module, and processor 580 is stored in memory 520 by operation Software program and module, thereby executing the various function application and data processing of unmanned plane.Memory 520 can be wrapped mainly Include storing program area and storage data area, wherein storing program area can application needed for storage program area, at least one function Program (such as sound-playing function, image player function etc.) etc.；Storage data area can be stored is created according to using for unmanned plane Data (such as audio data, phone directory etc.) built etc..In addition, memory 520 may include high-speed random access memory, also It may include nonvolatile memory, a for example, at least disk memory, flush memory device or the storage of other volatile solid-states Device.

Input unit 530 can be used for receiving the number or character information of input, and generate the user setting with unmanned plane And the related key signals input of function control.Specifically, input unit 530 may include touch panel 531 and other inputs Equipment 532.Touch panel 531, also referred to as touch screen, collecting the touch operation of user on it or nearby, (for example user makes With the operation of any suitable object or attachment such as finger, stylus on touch panel 531 or near touch panel 531), and Corresponding attachment device is driven according to preset formula.Optionally, touch panel 531 may include touch detecting apparatus and touching Touch two parts of controller.Wherein, the touch orientation of touch detecting apparatus detection user, and detect touch operation bring letter Number, transmit a signal to touch controller；Touch controller receives touch information from touch detecting apparatus, and is converted into Contact coordinate, then give processor 580, and order that processor 580 is sent can be received and executed.Furthermore, it is possible to using The multiple types such as resistance-type, condenser type, infrared ray and surface acoustic wave realize touch panel 531.It is defeated in addition to touch panel 531 Entering unit 530 can also include other input equipments 532.Specifically, other input equipments 532 can include but is not limited to physics One of keyboard, function key (such as volume control button, switch key etc.), trace ball, mouse, operating stick etc. are a variety of.

Display unit 540 can be used for showing information input by user or be supplied to user information and unmanned plane it is each Kind menu.Display unit 540 may include display panel 541, optionally, can use liquid crystal display (full name in English: Liquid Crystal Display, english abbreviation: LCD), Organic Light Emitting Diode (full name in English: Organic Light-Emitting Diode, english abbreviation: OLED) etc. forms configure display panel 541.Further, touch panel 531 can cover display surface Plate 541 sends processor 580 to determine and touches thing after touch panel 531 detects touch operation on it or nearby The type of part is followed by subsequent processing device 580 according to the type of touch event and provides corresponding visual output on display panel 541.Though So in Figure 13, touch panel 531 and display panel 541 are the input and input for realizing mobile phone as two independent components Function, but in some embodiments it is possible to touch panel 531 and display panel 541 is integrated and realize the input of mobile phone and Output function.

Unmanned plane may also include at least one sensor 550, such as optical sensor, motion sensor and other sensings Device.Specifically, optical sensor may include ambient light sensor and proximity sensor, wherein ambient light sensor can be according to environment The light and shade of light adjusts the brightness of display panel 541, and proximity sensor can close display when unmanned plane is moved at light Panel 541 and/or backlight.As a kind of motion sensor, accelerometer sensor can detect (generally three in all directions Axis) acceleration size, can detect that size and the direction of gravity when static, can be used to identify UAV Attitude application (ratio Such as horizontal/vertical screen switching, dependent game, magnetometer pose calibrating), Vibration identification correlation function (such as pedometer, tap)；Extremely In other sensors such as gyroscope, barometer, hygrometer, thermometer, the infrared sensors that mobile phone can also configure, herein no longer It repeats.

Voicefrequency circuit 560, loudspeaker 561, microphone 562 can provide the audio interface between user and unmanned plane.Audio Electric signal after the audio data received conversion can be transferred to loudspeaker 561, be converted to sound by loudspeaker 561 by circuit 560 Sound signal output；On the other hand, the voice signal of collection is converted to electric signal by microphone 562, after being received by voicefrequency circuit 560 Audio data is converted to, then by after the processing of audio data output processor 580, through RF circuit 510 to be sent to such as the other hand Machine, or audio data is exported to memory 520 to be further processed.

WiFi belongs to short range wireless transmission technology, and unmanned plane can help user's transceiver electronics by WiFi module 570 Mail, browsing webpage and access streaming video etc., it provides wireless broadband internet access for user.Although Figure 13 is shown WiFi module 570, but it is understood that, and it is not belonging to must be configured into for mobile phone, it can according to need completely not Change in the range of the essence of invention and omits.

