CN107300379A - A kind of flight path calculation matrix and flight trajectory measurmg system - Google Patents
A kind of flight path calculation matrix and flight trajectory measurmg system Download PDFInfo
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- CN107300379A CN107300379A CN201710756708.3A CN201710756708A CN107300379A CN 107300379 A CN107300379 A CN 107300379A CN 201710756708 A CN201710756708 A CN 201710756708A CN 107300379 A CN107300379 A CN 107300379A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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Abstract
The present invention provides a kind of flight path calculation matrix and flight trajectory measurmg system, and the flight path calculation matrix includes multiple flight path measuring stations；The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；In multiple flight path measuring stations there is overlapping region in the visual field of two flight path measuring stations of arbitrary neighborhood, and the overlapping region is above-mentioned measurement range.The present invention shoots unmanned plane image simultaneously in the multiple flight path measuring stations of surface deployment by multiple flight path measuring stations, and the unmanned plane image progress processing to shooting calculates unmanned plane in the position at each moment.Do not increase new part or functional module on unmanned plane, to unmanned plane no requirement (NR), substantially the load of unmanned plane is not increased, it is noiseless to unmanned plane, do not influence unmanned plane during flying, even if unmanned plane is without navigation positioning module, but use manual mode to control flight, the flight path of unmanned plane can also be measured.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, in particular to a kind of flight path calculation matrix and flight trajectory measurmg system.
Background technology
With developing rapidly for civilian unmanned air vehicle technique, particularly small-sized multi-rotor unmanned aerial vehicle extension is extended to many
Industry.In power system, unmanned plane is mainly used in patrolling power transmission lines body equipment and passage way, and detection circuit body is set
Standby and channel defect.
In flight course, the flight track of unmanned plane is by navigation and positioning accuracy, flight control system, wind speed and control mode etc.
The influence of multiple factors.In power system, patrol unmanned machine is nearer apart from transmission line of electricity, particularly small-sized many rotors nobody
Machine, thus it is very high to the accuracy requirement of measurement and the control of unmanned plane during flying flight path.But domestic at present still shortage can be accurate
Measure the mode of unmanned plane during flying flight path.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of flight path calculation matrix and flight trajectory measurmg system, with
Offer is a kind of can accurately to measure the scheme of unmanned plane during flying flight path.
In a first aspect, the embodiments of the invention provide a kind of flight path calculation matrix, including multiple flight path measuring stations；
The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；
In multiple flight path measuring stations there is overlapping region in the visual field of two flight path measuring stations of arbitrary neighborhood, described heavy
Folded region is the measurement range.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of the first of above-mentioned first aspect, its
In, the scope of the baseline length in multiple flight path measuring stations between two flight path measuring stations of arbitrary neighborhood is 20-50 meters.
With reference in a first aspect, the embodiments of the invention provide the possible implementation of second of above-mentioned first aspect, its
In, the flight path measuring station includes video camera and fixed support；
The video camera is arranged on the fixed support, and the video camera and the elevation angle of horizontal direction formation are default
Angle.
With reference to second of possible implementation of first aspect, the embodiments of the invention provide the of above-mentioned first aspect
Three kinds of possible implementations, wherein, the flight path measuring station also includes lens protecting cap；
The lens protecting cap is connected with the lens movable of the video camera, and the unmanned plane mistake is shot in the video camera
Cheng Zhong, the lens protecting cap is opened, after the video camera stops shooting, and the lens protecting cap, which is closed, covers the shooting
The camera lens of machine.
With reference to second of possible implementation of first aspect, the embodiments of the invention provide the of above-mentioned first aspect
Four kinds of possible implementations, wherein, the flight path measuring station also includes protective cover and spirit lever；
The protective cover and the spirit lever are installed on the fixed support, stop shooting in the video camera
Shi Suoshu protective covers are opened, and the video camera is enclosed in inside the protective cover.
