CN107144281A - Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision - Google Patents
Unmanned plane indoor locating system and localization method based on cooperative target and monocular vision Download PDFInfo
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- CN107144281A CN107144281A CN201710530501.4A CN201710530501A CN107144281A CN 107144281 A CN107144281 A CN 107144281A CN 201710530501 A CN201710530501 A CN 201710530501A CN 107144281 A CN107144281 A CN 107144281A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- 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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention discloses a kind of unmanned plane indoor locating system based on cooperative target and monocular vision, including the multiple markers for being provided with coding information being disposed in the interior, single camera vision system module, sensing module and flight control system, the single camera vision system module includes monocular cam and Vision information processing unit, the monocular cam is to obtain marker information during flight, result is transferred to flight control system by the Vision information processing unit to complete the collection and information processing of video data；The present invention is used as guiding by the marker with coding information, relative pose of the unmanned plane with respect to marker can be obtained by only needing a marker to be identified as cooperative target, and described marker is because with coding information, easily distinguished with environment, simultaneously, because it has coding characteristic, therefore it is suitable for batch making, there is the mark distinguished and have differentiation between mark with environment without being put in great effort how to design.
Description
Technical field
It is more particularly to a kind of to be based on cooperative target and monocular vision the present invention relates to unmanned aerial vehicle control system technical field
Unmanned plane indoor locating system and localization method.
Background technology
Unmanned plane is unmanned vehicle, and unmanned plane is using satellite fix, remote sensing, geographical space, Aero-Space, automatic
The new and high technologies such as control, computer-assisted analysis, can serve multiple necks such as territory, mapping, forestry, traffic, water conservancy and military affairs
Domain.
UAV Navigation System is one of crucial composition of UAS.At present, the airmanship master that unmanned plane is used
There are inertial navigation, satellite navigation, Doppler navigation, vision guided navigation, terrain aided and earth-magnetism navigation.In actual applications, have
The application and use condition of necessary flight environment of vehicle, mission requirements and airmanship according to unmanned plane, what selection was adapted to
Navigation system.
In recent years, the research of Navigation of Pilotless Aircraft technology has very big progress, but most of airmanships are only applicable to family
The external space, it is impossible to applied to the navigation of indoor circumstances not known.Indoor navigation environment is unknown and complexity.Unmanned plane does not know indoor environment
Size, the shape of barrier and distribution and either with or without artificial object of reference, and in indoor environment barrier arbitrarily put or
Block mutually, indoor light changes with the change of unmanned plane angle.Nowadays, country controls unmanned plane indoor navigation to carry out
Some researchs, but unified theoretical system is not yet formed, there are some important theory and technologies to await solving.These are asked
Topic mainly has environmental modeling, unmanned plane positioning, the control of Navigation of Pilotless Aircraft controller design, real time kinematics etc..
The content of the invention
In view of the technical drawbacks of the prior art, it is an object of the present invention to provide one kind is based on cooperative target and list
The unmanned plane indoor locating system visually felt.
To realize that the technical scheme that the purpose of the present invention is used is：
A kind of unmanned plane indoor locating system based on cooperative target and monocular vision, including be disposed in the interior it is multiple its
On be provided with the marker of coding information, single camera vision system module, sensing module and flight control system,
The single camera vision system module includes monocular cam and Vision information processing unit, and the monocular cam is used
To obtain at marker information during flight, collection and information of the Vision information processing unit to complete video data
Reason, and result is transferred to flight control system；
Described sensing module includes gyroscope, accelerometer and relative altitude measurement module；
Described flight control system includes the Data Fusion of Sensor module based on extended Kalman filter, described
The described result of Data Fusion of Sensor module reception and state of flight information and fusion treatment from sensing module
To generate flight directive.
The output end and the input of flight controller of Data Fusion of Sensor module based on extended Kalman filter
It is connected, the output end of flight controller is connected with the input of data transmission module.
Described relative altitude measurement module is laser ranging module.
Described marker is block, tabular or sheet, and described coding information has discrimination.
Also include communicating the state of flight indicating module and remote control that are connected with data transmission module.