Processor 580 is the control centre of unmanned plane, utilizes each portion of various interfaces and the entire unmanned plane of connection Point, by running or execute the software program and/or module that are stored in memory 520, and calls and be stored in memory 520 Interior data execute the various functions and processing data of unmanned plane, to carry out integral monitoring to unmanned plane.Optionally, it handles Device 580 may include one or more processing units；Preferably, processor 580 can integrate application processor and modulation /demodulation processing Device, wherein the main processing operation system of application processor, user interface and application program etc., modem processor is mainly located Reason wireless communication.It is understood that above-mentioned modem processor can not also be integrated into processor 580.

Unmanned plane further includes the power supply 590 (such as battery) powered to all parts, it is preferred that power supply can pass through power supply Management system and processor 580 are logically contiguous, to realize management charging, electric discharge and power consumption pipe by power-supply management system The functions such as reason.

Although being not shown, unmanned plane can also include camera, bluetooth module etc., and details are not described herein.

In embodiments of the present invention, processor 580 included by the terminal is also with the following functions:

It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description, The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.

In several embodiments provided herein, it should be understood that disclosed system, device and method can be with It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit It closes or communicates to connect, can be electrical property, mechanical or other forms.

The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme 's.

It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list Member both can take the form of hardware realization, can also realize in the form of software functional units.

If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words It embodies, which is stored in a storage medium, including some instructions are used so that a computer Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the present invention Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (full name in English: Read-Only Memory, english abbreviation: ROM), random access memory (full name in English: Random Access Memory, english abbreviation: RAM), the various media that can store program code such as magnetic or disk.

The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.

Claims

1. a kind of method for obtaining flight location information, which is characterized in that the method is applied to aircraft, the aircraft packet Include the first camera and second camera, wherein first camera is N number of corresponding to N number of different moments for obtaining First realtime graphic, the second camera is for obtaining corresponding N number of second realtime graphic of N number of different moments, the N For the positive integer more than or equal to 2, which comprises

(N-1) a first intrinsic parameters are determined according to N number of first realtime graphic, and according to N number of second realtime graphic Determine (N-1) a second intrinsic parameters；

The first initial positioning information of initial time in N number of different moments, Yi Jitong are obtained by first camera Cross the second initial positioning information that the second camera obtains initial time in N number of different moments；

According to first initial positioning information and (N-1) a first intrinsic parameters, determine that (N-1) a moment is corresponding (N-1) a first flight location information, and according to second initial positioning information and (N-1) a second intrinsic parameters, Determine (N-1) a moment corresponding (N-1) a second flight location information；

According to (N-1) a first flight location information and (N-1) a second flight location information, using preset fixed Position constraint condition obtains target flight location information corresponding to finish time in N number of different moments.

2. the method according to claim 1, wherein it is described by first camera obtain it is described it is N number of not First initial positioning information of middle initial time in the same time, and N number of different moments are obtained by the second camera Before second initial positioning information of middle initial time, the method also includes:

In preset camera distance range, first camera and the second camera are set to the aircraft In same horizontal line.

3. the method according to claim 1, wherein described determine (N-1) according to N number of first realtime graphic A first intrinsic parameters, and before determining (N-1) a second intrinsic parameters according to N number of second realtime graphic, the method Further include:

The first moment corresponding first subgraph and the second moment corresponding second subgraph are obtained by first camera Picture, wherein first moment and second moment are two moment in N number of different moments, when described first It carves and second moment is two adjacent moment, first subgraph and second subgraph belong to described first Realtime graphic；

The first moment corresponding third subgraph is obtained by the second camera and second moment is corresponding 4th subgraph, wherein the third subgraph and the 4th subgraph belong to second realtime graphic；

The first depth information and the second depth information are obtained based on binocular stereo vision mode measurement.

4. according to the method described in claim 3, it is characterized in that, first intrinsic parameters include the first spin matrix and First translation vector, second intrinsic parameters include the second spin matrix and the second translation vector, wherein first rotation Torque battle array is used to indicate the angle change of first camera, and second spin matrix is for indicating the second camera Angle change, first translation vector is used to indicate the height change of first camera, second translation vector For indicating the height change of the second camera.