Second aspect, the embodiments of the invention provide a kind of flight trajectory measurmg system, including unmanned plane mark, optical transmitter and receiver,
Any implementation in first to fourth kind of possible implementation of main control terminal and above-mentioned first aspect or first aspect
Described flight path calculation matrix；
The optical transmitter and receiver is connected with the flight path calculation matrix and the main control terminal respectively, by the flight path calculation matrix
Unmanned plane image transmitting that the unmanned plane mark obtains is shot to the main control terminal.
With reference to second aspect, the embodiments of the invention provide the possible implementation of the first of above-mentioned second aspect, its
In, the main control terminal includes video frequency collection card and industrial computer；
The video frequency collection card is connected with the optical transmitter and receiver and the industrial computer respectively, receives described by the optical transmitter and receiver
Unmanned plane image, transmits the unmanned plane image to the industrial computer.
With reference to second aspect, the embodiments of the invention provide the possible implementation of second of above-mentioned second aspect, its
In, the unmanned plane mark is obtained by the predetermined patterns affixing coating paper in unmanned plane, and the coated paper has anti-
Penetrating property and color are pre-set color.
With reference to second aspect, the embodiments of the invention provide the possible implementation of the third of above-mentioned second aspect, its
In, the optical transmitter and receiver includes optical sender and photoreceiver；
The optical sender and the photoreceiver are respectively connected with the main control terminal and the flight path calculation matrix；
The main control terminal gives the flight path calculation matrix by the optical sender transmission of control signals, controls the boat
Multiple flight path measuring stations that mark calculation matrix includes are shot simultaneously, and described according to preset frame rate preservation by the photoreceiver
Unmanned plane image.
With reference to second aspect, the embodiments of the invention provide the possible implementation of the 4th of above-mentioned second aspect kind, its
In, the preset frame rate is more than or equal to 10Hz.
In embodiments of the present invention, flight path calculation matrix includes multiple flight path measuring stations；The measurement of multiple flight path measuring stations
Scope covers the flight path of unmanned plane；In multiple flight path measuring stations there is weight in the visual field of two flight path measuring stations of arbitrary neighborhood
Folded region, the overlapping region is above-mentioned measurement range.The present invention passes through main control terminal control in the multiple flight path measuring stations of surface deployment
Multiple flight path measuring stations are made while shooting unmanned plane image, the unmanned plane image progress processing to shooting calculates unmanned plane every
The position at one moment.Do not increase new part or functional module on unmanned plane, to unmanned plane no requirement (NR), do not increase nobody substantially
The load of machine, it is noiseless to unmanned plane, unmanned plane during flying is not interfered with, even if unmanned plane is without navigation positioning module, but is used
Manual mode control flight, can also be measured to the flight path of unmanned plane.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be attached to what is used required in embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore is not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of schematic diagram for flight path calculation matrix that the embodiment of the present invention 1 is provided；
Fig. 2 shows a kind of schematic diagram for flight path measuring station that the embodiment of the present invention 1 is provided；
Fig. 3 shows the schematic diagram for another flight path measuring station that the embodiment of the present invention 1 is provided；
Fig. 4 shows a kind of schematic diagram for spirit lever that the embodiment of the present invention 1 is provided；
Fig. 5 shows a kind of structural representation for flight trajectory measurmg system that the embodiment of the present invention 2 is provided；
Fig. 6 shows a kind of module diagram for flight trajectory measurmg system that the embodiment of the present invention 2 is provided.
The implication representated by label in above-mentioned accompanying drawing is as follows：
1：Flight path measuring station, 2：Video camera, 3：Fixed support, 4：Lens protecting cap, 5：Protective cover, 6：Spirit lever,
7：Unmanned plane mark, 8：Optical transmitter and receiver, 9：Main control terminal, 10：Flight path calculation matrix.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is a part of embodiment of the invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be arranged and be designed with a variety of configurations.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, the institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
The mode of unmanned plane during flying flight path can be accurately measured in view of still lacking in the prior art.It is of the invention based on this
Embodiment provides a kind of flight path calculation matrix and flight trajectory measurmg system, is described below by embodiment.