A kind of localization method of described unmanned plane indoor locating system, comprises the following steps,
1) monocular cam obtains the video flowing containing marker and is transferred to Vision information processing unit, visual processes list
Element module extracts the characteristic information of the coding information of the marker obtained in the visual field,
2) coding corresponding with the marker and its coordinate in world coordinate system are obtained by described characteristic information,
3) coordinate, Corner Feature and monocular-camera parameter for combining marker calculate video camera relative to the marker
Relative pose, then obtains pose data and indoor navigation data of the unmanned plane indoors under world coordinate system；
4) the Data Fusion of Sensor module based on extended Kalman filter receives leads come described pose data, interior
Boat data and state of flight information from sensing module simultaneously carry out fusion treatment, are referred to according to set flight path generation flight
Order.
Flight directive is sent to unmanned plane power plant module, described flight control through flight controller, data transmission module
Device is based on the systems of μ C/OS- II.
Also include remote control step, the telecommand of described remote control module is sent to unmanned mechanomotive force through data transmission module
Module and input pickup data fusion module.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is used as guiding by the marker with coding information, it is only necessary to which a marker is as cooperative target
Can be identified can obtain relative pose of the unmanned plane with respect to marker, and described marker encodes letter because having
Breath, is easily distinguished with environment, meanwhile, because it has coding characteristic, therefore it is suitable for batch making, without great effort is put
There is the mark distinguished and have differentiation between mark with environment in how to design.And mark has coding information in itself,
Rather than refer to by cooperation mark indoors ground set after, then to it is multiple mark encode, so coding information reading after energy
The quick specific coordinate that the marker is known by information matches, improves calculating speed.Utilize the marker with coding information
It can effectively improve and carry out real-time high accuracy positioning in the environment or interacted with environment.
Brief description of the drawings
Fig. 1 is the unmanned plane indoor locating system system block diagram of the present invention based on cooperative target and monocular vision；
Fig. 2 is the indoor navigation data calculation of the present invention based on cooperative target and monocular vision.
Fig. 3 is the schematic diagram of the Data Fusion of Sensor module of the present invention based on extended Kalman filter.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.It should be appreciated that described herein
Specific embodiment only to explain the present invention, be not intended to limit the present invention.
As illustrated, a kind of unmanned plane indoor locating system based on cooperative target and monocular vision of the present invention, including
It is disposed in the interior multiple markers for being provided with coding information on ground or on a certain facade, single camera vision system mould
Block, sensing module and flight control system,
The single camera vision system module includes monocular cam and Vision information processing unit, and the monocular cam is used
To obtain marker information during flight and video flowing be conveyed to described Vision information processing list by CAN data/address bus
Member, the Vision information processing unit includes a processing system containing the double processing cores of CPU and GPU, to complete video
The collection and information processing of data, and result is transferred to flight control system；Wherein, described monocular cam is machine
Carry, described Vision information processing unit is, with double-core processing system, to carry out Data Analysis Services calculating, effectively improve calculating
Speed,
Described sensing module includes gyroscope, accelerometer and relative altitude measurement module；Meanwhile, in addition to magnetic strength
The conventional sensor such as meter, barometer, multisensor is set, and detection species is more, further the stationarity of lifting control；Described
Relative altitude measurement module is laser ranging module；
Described flight control system includes the Data Fusion of Sensor module based on extended Kalman filter, described
The described result of Data Fusion of Sensor module reception and state of flight information and fusion treatment from sensing module
To generate flight directive.
Extended Kalman filter is software algorithm, and the key for entering line sensor fusion based on the algorithm is system model
Foundation, and to monocular vision to recognizing the processing of switching between many marks, it is ensured that unmanned plane is marked in flight course
Seamlessly transitting and stabilized flight when knowing switching.
The present invention is used as guiding by the marker with coding information, it is only necessary to which a marker is as cooperative target
Can be identified can obtain relative pose of the unmanned plane with respect to marker, and described marker encodes letter because having
Breath, is easily distinguished with environment, meanwhile, because it has coding characteristic, therefore it is suitable for batch making, without great effort is put
There is the mark distinguished and have differentiation between mark with environment in how to design.And mark has coding information in itself,
Rather than refer to by cooperation mark indoors ground set after, then to it is multiple mark encode, so coding information reading after energy
The quick specific coordinate that the marker is known by information matches, improves calculating speed.Utilize the marker with coding information
It can effectively improve and carry out real-time high accuracy positioning in the environment or interacted with environment.