5. according to the method described in claim 4, it is characterized in that, described determine (N-1) according to N number of first realtime graphic A first intrinsic parameters, and (N-1) a second intrinsic parameters are determined according to N number of second realtime graphic, comprising:

(N-1) a first intrinsic parameters are calculated as follows:

Wherein, the λ₁Indicate first depth information, the λ₂Indicate second depth information, it is describedDescribed in expression Target point X in first subgraph^jThree-dimensional space, it is describedIndicate target point X described in second subgraph^jThree-dimensional space Between, C indicates the inner parameter measured in advance, the R₁Indicate first spin matrix, the t₁Indicate that described first is translated towards Amount；

(N-1) a second intrinsic parameters are calculated as follows:

Wherein, the λ₃Indicate third depth information, the λ₄Indicate the 4th depth information, it is describedIndicate the third subgraph The target point Y as in^kThree-dimensional space, it is describedIndicate target point Y described in the 4th subgraph^kThree-dimensional space, it is described R₂Indicate second spin matrix, the t₂Indicate second translation vector.

6. the method according to claim 1, wherein according to (N-1) a first flight location information And (N-1) a second flight location information, being obtained in N number of different moments using preset position constraint condition is terminated Target flight location information corresponding to moment, comprising:

The second flight location information and described the are calculated under the conditions of meeting the preset position constraint as follows Variance minimum value between one flight location information:

Wherein, the X indicates the first flight location information, and the Y indicates the second flight location information, describedIndicate the second flight location information and the first flight positioning letter under the conditions of meeting the preset position constraint Variance minimum value between breath, the N indicate the n-th moment, and the j indicates j-th of moment in N number of moment, the X_jTable Show j-th of moment corresponding first flight location information, the Y_jIndicate j-th of moment corresponding described Two flight location informations, the R_extIndicate the rotation between first camera measured in advance and the second camera Matrix, the t_extIndicate the translation vector between first camera measured in advance and the second camera；

The target flight location information is calculated according to the variance minimum value.

7. method according to any one of claim 1 to 6, which is characterized in that according to (N-1) a first flies Row location information and (N-1) a second flight location information obtain N number of difference using preset position constraint condition In moment after target flight location information corresponding to finish time, the method also includes:

According to the target flight location information, the first sub- flight location information corresponding to (N+1) moment is determined, described One sub- flight location information is an information in the target flight location information；

Using the preset position constraint condition and the first sub- flight location information, (N+1) moment institute is obtained Corresponding second sub- flight location information；

According to the described first sub- flight location information and the first intrinsic parameters, of third corresponding to (N+2) moment is determined Flight location information；

Using the preset position constraint condition and the sub- flight location information of the third, (N+2) moment institute is obtained Corresponding 4th sub- flight location information；

The first optimal solution of the described first sub- flight location information Yu the sub- flight location information of the third is calculated, and described in calculating Second optimal solution of the second sub- flight location information and the described 4th sub- flight location information, first optimal solution and described the The two optimal flight location informations for being deconstructed into (N+2) moment.

8. the method according to the description of claim 7 is characterized in that described according to the described first sub- flight location information and One intrinsic parameters determine the sub- flight location information of third corresponding to (N+2) moment, comprising:

X_N+2=R_N+1X_N+1+t_N+1

Wherein, the X_N+2Indicate the sub- flight location information of third corresponding to (N+2) moment, the R_N+1Described in expression The spin matrix at (N+1) moment in first intrinsic parameters, the t_N+1Indicate (N+1) moment in first intrinsic parameters Translation vector, the X_N+1Indicate the first sub- flight location information corresponding to (N+1) moment.