Embodiment 1
Referring to Fig. 1, the embodiments of the invention provide a kind of flight path calculation matrix, including multiple flight path measuring stations 1；Wherein,
Flight path calculation matrix in two adjacent flight path measuring stations 1, practical application is only depicted in Fig. 1 includes multiple flight path measuring stations 1,
And the baseline length between two flight path measuring stations 1 of arbitrary neighborhood is between two flight path measuring stations 1 shown in Fig. 1
Baseline length is identical.
The measurement range of multiple flight path measuring stations 1 covers the flight path of unmanned plane；Any phase in multiple flight path measuring stations 1
There is overlapping region in the visual field of two adjacent flight path measuring stations, the overlapping region is the measurement range of flight path calculation matrix.
In embodiments of the present invention, covered according to actual place size, the flight path scope of unmanned plane, measuring station visual field
Scope lays flight path measuring station 1, and the measurement range of the flight path measuring station 1 of laying covers the flight path of unmanned plane.It is many during laying
The scope of baseline length in individual flight path measuring station 1 between two flight path measuring stations 1 of arbitrary neighborhood is 20-50 meters, such as baseline
Length can be 26 meters.The distance between two flight path measuring stations 1 by limiting arbitrary neighborhood, to ensure that adjacent flight path is surveyed
Amount station 1 is every enough near so that the visual field of adjacent flight path measuring station 1 has overlapping region, and the overlapping region is navigated for unmanned plane
, there are multiple photogrammetric control nets in the photogrammetric control net of mark measurement, in flight path calculation matrix as long as unmanned plane occurs
In photogrammetric control net, it is possible to the space coordinate of unmanned plane is calculated using photogrammetry principles.
The value of above-mentioned baseline length is relevant with the probability occurred during unmanned plane during flying in photogrammetric control net,
Baseline length is smaller, and it is compacter that the flight path measuring station 1 in flight path calculation matrix is laid, and the scope of videographic measurment control net is got over
Greatly, then the probability that unmanned plane is appeared in photogrammetric control net is bigger, and unmanned plane is appeared in photogrammetric control net
Probability is bigger, then the accuracy of unmanned aerial vehicle flight path measurement is higher.But baseline length is also not the smaller the better, and baseline length is too small,
The accuracy of unmanned aerial vehicle flight path measurement can be reduced.The scope of baseline length is limited in the embodiment of the present invention as 20-50 meters, it is ensured that nothing
The man-machine probability appeared in photogrammetric control net is larger.Further, take baseline length be 26 meters when, unmanned plane is appeared in
The photogrammetric probability controlled in net is 95%.
It is that each flight path measuring station is chosen suitably when laying multiple flight path measuring stations 1 that flight path calculation matrix includes
Farthest photo distance, flight path measuring station 1 is leaned on inward as far as possible, and the accuracy of unmanned plane is shot and clear to improve flight path measuring station 1
Clear degree.Wherein, photo distance is the distance between flight path measuring station 1 and unmanned plane.Flight path measuring station 1 can photograph unmanned plane
Farthest photo distance could be arranged to 240 meters.
The embodiment of the present invention is realizes the quantitative measurment to a wide range of unmanned plane during flying track, in some flight paths of surface deployment
Measuring station 1, unmanned plane image is shot by multiple flight path measuring stations 1, and the unmanned plane image that is shot according to multiple spot resolves nobody
The flight path of machine, the embodiment of the present invention does not increase unmanned plane cabinet load substantially, on unmanned plane during flying without influence, available for quantitatively commenting
The flying quality of valency unmanned plane cruising inspection system；To unmanned plane no requirement (NR), even if unmanned plane is without navigation positioning module, using manual
In the case that mode is flown, its flight track can also be measured, available for the accuracy for evaluating manipulation unmanned plane during flying.
As shown in Fig. 2 flight path measuring station 1 includes video camera 2 and fixed support 3；
Video camera 2 is arranged on fixed support 3, and the elevation angle of video camera 2 and horizontal direction formation is predetermined angle.According to
The actual conditions of measurement space consider the photogrammetric distortion of optical lens simultaneously, and the embodiment of the present invention selects the high speed work with wide-angle lens
Industry camera.
