CN107340711A - A kind of minute vehicle attitude angle automatic testing method based on video image - Google Patents
A kind of minute vehicle attitude angle automatic testing method based on video image Download PDFInfo
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
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Abstract
The invention discloses a kind of minute vehicle attitude angle automatic testing method based on video image, mainly comprise the following steps：The image of world cut-off rule is included by forward looking camera shooting；It is determined that the linear equation and its discriminant function of the world cut-off rule relevant with attitude of flight vehicle angle；It is determined that travel through angular range and calculate optimal straight line parameter；The straight line parameter of optimal value is converted into aircraft roll angle φ and pitching angle theta.The present invention is imaged based on forward looking camera, calculated by the parameter optimization of linearity discriminant function, it is extracted into as in, the linear equation parameter of horizontal line, calculating aircraft roll angle and the angle of pitch, optimizing process is improved and optimized herein simultaneously, amount of calculation is drastically reduce the area, suitable for minute vehicle platform of the low cost without attitude measuring.
Description
Technical field
The invention belongs to minute vehicle control technology field, and in particular to a kind of minute vehicle based on video image
Attitude angle automatic testing method.
Background technology
Minute vehicle is a kind of unmanned lightweight flying object of distance type, due to its small volume, in light weight, in natural calamity
The dangerous field tools such as evil detection, the biochemical detection of core, forest fire detection, military surveillance have a broad prospect of the use.But due to it
Load-carrying ability deficiency, the working equipment of carrying is limited, general only to carry microcam and radio transmitting device, and is flying
During need artificial remote control to adjust its flight attitude.
Minute vehicle autonomous flight pose adjustment, dependent on the detection to flight attitude.Horizon (day ground wire) is usual
It is the basis for extracting attitude of flight vehicle.Image horizon detection method more commonly used at present has the following two kinds：
First, made an uproar using automatic threshold segmentation and Hough line detection methods, this method in the more clear nothing of world background
Success rate is higher in the case of sound, but flight uses transmission of wireless signals, can be interfered unavoidably, cause image quality decrease,
Cause a large amount of flase drops.
2nd, using the method for Classification and Identification, mainly by extract image SIFT feature description using SVM be trained with
Identification, this method needs substantial amounts of training data, and hardware realizes complexity, computationally intensive, is not suitable for calculating in real time.
Therefore need to find that a kind of detection is reliable, amount of calculation is small and is easy to hard-wired method, realize high quality, it is low into
This horizon detection.
The content of the invention
The purpose of the present invention is devised and a kind of is based on forward sight precisely in order to realize the automatic correction of the posture of minute vehicle
Video camera imaging, the i.e. horizontal method in world line of demarcation by being extracted into as in, filled suitable for low cost without attitude measurement
The minute vehicle platform put.
The invention provides a kind of minute vehicle attitude angle automatic testing method based on video image, minute vehicle
Forward looking camera is installed, mainly comprised the following steps：
Step 1, forward looking camera shooting image then include sky and ground region in image, at the same image pass through it is wireless
Link passes ground control station back；
It is straight line in above-mentioned image to set world cut-off rule；
Step 2, it is determined that the linear equation of the world cut-off rule relevant with attitude of flight vehicle angle；
Attitude of flight vehicle angle includes roll angle φ and pitching angle theta；
Step 3: determine the discriminant function of the optimal value of the parameter of linear equation；
Step 4: determine traversal angular range；Wherein,
First, set straight line to divide the equilibrium of day ground area, all angular regions of traversal straight line, calculate discriminant function
Value, and the sequence by discriminant score progress from big to small；
Secondly, the relatively low discriminant score that optimized parameter peak value can not possibly occur is excluded, chooses the angle model being likely to occur
Enclose；
Step 5: the angular range in traversal step four, aircraft roll angle is converted to by the straight line parameter of optimal value
φ and pitching angle theta.
The present invention is imaged based on forward looking camera, is calculated by the parameter optimization of linearity discriminant function, is extracted into picture
Middlely, the linear equation parameter of horizontal line, calculating aircraft roll angle and the angle of pitch, while optimizing is improved and optimized herein
Process, amount of calculation is drastically reduce the area, suitable for minute vehicle platform of the low cost without attitude measuring.
Brief description of the drawings
Fig. 1 is the attitude angle overhaul flow chart of the present invention.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings：
It should be noted that the data shown in Figure of description are only a concrete case of checking test of the present invention,
It is for the ease of describing the present invention and helping to understand the spirit of the present invention that it, which is acted on, it is impossible to is understood as being to the technology of the present invention side
The limitation of case.
In the embodiment described once, minute vehicle is provided with forward looking camera, it is preferred to use unmanned rotary wing is miniature
Aircraft carries general visible video camera.A kind of minute vehicle attitude angle automatic detection based on video image of the present invention
Method mainly comprises the following steps：
Step 1, forward looking camera shooting image then include sky and ground region in image, at the same image pass through it is wireless
Link passes ground control station back.