9. a kind of aircraft, which is characterized in that the aircraft includes the first camera and second camera, wherein described First camera is for obtaining N number of first realtime graphic corresponding to N number of different moments, and the second camera is for obtaining institute Corresponding N number of second realtime graphic of N number of different moments is stated, the N is the positive integer more than or equal to 2, and the aircraft includes:

First determining module, for determining (N-1) a first intrinsic parameters according to N number of first realtime graphic, and according to institute It states N number of second realtime graphic and determines (N-1) a second intrinsic parameters；

First obtains module, at the beginning of obtaining first of initial time in N number of different moments by first camera Beginning location information, and obtain by the second camera the second initial alignment of initial time in N number of different moments Information；

Second determining module, for obtaining first initial positioning information and described first that module obtains according to described first (N-1) a first intrinsic parameters that determining module determines determine that (N-1) a moment corresponding (N-1) a first flight is fixed Position information, and obtain second initial positioning information that module obtains according to described first and determined with first determining module (N-1) a second intrinsic parameters, determine (N-1) a moment corresponding (N-1) a second flight location information；

Second obtain module, for according to second determining module determine described in (N-1) a first flight location information with And (N-1) a second flight location information, at the end of being obtained in N number of different moments using preset position constraint condition Carve corresponding target flight location information.

10. aircraft according to claim 9, which is characterized in that the aircraft further include:

Setup module is obtained in N number of different moments by first camera for the first acquisition module and is originated First initial positioning information at moment, and initial time in N number of different moments is obtained by the second camera Before second initial positioning information, in preset camera distance range, by first camera and the second camera It is set in the same horizontal line of the aircraft.

11. aircraft according to claim 9, which is characterized in that the aircraft further include:

Third obtains module, determines (N-1) a first according to N number of first realtime graphic for first determining module Parameter is levied, and before determining (N-1) a second intrinsic parameters according to N number of second realtime graphic, is imaged by described first Head obtains the first moment corresponding first subgraph and the second moment corresponding second subgraph, wherein first moment With two moment that second moment is in N number of different moments, first moment and second moment are phase Two adjacent moment, first subgraph and second subgraph belong to first realtime graphic；

4th obtains module, for obtaining first moment corresponding third subgraph and institute by the second camera State the second moment corresponding 4th subgraph, wherein the third subgraph and the 4th subgraph belong to described second Realtime graphic；

Measurement module, for obtaining the first depth information and the second depth information based on the measurement of binocular stereo vision mode.

12. aircraft according to claim 11, which is characterized in that first intrinsic parameters include the first spin matrix And first translation vector, second intrinsic parameters include the second spin matrix and the second translation vector, wherein described the One spin matrix is used to indicate the angle change of first camera, and second spin matrix is for indicating that described second takes the photograph As the angle change of head, first translation vector is used to indicate the height change of first camera, second translation Vector is used to indicate the height change of the second camera.

13. aircraft according to claim 12, which is characterized in that first determining module includes:

First computing unit, for calculating (N-1) a first intrinsic parameters as follows:

(N-1) a second intrinsic parameters are calculated as follows:

14. aircraft according to claim 9, which is characterized in that described second, which obtains module, includes:

Second computing unit, for calculating second flight under the conditions of meeting the preset position constraint as follows Variance minimum value between location information and the first flight location information:

15. the aircraft according to any one of claim 9 to 14, which is characterized in that the aircraft further include:

Third determining module obtains module (N-1) according to a first flight location information and described for described second (N-1) it is right to obtain finish time institute in N number of different moments using preset position constraint condition for a second flight location information After the target flight location information answered, according to the target flight location information, determine first corresponding to (N+1) moment Sub- flight location information, the first sub- flight location information are an information in the target flight location information；

5th obtains module, described for being determined using the preset position constraint condition and the third determining module One sub- flight location information obtains the second sub- flight location information corresponding to (N+1) moment；

4th determining module, the described first sub- flight location information and described for being determined according to the third determining module The first intrinsic parameters that first determining module determines, determine the sub- flight location information of third corresponding to (N+2) moment；

6th obtains module, described for being determined using the preset position constraint condition and the 4th determining module Three sub- flight location informations obtain the 4th sub- flight location information corresponding to (N+2) moment；

Computing module, for calculating the described first determining sub- flight location information of the third determining module and the described 4th really First optimal solution of the sub- flight location information of the third that cover half block determines, and calculate the described 5th and obtain the institute that module obtains State the described 4th sub- flight location information that the second sub- flight location information obtains module acquisition with the described 6th second is optimal Solution, first optimal solution and the described second optimal flight location information for being deconstructed into (N+2) moment.

16. aircraft according to claim 15, which is characterized in that the 4th determining module includes:

Third computing unit, for calculating the flight positioning letter of third corresponding to (N+2) moment as follows Breath:

X_N+2=R_N+1X_N+1+t_N+1