As shown in figure 3, the camera lens in order to protect video camera 2, avoids falling ash masking camera lens on camera lens, the present invention is implemented as far as possible
Example sets lens protecting cap 4 also in flight path measuring station 1；Lens protecting cap 4 is connected with the lens movable of video camera 2, in shooting
Machine 2 is shot during unmanned plane, and lens protecting cap 4 is opened, after video camera 2 stops shooting, and lens protecting cap 4 is closed covering and taken the photograph
The camera lens of camera 2.
In order to protect video camera 2, video camera 2 is avoided to be damaged in the outdoor environment exposed to the sun and rain as far as possible, as shown in figure 3,
Flight path measuring station 1 also includes protective cover 5；Protective cover 5 is arranged on fixed support 3, the protective cover 5 when video camera 2 stops shooting
Open, video camera 2 is enclosed in inside protective cover 5.
The protective cover 5 that the embodiment of the present invention is used protects video camera for fully closed protective cover 5 during for system idle
2.Each flight path measurement all first covers lens protecting cap 4 on the camera lens of video camera 2 after terminating, and protective cover 5 is then opened again, will
Video camera 2 is entirely enclosed in inside protective cover 5.
Fixed support 3 is mainly used in fixing video camera 2, it is ensured that video camera 2 operationally untill and posture do not change.
But in use, by the possible run-off the straight of windage fixed support 3 or displacement, if the run-off the straight of fixed support 3 or position
Move, the parameters such as the shooting angle and three-dimensional coordinate of video camera 2 will be caused to change, and then reduce the standard of unmanned aerial vehicle flight path measurement
True property.Therefore need often fixed support 3 is checked, with determine fixed support 3 whether run-off the straight or displacement.In this hair
In bright embodiment, as shown in figure 3, flight path measuring station 1 also includes spirit lever 6；Spirit lever 6 is arranged on fixed support 3
On.Spirit lever 6 can ensure install when whether level, it is possible to for verifying whether fixed support 3 there occurs displacement.If
Bubble in spirit lever 6 there occurs that position changes, then can determine that fixed support 3 is tilted or displacement.Wherein, originally
Inventive embodiments can use spirit lever 6 as shown in Figure 4.
When shooting unmanned plane due to video camera 2, unmanned plane imaging is bigger closer to field of view edge distortion, therefore to subtract as far as possible
Small distortion, should try one's best the central area for allowing unmanned plane to be imaged on the visual field of video camera 2.In the embodiment of the present invention, pacify by video camera 2
When on fixed support 3, the elevation angle for keeping video camera 2 and horizontal direction formation is predetermined angle, and the predetermined angle can be 7
Degree.According to video camera 2 and the elevation angle of horizontal direction formation, with reference to baseline length and the angle of visual field, it can calculate and obtain flight path measurement
Stand 1 effective measurement distance.
In embodiments of the present invention, before video camera 2 is arranged on fixed support 3, first in experiment indoor calibration
It is relative between the elements of interior orientation of video camera 2, and photo centre, photography direction and the 6 subsidiary marks of video camera 2
Position relationship.Wherein, elements of interior orientation is the parameter for describing relevant position between photo centre and photo, including photo centre arrives
Photo hang down away from and coordinate of the principal point in frame mark coordinate system.After being calibrated in laboratory to video camera 2, do not allow again
Video camera 2 is dismantled, focused or moved the operations such as the position of subsidiary mark.After the completion of calibration, video camera 2 is installed
On fixed support 3.It it is when mounted 30 degree upward according to the corresponding vertical angle of design adjustment video camera 2, adjustment horizontal angle is
The corresponding design load of video camera 2, the precision controlling of adjustment is within 2 degree.
