CN106991700A - A kind of unmanned plane target position locking and follow-up mechanism and its method - Google Patents
A kind of unmanned plane target position locking and follow-up mechanism and its method Download PDFInfo
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- CN106991700A CN106991700A CN201710261367.2A CN201710261367A CN106991700A CN 106991700 A CN106991700 A CN 106991700A CN 201710261367 A CN201710261367 A CN 201710261367A CN 106991700 A CN106991700 A CN 106991700A
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/56—Cameras or camera modules comprising electronic image sensors; Control thereof provided with illuminating means
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/12—Target-seeking control
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10141—Special mode during image acquisition
Abstract
The invention discloses a kind of locking of unmanned plane target position and follow-up mechanism and its method, belong to unmanned aerial vehicle (UAV) control field, described device includes unmanned aerial vehicle platform, onboard image handles computer, IMAQ camera and LED, the present invention in target location by installing with the geometric figure LED for pointing to feature, carrying image acquisition camera and onboard image processing computer on unmanned plane, the image that IMAQ camera is collected carries out feature extraction and center of gravity, ratio is calculated, unmanned plane is obtained to point to target, relative altitude and relative position, realize locking of the unmanned plane to specific objective, the function such as tracking and accurate autonomous landing, lock and follow the trail of in the lower target location for realizing higher precision free from the influence of the external environment with unmanned plane can be made, Autonomous landing function and technical scheme that interior is accurately controlled, equipment is simple, target location locking is accurate, small volume, convenient practical advantage low in energy consumption.
Description
Technical field
The present invention relates to unmanned aerial vehicle (UAV) control field, more particularly to a kind of unmanned plane target position locking and follow-up mechanism and its
Method.
Background technology
Unmanned plane is a kind of technology platform that can quickly realize and reach in the air, its army, electric inspection process, frontier defense inspection,
The fields such as environmental monitoring, geographical remote sensing, mapping, point duty, communication relaying have a wide range of applications.Unmanned plane, which has, to be used into
Low, technology is flexible for this, be not required to the advantages of personnel directly reach primary scene, and VTOL, spot hover, position lock can be achieved
The functions such as fixed, right place patrol.With the development and popularization of unmanned plane application technology, each application field and industry are to unmanned plane
Ins and outs and function realize be proposed it is many it is deep require, wherein, with break away to unmanned plane manipulate hand Personnel Dependence
Etc. the important directions that the full-automation or programming operations for realizing unmanned plane are following unmanned air vehicle technique development.
In the technology developed, most unmanned plane is positioned and navigated by GPS.Determined using GPS
Its flight precision of unmanned plane and positioning precision of position and navigation are influenceed by factors such as GPS accuracy and signal intensities, make it to nobody
The location navigation of machine produces larger precision influence, causes certain error, in functions such as fixed point inspection, tracking, fixed point landings
Using above causing bigger difficulty and uncertainty.
For these need to to specific target carry out accurately position and lock unmanned plane application field, unmanned plane
Navigation needs the referential of a determination to carry out position locking and tracing and positioning.It is big at present for the positioning and navigation of unmanned plane
It is use the methods such as GPS, differential GPS more, influenceed by satellite signal strength and quantity, it is positioned and tracking has certain do not know
Property, it is possible to create larger error, so as to cause that some functions can not be realized, such as accurate landing, target lock-on, tracking.Can
See, prior art could be improved and improve.
The content of the invention
In view of in place of above-mentioned the deficiencies in the prior art, it is an object of the invention to provide a kind of locking of unmanned plane target position
With follow-up mechanism and its method, it is intended to solve in the prior art using when GPS, differential GPS positioning by satellite signal strength and
The influence of quantity, positioning and tracking exist uncertain, it is possible to create larger error, it is impossible to realize accurate landing, target lock-on
With tracking etc. function the problem of.
In order to achieve the above object, this invention takes following technical scheme：
A kind of unmanned plane target position locking and follow-up mechanism, it includes unmanned aerial vehicle platform, onboard image processing computer, image
Acquisition camera and LED；
Wherein, described IMAQ camera and onboard image processing computer are mounted on the unmanned plane, IMAQ
Camera is installed on fuselage side or lower section, and keeps and horizontal plane, and onboard image processing computer is taken the photograph to IMAQ
Image as taken by head is calculated and handled, and the LED is installed on target location.
The LED is the geometric figure LED with directive property.