For unmanned aerial vehicle control system, the output of the Data Fusion of Sensor module based on extended Kalman filter
End is connected with the input of flight controller, and the output end of flight controller is connected with the input of data transmission module, data
Flight directive is sent to unmanned plane power plant module and realizes that following for various landform is flown and autonomous landing by transport module.
Described marker is block, tabular or sheet, and described coding information has discrimination.Described marker
Generation and the synchronous generation of coding information, after binary-coded information is determined, directly printed using the software of design or
Corresponding picture is generated, while storing corresponding information and coordinate information.Because the image of each marker contains coding information in itself,
Therefore there is difference between each marker picture, therefore marker picture library refers to all encoded template pictures.Each
Marker has a fixed angle point number, and the geometric distance between angle point meets the consistency under projective transformation.By these
Characteristic information determines whether for designed mark.
Meanwhile, to improve controlling and man-machine interaction, in addition to the state of flight being connected with data transmission module communication
Indicating module and remote control.Described earth station is communicated to obtain the flight shape of unmanned vehicle with data transmission module
State, while being shown by mobile phone, tablet personal computer or computer etc., moreover, when there is control exception, lamp color of navigating can be passed through
And flicker frequency, voice message etc. carry out early warning.
Meanwhile, the invention discloses a kind of localization method of described unmanned plane indoor locating system, comprise the following steps,
1) monocular cam obtains the video flowing containing marker and is transferred to Vision information processing unit, visual processes list
Element module extracts the characteristic information of the coding information of the marker obtained in the visual field,
2) coding corresponding with the marker and its coordinate in world coordinate system are obtained by described characteristic information,
3) coordinate, Corner Feature and monocular-camera parameter for combining marker calculate video camera relative to the marker
Relative pose, then obtains pose data and indoor navigation data of the unmanned plane indoors under world coordinate system；
4) the Data Fusion of Sensor module based on extended Kalman filter receives leads come described pose data, interior
Boat data and state of flight information from sensing module simultaneously carry out fusion treatment, are referred to according to set flight path generation flight
Order.
Flight directive is sent to unmanned plane power plant module, described flight control through flight controller, data transmission module
Device is based on μ C/OS- II, while also include remote control module and earth station, such as mobile phone, tablet personal computer and computer, described is distant
Control module is connected through data transmission module with the communication of unmanned plane power plant module.Controller of aircraft is based on what μ C/OS- II were provided
Based on system scheduling, by the sensor information of collection, the correlation behavior sum of storage according to this and radio measurement and control terminal was sent out
The instruction and data of the up remote control come or earth station's planning, after judgement, computing and processing, output order gives servo to perform
Mechanism is steering gear system, and control manipulates rudder face, the throttle of engine of unmanned vehicle, to control the flight of unmanned plane.
The present invention can shift to an earlier date path planning or according to the online path planning of perception information to environment by software, be used as conjunction
The posture information of feedback unmanned plane indoors in environment is responsible in the identification for making the marker of target, be unmanned plane according to predetermined or
The basis that the track of on-line amending is flown, the pose based on monocular vision is used for the control of the position ring (i.e. outer shroud) of unmanned plane
Unmanned plane can not be realized by making, and having high dynamic characteristic during the control of unmanned plane itself, therefore only rely on visual information
Stabilized flight, the present invention is efficiently solved the information progress fusion of visual information and other sensors by blending algorithm winged
Row stable problem.
Described above is only the preferred embodiment of the present invention, it is noted that for the common skill of the art
For art personnel, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of unmanned plane indoor locating system based on cooperative target and monocular vision, it is characterised in that including being arranged on room
Interior multiple markers for being provided with coding information, single camera vision system module, sensing module and flight control system,
The single camera vision system module includes monocular cam and Vision information processing unit, and the monocular cam is to obtain
Take marker information during flight, collection and information processing of the Vision information processing unit to complete video data, and
Result is transferred to flight control system；
Described sensing module includes gyroscope, accelerometer and relative altitude measurement module；
Described flight control system includes the Data Fusion of Sensor module based on extended Kalman filter, described sensing
Result described in the reception of device data fusion module and state of flight information and fusion treatment from sensing module are with life
Into flight directive.