The each flight path measuring station 1 included for flight path calculation matrix, all in the manner described above first in laboratory internal calibration
Video camera 2, is then arranged on fixed support 3 by video camera 2.And multiple total powerstations and rib are there also is provided in flight path calculation matrix
2 total powerstation observation stations in the middle part of mirror, flight path calculation matrix are used for the definition of coordinate system, in the right front of each video camera 2
Or the total powerstation at the 3m of left front is used for the outer orientation of single camera 2.With total powerstation and prism measurement by 2+N total powerstation
The control net of observation station composition, calculated by measurement adjustment and obtain the three-dimensional coordinate of 2+N website, then according to measuring the smashed parts
Mode measures the three-dimensional coordinate of the subsidiary mark of N number of video camera 2 successively.According to being calibrated in laboratory to video camera 2
Obtained calibration relation, converses the elements of exterior orientation of N number of video camera 2.Wherein, N is that the flight path that flight path calculation matrix includes is surveyed
The number at amount station 1.Elements of exterior orientation is used to describe the spatial value of the photo centre of video camera 2 and the parameter of posture.
Each flight path measuring station 1 is installed in the manner described above, and measures the video camera 2 of each flight path measuring station 1
The parameter such as elements of interior orientation, the three-dimensional coordinate of elements of exterior orientation and each video camera 2 after, you can to pass through flight path calculation matrix
To measure the flight path of unmanned plane.When measuring the flight path of unmanned plane, flight path calculation matrix is connected to main control terminal by optical fiber
On, multiple flight path measuring stations 1 that controlling flight path calculation matrix by main control terminal includes are shot to unmanned plane simultaneously, and
Obtained according to preset frame rate from flight path calculation matrix and preserve unmanned plane image, it is soft by the integrated treatment installed in main control terminal
Part is handled the unmanned plane image of acquisition, calculates the position of each moment unmanned plane.
Above-mentioned preset frame rate is more than or equal to 10Hz.The flight path measuring station that the embodiment of the present invention includes in flight path calculation matrix
Data are transmitted using optical fiber between 1 and main control terminal, the hard triggering that Serial Port Line is propagated is replaced using the soft triggering of spread fiber, and
Synchronous triggering is controlled using timing means.
The embodiment of the present invention is based on photogrammetry principles in some flight path measuring stations 1 of surface deployment, is not increasing nothing substantially
On the premise of man-machine cabinet load, obtain unmanned plane image to resolve the flight path of unmanned plane by multiple spot.Due to unmanned plane without
It is required that, do not increase unmanned plane load, therefore unmanned plane during flying is not interfered with, even if unmanned plane is being used without navigation positioning module
In the case that manual mode is flown, the flight track of unmanned plane can also be measured.
In embodiments of the present invention, flight path calculation matrix includes multiple flight path measuring stations；The measurement of multiple flight path measuring stations
Scope covers the flight path of unmanned plane；In multiple flight path measuring stations there is weight in the visual field of two flight path measuring stations of arbitrary neighborhood
Folded region, the overlapping region is above-mentioned measurement range.The present invention is surveyed in the multiple flight path measuring stations of surface deployment by multiple flight paths
Amount station shoots unmanned plane image simultaneously, and the unmanned plane image progress processing to shooting calculates unmanned plane in the position at each moment
Put.Do not increase new part or functional module on unmanned plane, to unmanned plane no requirement (NR), do not increase the load of unmanned plane substantially,
It is noiseless to unmanned plane, unmanned plane during flying is not interfered with, even if unmanned plane is without navigation positioning module, but manual mode control is used
System flight, can also be measured to the flight path of unmanned plane.
Embodiment 2
Referring to Fig. 5, the embodiments of the invention provide a kind of flight trajectory measurmg system, including unmanned plane mark 7, optical transmitter and receiver 8,
The flight path calculation matrix 10 that main control terminal 9 and above-described embodiment 1 are provided；
Optical transmitter and receiver 8 is connected with flight path calculation matrix 10 and main control terminal 9 respectively, and flight path calculation matrix 10 is shot into unmanned plane
The unmanned plane image transmitting that mark 7 is obtained is to main control terminal 9.
Wherein, 4 flight path measuring stations 1 that flight path calculation matrix 10 includes only symbolically are depicted in Figure 5, it is actual to answer
More flight path measuring stations 1 can be included in.