Described unmanned plane target position locking and follow-up mechanism, wherein, described onboard image processing computer includes
Picture processing chip, data input output equipment, internal memory and power supply circuit, power supply circuit respectively with picture processing chip, data
Input-output equipment and Memory linkage, picture processing chip receive the data of data input output equipment feedback, after being disposed
It is stored into internal memory.
Described unmanned plane target position locking and follow-up mechanism, wherein, described unmanned plane is four rotor wing unmanned aerial vehicles, six
Any one in rotor wing unmanned aerial vehicle or eight rotor wing unmanned aerial vehicles.
Described unmanned plane target position locking and follow-up mechanism, wherein, described IMAQ camera is arranged on water
Flat to increase on steady head, its shooting angle is all the time perpendicular to ground.
Described unmanned plane target position locking and follow-up mechanism, wherein, described IMAQ camera is directly fixed
It is installed on unmanned plane, and IMAQ camera angle rotatable is shot, its rotation angle range is 0~360 degree.
A kind of unmanned plane target position locking and method for tracing, its step include：
When S1, unmanned plane are introduced into the scope that IMAQ camera is covered, unmanned plane is positioned and navigated using GPS；
When S2, unmanned plane enter the scope that IMAQ camera is covered, onboard image processing computer
The image photographed to IMAQ camera carries out binary conversion treatment using thresholding method, result is carried out special
Levy extraction and describe, obtain the ratio of characteristic image and view picture figure, and calculate coordinate of the characteristic image in entire image, feature
Sensing and characteristic image ratio in whole picture of the image in picture；
The actual course of S3, the sensing calculating unmanned plane according to characteristic image in picture, and correct wrong mesh that may be present
Mark course；
S4, the ratio according to characteristic image in whole picture, calculate relative altitude of the unmanned plane apart from LED；
S5, the ratio according to characteristic image in whole picture, using LED as the origin of coordinates, it, which is oriented to, refers to course, calculates
Relative coordinate of the unmanned plane relative to LED；
S6, the course obtained according to calculating, relative altitude, relative coordinate, are scaled the actual gps coordinate of unmanned plane, and according to
The task type of unmanned plane performs corresponding task.
Described unmanned plane target position locking and method for tracing, wherein, the IMAQ camera in the step S2
When shooting LED, to the demand of the intensity of light when the enough IMAQ cameras of the brightness of LED are shot, not by nature
The influence of light.
Described unmanned plane target position locking and method for tracing, wherein, the onboard image processing in step S2, S3
Computer carries out processing by the image photographed to IMAQ camera and extracts feature, by the sensing of the characteristic image of extraction
Contrasted with the original sensing of image, the relative angle of unmanned plane and image is calculated, further according to the original sensing angle of LED
Degree calculates the actual heading of unmanned plane.
Described unmanned plane target position locking and method for tracing, wherein, onboard image processing meter in step S2, S4
The image that calculation machine can be photographed according to IMAQ camera, calculates characteristic image by onboard image processing computer and exists
Ratio in whole picture, focal length, original image parameter further according to IMAQ camera, nobody is calculated by default function
The relative altitude of machine range image.
Described unmanned plane target position locking and method for tracing, wherein, the onboard image processing in step S2, S5
The image that computer can be photographed according to IMAQ camera, calculates position and feature of the characteristic image in whole picture
The proportionality coefficient of image and whole picture, the two-dimensional coordinate of characteristic image deviation picture centre can be calculated according to the proportionality coefficient
Distance, relative coordinate or distance of the unmanned plane apart from LED are calculated according to the distance by default function.
The beneficial effects of the invention are as follows：
The invention provides a kind of locking of unmanned plane target position and follow-up mechanism and its method, described device passes through in target position
Put and the geometric figure LED with feature is pointed to is installed, on unmanned plane at carrying image acquisition camera and onboard image
Computer is managed, with machine vision algorithm, the image that camera is collected carries out feature extraction and center of gravity, ratio are calculated, from
And the target for obtaining unmanned plane is pointed to, relative altitude and relative position, realize unmanned plane to the locking of specific objective, tracking and
The functions such as accurate autonomous landing.
Brief description of the drawings
The locking of unmanned plane target position and follow-up mechanism structural representation that Fig. 1 provides for the present invention；
Wherein 1 is unmanned aerial vehicle platform, and 2 be that onboard image handles computer, and 3 be IMAQ camera, and 4 be LED.
Fig. 2 is that onboard image handles computer and IMAQ camera structure schematic diagram.
Fig. 3 is the locking of unmanned plane target position and follow-up mechanism structural framing figure.
Fig. 4 is the schematic flow sheet of the locking of unmanned plane target position and method for tracing.