2. unmanned plane indoor locating system as claimed in claim 1, it is characterised in that the biography based on extended Kalman filter
The output end of sensor data fusion module is connected with the input of flight controller, the output end and data transfer of flight controller
The input of module is connected.
3. unmanned plane indoor locating system as claimed in claim 1, it is characterised in that described relative altitude measurement module is
Laser ranging module.
4. unmanned plane indoor locating system as claimed in claim 1, it is characterised in that described marker is block, tabular
Or sheet, described coding information has discrimination.
5. unmanned plane indoor locating system as claimed in claim 2, it is characterised in that also including being communicated with data transmission module
The state of flight indicating module and remote control of connection.
6. a kind of localization method of unmanned plane indoor locating system as claimed in claim 1, it is characterised in that including following step
Suddenly,
1) monocular cam obtains the video flowing containing marker and is transferred to Vision information processing unit, VPU mould
Block extracts the characteristic information of the coding information of the marker obtained in the visual field,
2) coding corresponding with the marker and its coordinate in world coordinate system are obtained by described characteristic information,
3) coordinate, Corner Feature and monocular-camera parameter the calculating video camera for combining marker are relative relative to the marker
Pose, then obtains pose data and indoor navigation data of the unmanned plane indoors under world coordinate system；
4) the Data Fusion of Sensor module based on extended Kalman filter is received come described pose data, indoor navigation number
According to the state of flight information from sensing module and carry out fusion treatment, flight directive is generated according to set flight path.
7. localization method as claimed in claim 6, it is characterised in that flight directive is through flight controller, data transmission module
Unmanned plane power plant module is sent to, described flight controller is based on the systems of μ C/OS- II.
8. localization method as claimed in claim 6, it is characterised in that also including remote control step, described remote control module it is distant
Control instruction is sent to unmanned plane power plant module and input pickup data fusion module through data transmission module.
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| CN108592914A (en) * | 2018-04-08 | 2018-09-28 | 河南科技学院 | The positioning of complex region inspecting robot, navigation and time service method under no GPS scenario |
| CN109405821A (en) * | 2018-09-21 | 2019-03-01 | 北京三快在线科技有限公司 | Method, apparatus used for positioning and target device |
| CN109977924A (en) * | 2019-04-15 | 2019-07-05 | 北京麦飞科技有限公司 | For real time image processing and system on the unmanned plane machine of crops |
| CN110261877A (en) * | 2019-06-26 | 2019-09-20 | 南京航空航天大学 | A kind of air-ground coordination vision navigation method and device for scheming optimization SLAM based on improvement |
| CN110325940A (en) * | 2018-06-29 | 2019-10-11 | 深圳市大疆创新科技有限公司 | A kind of flight control method, equipment, system and storage medium |
| CN110446159A (en) * | 2019-08-12 | 2019-11-12 | 上海工程技术大学 | A kind of system and method for interior unmanned plane accurate positioning and independent navigation |
| CN111486841A (en) * | 2020-05-19 | 2020-08-04 | 西安因诺航空科技有限公司 | Unmanned aerial vehicle navigation positioning method based on laser positioning system |
| CN112859923A (en) * | 2021-01-25 | 2021-05-28 | 西北工业大学 | Unmanned aerial vehicle vision formation flight control system |
| CN113720331A (en) * | 2020-12-25 | 2021-11-30 | 北京理工大学 | Multi-camera integrated unmanned aerial vehicle in-building navigation positioning method |
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| CN108592914A (en) * | 2018-04-08 | 2018-09-28 | 河南科技学院 | The positioning of complex region inspecting robot, navigation and time service method under no GPS scenario |
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| CN113720331B (en) * | 2020-12-25 | 2023-12-19 | 北京理工大学 | Multi-camera fused unmanned aerial vehicle in-building navigation positioning method |
| CN112859923A (en) * | 2021-01-25 | 2021-05-28 | 西北工业大学 | Unmanned aerial vehicle vision formation flight control system |
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