Above-mentioned unmanned plane mark 7 is obtained by the predetermined patterns affixing coating paper in unmanned plane, and coated paper has
Reflectivity and color are pre-set color.Predetermined patterns can be fuselage, ventral and the top of unmanned plane.Pre-set color can be
With unmanned plane body color and the big color of sky color contrast.
Row ratio is accounted for less than 1% because unmanned plane is imaged in maximum distance, and this homotopy mapping to stereogram is caused
Certain difficulty, and because unmanned plane during flying posture is indefinite, it is impossible to ensure that the position result resolved every time is for nobody
The position of same point on machine.Therefore the embodiment of the present invention is provided with unmanned plane mark 7 on unmanned plane.Unmanned plane is light due to its
Just feature, its fuselage core position is smaller, to ensure that in any angle fuselage can be seen, and can be by fuselage and foot stool, spiral
The positions such as oar are distinguished, and above-mentioned unmanned plane mark 7 can be pasted onto the fuselage of unmanned plane, ventral using high reflection encrimson paper
And top.When carrying out track Calculation, identified from unmanned plane image after unmanned plane, the center of red area is considered as nothing
Man-machine center is calculated.
In embodiments of the present invention, optical transmitter and receiver 8 includes optical sender and photoreceiver；Optical sender and photoreceiver are divided equally
It is not connected with main control terminal 9 and flight path calculation matrix 10；Main control terminal 9 is measured by optical sender transmission of control signals to flight path
Matrix 10, multiple flight path measuring stations 1 that control flight path calculation matrix 10 includes are shot simultaneously, and by photoreceiver according to pre-
If frame per second preserves unmanned plane image.Preset frame rate is at least 10Hz.
The embodiment of the present invention does not limit the number of optical transmitter and receiver 8 specifically, and number and the flight path calculation matrix 10 of optical transmitter and receiver 8 are wrapped
The number of the flight path measuring station 1 included is relevant, one or more flight paths that a usual optical transmitter and receiver 8 includes with flight path calculation matrix 10
Measuring station 1 is connected, therefore the number of flight path measuring station 1 that flight path calculation matrix 10 includes is more, then the number of optical transmitter and receiver 8 is got over
It is many.
In the case of the outdoor largescale of practical application scene, to realize that high-definition signal source remote distance is transmitted, it can select
With three-dimensional T803-SDI HD videos optical transmitter and receiver 8, optical transmitter and receiver 8 includes optical sender and photoreceiver.Wherein, optical sender can be real
Existing Lossless transport of the vision signal on optical fiber, photoreceiver can realize lossless reception of the vision signal on optical fiber, it is to avoid go out
Show signal colour cast, obscure, and avoid signal from producing ghost image and hangover and moire etc..
In embodiments of the present invention, main control terminal 9 includes video frequency collection card and industrial computer；Video frequency collection card respectively with light end
Machine 8 and industrial computer connection, receive unmanned plane image, transmission unmanned plane image is to industrial computer by optical transmitter and receiver 8.In unmanned plane during flying
During, main control terminal 9 sends each flight path measuring station 1 that control signal includes to flight path calculation matrix 10 by optical transmitter and receiver 8,
All flight path measuring stations 1 that flight path calculation matrix 10 includes are controlled while being carried out to unmanned plane mark 7 by the control signal
Shoot, and the unmanned plane image that flight path measuring station 1 is shot is obtained by optical transmitter and receiver 8.
Wherein, a video frequency collection card is responsible for the collection of the unmanned plane image of the shooting of preset number flight path measuring station 1.It is main
The integrated treatment software installed on control terminal 9 includes data logging software and data processing software.Data logging software is based on height
Clear capture card SDK (Software Development Kit, SDK) is every preset duration to all passages
Data are photographed to record, and pending data record finishes the processing that rear service data processing software carries out image data, to influence number
According to processing specifically include unmanned plane recognition detection, photo coordinate measurement and no-manned plane three-dimensional position and resolve.Above-mentioned preset number
Can be with 7 or 9 etc., preset duration can be 1S or 2S etc..