Embodiment
The present invention provides a kind of locking of unmanned plane target position and follow-up mechanism and its method, for make the purpose of the present invention,
Technical scheme and effect are clearer, clear and definite, and the present invention is described in more detail for the embodiment that develops simultaneously referring to the drawings.Should
Understand, specific embodiment described herein only to explain the present invention, is not intended to limit the present invention.
Fig. 1, Fig. 2 and Fig. 3 are referred to, the present invention provides a kind of unmanned plane target position locking and followed the trail of
Device, it includes unmanned aerial vehicle platform 1, onboard image processing computer 2, IMAQ camera 3 and with directive property
Geometric figure LED 4；
Wherein, described IMAQ camera 3 and onboard image processing computer 2 are mounted on the unmanned plane, and image is adopted
Collection camera 3 is installed on fuselage side or lower section, and keeps and horizontal plane, and onboard image processing computer 2 is adopted to image
Image taken by collection camera 3 is calculated and handled, and the LED 4 is installed on target location.
Further, it is described have point to feature geometric figure LED can be triangle, T fonts, V-shape,
The distinguishable random geometry that it is pointed to such as arrow.
Using said structure, IMAQ camera 3 is not blocked in acquisition characteristics image by fuselage, can be more preferable
Capture and the convenient boat for calculating the unmanned plane of the geometric figure LED 4 with directive property is installed on target, target location
To.
Further, described onboard image processing computer 2 includes picture processing chip 21, data input output equipment
22nd, internal memory 23 and power supply circuit 24, power supply circuit 24 respectively with picture processing chip 21, data input output equipment 22 and internal memory
23 connections, picture processing chip 21 receives the data of the feedback of data input output equipment 22, internal memory 23 is stored into after being disposed
In.
Further, described unmanned plane is times in four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles
Meaning is a kind of；What is preferentially selected in the present invention is four wing unmanned planes.
Further, described IMAQ camera 3 is arranged on level and increased on steady head, and its shooting angle is vertical all the time
In ground, the image that onboard image processing computer 2 is directly invoked taken by IMAQ camera 3 carry out relative position and
The calculating and processing of posture.
Further, described IMAQ camera 3 is directly fixedly installed on unmanned plane, and IMAQ camera
Angle rotatable is shot, and its rotation angle range is 0~360 degree, is changed with the change of UAV Attitude, at onboard image
The attitude data that reason computer 2 is first exported in real time to the imagery exploitation unmanned aerial vehicle control system that IMAQ camera 3 is photographed
Image flame detection processing is carried out, the calculating and processing of relative position and posture are then carried out again.
Referring to Fig. 4, the present invention provides a kind of unmanned plane target position locking and method for tracing, its step includes：S1, nothing
Man-machine when being introduced into the scope that IMAQ camera 3 is covered, unmanned plane is positioned and navigated using GPS；
When S2, unmanned plane enter the scope that IMAQ camera 3 is covered, onboard image processing is calculated
The image that machine 2 is photographed to IMAQ camera 3 carries out binary conversion treatment using thresholding method, and result is entered
Row feature extraction and description, obtain the ratio of characteristic image and view picture figure, and calculate coordinate of the characteristic image in entire image,
Sensing and characteristic image ratio in whole picture of the characteristic image in picture；
The actual course of S3, the sensing calculating unmanned plane according to characteristic image in picture, and correct wrong mesh that may be present
Mark course；
S4, the ratio according to characteristic image in whole picture, calculate relative altitude of the unmanned plane apart from LED 4；
S5, the ratio according to characteristic image in whole picture, are the origin of coordinates with LED 4, and it, which is oriented to, refers to course, meter
Calculate relative coordinate of the unmanned plane relative to LED 4.
S6, the course obtained according to calculating, relative altitude, relative coordinate, are scaled the actual gps coordinate of unmanned plane, and
Corresponding task is performed according to the task type of unmanned plane.
After above-mentioned steps, the present invention is by being used as positioning with the geometric figure LED for pointing to feature and following the trail of
Referential, directly according to sensing of the LED in the picture that IMAQ camera is collected, the ratio in whole picture
The actual gps coordinate of unmanned plane is calculated with coordinate, is not influenceed by GPS location precision and signal strength, realizes higher precision
Target lock-on and tracking.
Further, when the IMAQ camera 3 in the step S2 shoots LED 4, the sufficient brightness of LED 4
The demand of intensity when IMAQ camera 3 is shot to light is reached, is not influenceed by available light.