Because an industrial computer can only at most carry limited quantity video frequency collection card, and may have many in practical application
Road video data needs collection, therefore the embodiment of the present invention can use multiple main control terminals 9.The embodiment of the present invention is not specific
The quantity of main control terminal 9 is limited, the quantity of main control terminal 9 used can be determined according to demand in actual applications.
Needed in practical application scene, on industrial computer at the same gather multichannel SDI (serial digital interface,
Digital component serial line interface) video, higher is required to dominant frequency, therefore industrial computer is intended selecting GT6150 industrial computers in practical application,
Video frequency collection card is intended selecting KPS-4SDI-E.
In embodiments of the present invention, the system comprising modules figure of flight trajectory measurmg system is as shown in Figure 6.System is navigated by several
Mark measuring station 1, unmanned plane mark 7, optical transmitter and receiver 8 and main control terminal 9 are constituted.Wherein, several flight path measuring stations 1 composition flight path
Calculation matrix 10, each flight path measuring station 1 is at least made up of fixed support 3, video camera 2, camera pier 4 and protective cover 6.Master control is whole
End 9 includes being provided with integrated treatment software on video frequency collection card and industrial computer, and main control terminal 9.
For a further understanding of the structure and measurement process of flight trajectory measurmg system, it is specifically described with reference to example.
In this example, 18 flight path measuring stations 1 are arranged, the corresponding photo distance of reduction flight path measuring station 1 of being tried one's best during laying, it is ensured that most
Remote photo distance is no more than 240m, and flight path measuring station 1 is leaned on inward as far as possible, and unified baseline length is 26m.Lay obtained flight path
The dead angle area of calculation matrix 10 and the area respectively 1405m for requiring measured zone2、39684m2, ratio between the two is
3.5%, unmanned plane can be obtained accordingly while it is 96.5% to appear in the probability in the visual field of two flight path measuring stations 1.When laying
It is 7 degree to keep all video cameras 2 and the elevation angle of horizontal direction, with reference to baseline length and the angle of visual field, can calculate and obtain each group of boat
Effective measurement distance of mark measuring station 1 is 67~240 meters.
After being calibrated in laboratory to the video camera 2 of each flight path measuring station 1, by video camera 2 together between fixation
It is co-mounted to Deng servicing unit on 18 camera piers, is 30 degree upward according to design adjustment vertical angle, adjustment horizontal angle is each
The respective design load of individual video camera 2, the precision controlling of adjustment is within 2 degree.With total powerstation and prism measurement by 2+18 whole station
The control net of instrument observation website composition, the three-dimensional coordinate for obtaining 20 websites is calculated by measurement adjustment, is then surveyed according to broken portion
The mode of amount measures the three-dimensional coordinate of the subsidiary mark of 18 cameras successively.The calibration obtained using laboratory internal calibration is closed
System, converses the elements of exterior orientation of 18 cameras.Main control terminal 9 controls this 18 video cameras 2 to take pictures simultaneously, and every according to 9 frames
The frame per second of second preserves image.Integrated treatment software in main control terminal 9 is calculated in each moment region according to the data of storage
The position of unmanned plane.
In embodiments of the present invention, based on photogrammetry principles in some flight path measuring stations 1 of surface deployment, only in unmanned plane
Predetermined patterns affixing coating paper, do not increase unmanned plane cabinet load substantially, obtaining unmanned plane image by multiple spot resolves nothing
Man-machine flight path.Due to unmanned plane no requirement (NR), not increasing unmanned plane load, therefore unmanned plane during flying is not interfered with, even if nothing
It is man-machine without navigation positioning module, in the case of using manual mode flight, the flight track of unmanned plane can also be measured.