Further, the onboard image in step S2, S3 handles computer 2 by clapping IMAQ camera 3
The image taken the photograph is handled, and extracts feature, and the original sensing of the sensing of the characteristic image of extraction and image is contrasted, calculated
Go out the relative angle of unmanned plane and image, the actual boat of unmanned plane is further calculated according to the original orientation angle of LED
To.
Further, the onboard image processing computer 2 described in step S2, S4 can be according to IMAQ camera
3 images photographed, calculate ratio of the characteristic image in whole picture, further according to figure by onboard image processing computer 2
Focal length, original image parameter as acquisition camera 3, the relative altitude of unmanned plane range image is calculated by default function.
Further, the onboard image processing computer 2 in step S2, S5 can be according to IMAQ camera 3
The image photographed, calculates the proportionality coefficient of position and characteristic image and whole picture of the characteristic image in whole picture, according to
The proportionality coefficient can calculate the distance that characteristic image deviates the two-dimensional coordinate of picture centre, and default function is pressed according to the distance
Calculate relative coordinate or distance of the unmanned plane apart from LED.
The present invention specific implementation process be：Using four rotor wing unmanned aerial vehicles, IMAQ camera 3 is directly fixedly mounted on
The side of unmanned aerial vehicle body, when unmanned plane is introduced into the scope that IMAQ camera 3 is covered, unmanned plane is entered using GPS
Row positioning and navigation, when unmanned plane enters the scope that image acquisition camera 3 is covered, 3 pairs of fixations of image acquisition camera
There is the LED 4 for pointing to feature on object（Illustrated below by taking V-shape LED as an example）Carry out image taking,
Onboard image processing computer 2 uses thresholding method to carry out binary conversion treatment the image photographed again, and then processing is tied
Fruit carries out feature extraction and description, and calculates coordinate, sensing and ratio of the characteristic image in whole sub-picture, then calculates nobody
The actual course of machine, if mistake occurs in bogey heading, is corrected, and otherwise further calculates unmanned plane apart from V-shape LED
Coordinate with 4 actual height and unmanned plane relative to V-shape LED 4 is the course obtained then according to calculating, relatively high
Degree, relative coordinate converse the actual gps coordinate of unmanned plane, finally perform task according to actual gps coordinate accurate positioning.
In summary, the present invention handles computer by carrying image acquisition camera 3 on board the aircraft and onboard image
2, and needing install with the LED 4 for pointing to feature geometries in target lock-on and the target followed the trail of, pass through machine
Device vision algorithm, the image that IMAQ camera 3 is collected carries out feature extraction and center of gravity, ratio are calculated, so as to obtain
Sensing, relative altitude and the relative position of unmanned plane and target, realize unmanned plane to the locking of specific objective, tracking and accurate
The functions such as autonomous landing.
Advantage has：
A, using on specific objective have point to feature LED as referential calculate unmanned plane actual heading, not by
The influence of GPS location precision and signal strength, makes unmanned plane realize the target location locking of higher precision and follow the trail of；
B, unmanned plane is set to be realized by the LED 4 on itself airborne equipment and specific objective independent of external condition and not
By the accurate target lock-on and location tracking ability under ambient weather ambient influnence；
C, the characteristic image collected using IMAQ camera calculate the pose of unmanned plane, unmanned plane is realized indoor essence
The Autonomous landing function of really controlling；
D, the technical scheme used are simple, and equipment is simple and reliable, with small volume, it is low in energy consumption, convenient practical the characteristics of.
It is understood that for those of ordinary skills, can be with technique according to the invention scheme and its hair
Bright design is subject to equivalent substitution or change, and all these changes or replacement should all belong to the guarantor of appended claims of the invention
Protect scope.
Claims (10)
1. a kind of unmanned plane target position locking and follow-up mechanism, it is characterised in that including unmanned aerial vehicle platform, onboard image processing
Computer, IMAQ camera and LED；
Wherein, described IMAQ camera and onboard image processing computer are mounted on the unmanned plane, IMAQ
Camera is installed on fuselage side or lower section, and keeps and horizontal plane, and onboard image processing computer is taken the photograph to IMAQ
Image as taken by head is calculated and handled, and the LED is installed on target location；
The LED is the geometric figure LED with directive property.
2. unmanned plane target position locking according to claim 1 and follow-up mechanism, it is characterised in that described airborne figure
As processing computer include picture processing chip, data input output equipment, internal memory and power supply circuit, power supply circuit respectively with figure
As process chip, data input output equipment and Memory linkage, picture processing chip receives data input output equipment feedback
Data, are stored into internal memory after being disposed.
3. unmanned plane target position locking according to claim 1 and follow-up mechanism, it is characterised in that described unmanned plane
It is any one in four rotor wing unmanned aerial vehicles, six rotor wing unmanned aerial vehicles or eight rotor wing unmanned aerial vehicles.
4. unmanned plane target position locking according to claim 1 and follow-up mechanism, it is characterised in that described image is adopted
Collect camera to be arranged on the steady head of level increasing, its shooting angle is all the time perpendicular to ground.
5. unmanned plane target position locking according to claim 1 and follow-up mechanism, it is characterised in that described image is adopted
Collection camera is directly fixedly installed on unmanned plane, and IMAQ camera angle rotatable is shot, its rotation angle range
For 0~360 degree.
6. a kind of unmanned plane target position locking and method for tracing, it is characterised in that its step includes：
When S1, unmanned plane are introduced into the scope that IMAQ camera is covered, unmanned plane is positioned and navigated using GPS；
When S2, unmanned plane enter the scope that IMAQ camera is covered, onboard image processing computer is taken the photograph to IMAQ
The image photographed as head uses thresholding method to carry out binary conversion treatment, carries out feature extraction and description to result, obtains
To the ratio of characteristic image and view picture figure, and coordinate of the characteristic image in entire image, characteristic image are calculated in picture
Point to and ratio of the characteristic image in whole picture；
The actual course of S3, the sensing calculating unmanned plane according to characteristic image in picture, and correct wrong mesh that may be present
Mark course；
S4, the ratio according to characteristic image in whole picture, calculate relative altitude of the unmanned plane apart from LED；
S5, the ratio according to characteristic image in whole picture, using LED as the origin of coordinates, it, which is oriented to, refers to course, calculates
Relative coordinate of the unmanned plane relative to LED；
S6, the course obtained according to calculating, relative altitude, relative coordinate, are scaled the actual gps coordinate of unmanned plane, and according to
The task type of unmanned plane performs corresponding task.
7. unmanned plane target position locking according to claim 6 and method for tracing, it is characterised in that in the step S2
IMAQ camera when shooting LED, to the intensity of light when the enough IMAQ cameras of the brightness of LED are shot
Demand, do not influenceed by available light.
8. unmanned plane target position locking according to claim 6 and method for tracing, it is characterised in that the step S2,
Onboard image processing computer in S3 carries out processing by the image photographed to IMAQ camera and extracts feature, will carry
The sensing of the characteristic image taken and the original sensing of image are contrasted, and calculate the relative angle of unmanned plane and image, further according to
The original orientation angle of LED calculates the actual heading of unmanned plane.
9. unmanned plane target position locking according to claim 6 and method for tracing, it is characterised in that the step S2,
The image that onboard image processing computer can be photographed according to IMAQ camera in S4, calculates characteristic image and is drawn whole
Ratio in width, focal length, original image parameter further according to IMAQ camera, by default function calculate unmanned plane away from
From the relative altitude of image.
10. unmanned plane target position locking according to claim 6 and method for tracing, it is characterised in that the step S2,
The image that onboard image processing computer in S5 can be photographed according to IMAQ camera, calculates characteristic image whole
Position and characteristic image and the proportionality coefficient of whole picture in picture, characteristic image slip chart can be calculated according to the proportionality coefficient
The distance of the two-dimensional coordinate of inconocenter, relative seat of the unmanned plane apart from LED is calculated according to the distance by default function
Mark or distance.
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| CN107656297A (en) * | 2017-08-15 | 2018-02-02 | 中国科学院光电研究院 | A kind of localization method based on space-based opportunity signal |
| CN108052857A (en) * | 2017-11-10 | 2018-05-18 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of unmanned aerial vehicle (UAV) control apparatus and method based on LED panel lamp and airborne camera |
| CN108132677A (en) * | 2017-12-28 | 2018-06-08 | 何佳林 | A kind of sunshade unmanned aerial vehicle control system and control method |
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| CN109240346A (en) * | 2018-09-27 | 2019-01-18 | 易瓦特科技股份公司 | For tracking the method and device of target object |
| CN109240320A (en) * | 2018-09-27 | 2019-01-18 | 易瓦特科技股份公司 | Unmanned aerial vehicle (UAV) control method and device |
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| CN110968113A (en) * | 2019-12-16 | 2020-04-07 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle autonomous tracking take-off and landing system and tracking positioning method |
| CN111832510A (en) * | 2020-07-21 | 2020-10-27 | 广东电网有限责任公司 | Method and system for intelligently finding pole tower |
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