In embodiments of the present invention, flight path calculation matrix includes multiple flight path measuring stations；Multiple flight path measuring stations are respectively positioned on
In the flight path measurement range of unmanned plane；The distance between two flight path measuring stations of arbitrary neighborhood in multiple flight path measuring stations
For default value, there is overlapping region in the visual field of two flight path measuring stations of arbitrary neighborhood, default value causes unmanned plane to occur
Probability in overlapping region is more than predetermined probabilities value.The present invention passes through multiple flight paths in the multiple flight path measuring stations of surface deployment
Measuring station shoots unmanned plane image simultaneously, and the unmanned plane image progress processing to shooting calculates unmanned plane in the position at each moment
Put.Do not increase new part or functional module on unmanned plane, to unmanned plane no requirement (NR), do not increase the load of unmanned plane substantially,
Unmanned plane during flying is not interfered with, even if unmanned plane is without navigation positioning module, but uses manual mode to control flight, also can be right
The flight path of unmanned plane is measured.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined in individual accompanying drawing, then it further need not be defined and explained in subsequent accompanying drawing.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, or should
Orientation or position relationship that invention product is usually put when using, are for only for ease of the description present invention and simplify description, without
It is that instruction or the signified device of hint or element must have specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " the 3rd " etc. are only used for distinguishing description, and it can not manage
Solve to indicate or imply relative importance.
In the description of the invention, in addition it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or one
Connect body；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirect by intermediary
It is connected, can is the connection of two element internals.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Finally it should be noted that：Embodiment described above, is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of flight path calculation matrix, it is characterised in that including multiple flight path measuring stations；
The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；
In multiple flight path measuring stations there is overlapping region in the visual field of two flight path measuring stations of arbitrary neighborhood, described heavy
Folded region is the measurement range.
2. flight path calculation matrix according to claim 1, it is characterised in that arbitrary neighborhood in multiple flight path measuring stations
Two flight path measuring stations between baseline length scope be 20-50 meters.
3. flight path calculation matrix according to claim 1, it is characterised in that the flight path measuring station includes video camera and solid
Fixed rack；
The video camera is arranged on the fixed support, and the elevation angle of the video camera and horizontal direction formation is preset angle
Degree.
4. flight path calculation matrix according to claim 3, it is characterised in that the flight path measuring station also includes lens protection
Lid；
The lens protecting cap is connected with the lens movable of the video camera, and the unmanned plane process is shot in the video camera
In, the lens protecting cap is opened, after the video camera stops shooting, and the lens protecting cap, which is closed, covers the video camera
Camera lens.
5. flight path calculation matrix according to claim 3, it is characterised in that the flight path measuring station also include protective cover and
Spirit lever；
The protective cover and the spirit lever are installed on the fixed support, stop shooting when institute in the video camera
Protective cover opening is stated, the video camera is enclosed in inside the protective cover.
6. a kind of flight trajectory measurmg system, it is characterised in that including unmanned plane mark, optical transmitter and receiver, main control terminal and claim
Flight path calculation matrix described in any one of 1-5；
The optical transmitter and receiver is connected with the flight path calculation matrix and the main control terminal respectively, and the flight path calculation matrix is shot
The unmanned plane image transmitting that the unmanned plane mark is obtained gives the main control terminal.
7. flight trajectory measurmg system according to claim 6, it is characterised in that the main control terminal include video frequency collection card and
Industrial computer；
The video frequency collection card is connected with the optical transmitter and receiver and the industrial computer respectively, by the optical transmitter and receiver receive it is described nobody
Machine image, transmits the unmanned plane image to the industrial computer.
8. flight trajectory measurmg system according to claim 6, it is characterised in that the unmanned plane mark is by nobody
What the predetermined patterns affixing coating paper of machine was obtained, the coated paper has reflectivity and color is pre-set color.
9. flight trajectory measurmg system according to claim 6, it is characterised in that the optical transmitter and receiver includes optical sender and light connects
Receipts machine；
The optical sender and the photoreceiver are respectively connected with the main control terminal and the flight path calculation matrix；
The main control terminal gives the flight path calculation matrix by the optical sender transmission of control signals, controls the flight path to survey
Multiple flight path measuring stations that moment matrix includes are shot simultaneously, and by the photoreceiver according to preset frame rate preserve it is described nobody
Machine image.
10. flight trajectory measurmg system according to claim 9, it is characterised in that the preset frame rate is more than or equal to 10Hz.
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