Setting world cut-off rule is straight line in above-mentioned image, and the slope of the straight line is m, intercept b.
Step 2, the linear equation of the world cut-off rule relevant with attitude of flight vehicle angle is determined as follows.
Attitude of flight vehicle angle includes roll angle φ and pitching angle theta,
The relation of arc tangent be present in aircraft roll angle φ and straight slope m：
φ=tan-1(m) (1)。
Using σbThe percentage of whole image shared by the pixel region of straight line the latter half is represented, in forward looking camera shooting
In rectangular image, for ease of calculating, it is assumed that video camera is undistorted after demarcation, then σbIt is linear with pitching angle theta.
Due to pitching angle theta and pixel ratio σbIt is linear, as pixel ratio σbWhen=50%, world region is divided equally in image,
Now the angle of pitch is 0 degree, as pixel ratio σbWhen=100%, image is all ground region, and now pitching angle theta is positive peak
θmax, as pixel ratio σbWhen=0%, image is all sky areas, and now pitching angle theta is negative peak-θmax[6], therefore by taking the photograph
As the pitching angle theta that head measures is calculated as follows：
θ=(1- σb)θmax-σbθmax (2)。
Therefore the linear equation of the present invention uses roll angle angle φ and pixel ratio σbTo represent, it is clear that roll angle angle
φ and pixel ratio σbParameter value scope is
φ ∈ [- pi/2, pi/2], σb∈ [0%, 100%].
Now, linear equation is changed for (φ, σ from original parameter space (m, b)b)。
Step 3: the optimal value of the parameter of linear equation is determined in above-mentioned parameter space by discriminant function.
In the present invention, for sky and the pixel value of ground region, coloured image is judged using RGB numerical value, gray level image
Then utilize gray value.
Sky and ground pixel substantially Gaussian distributed, have straight line to divide the image into heaven and earth two parts, according to
Design criteria, then the difference of the regional average value of two pixels should be larger, while the difference in two regions itself should be smaller,
Here then using itself covariance matrix in both regions.The pixel xi being located on straight linesFor sky areas, under straight lineFor ground pixel, by taking coloured image as an example：
Then both covariance matrixes are represented by：
0 value is likely to occur because both respective covariances calculate, consideration occurs without calculating mistake, adds characteristic vector
Modulus value.Therefore discriminant function J is defined as the modulus value of the covariance determinant plus characteristic value in two regions.
Therefore, optimal function is found to be defined as：
In the range of parameter value, by traveling through all parameters, continuous computational discrimination function J, during value maximum (φ,
σb) it is then the equation of straight line.Due to φ ∈ [- pi/2, pi/2] and σb∈ [0%, 100%], therefore set using i and j when traveling through
Parameter step length, then have：
Step 4: determine traversal angular range.
σ is taken firstb=50%, now namely straight line divides the equilibrium of day ground area, all angular regions of traversal straight line,
Computational discrimination functional value, and the sequence by functional value progress from big to small.
Secondly, the relatively low discriminant score that optimized parameter peak value can not possibly occur is excluded, chooses the angle model being likely to occur
Enclose, finally in whole space search, only travel through these angular ranges, search space can be greatly reduced.Surveyed in actual experiment
In examination, the discriminant score of 20% line number just can determine angular range before selection.
When being most worth search based on formula (10) progress discriminant function parameter, the present invention is without the side for carrying out global traversal i and j
Formula, but i the and j values being likely to occur in pre-selected peak are employed, namely the angular range being likely to occur, it there will not be peak value
Region exclude in advance, finally in whole space search, only travel through these angular ranges being likely to occur, you can guarantee
Maximizing, reduce unnecessary calculating, while eliminate useless search.
Step 5: the angular range in traversal step four, aircraft is converted to by the straight line parameter of optimal value (maximum)
Roll angle φ and pitching angle theta.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the involved claim of limitation.
Moreover, it will be appreciated that although the present specification is described in terms of embodiments, not each embodiment is only wrapped
Containing an independent technical scheme, this narrating mode of specification is only that those skilled in the art should for clarity
Using specification as an entirety, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
It is appreciated that other embodiment.
The description to embodiment the invention is not restricted to more than, those skilled in the art according to disclosure of the present invention,
The creative work improvement and modification that be carried out need not be passed through on the basis of the present invention, all should protection scope of the present invention it
It is interior.
Claims (1)
1. a kind of minute vehicle attitude angle automatic testing method based on video image, minute vehicle is provided with forward sight shooting
Machine, it is characterised in that mainly comprise the following steps：
Step 1, forward looking camera shooting image, sky and ground region is then included in image；
It is straight line in above-mentioned image to set world cut-off rule；
Step 2, it is determined that the linear equation of the world cut-off rule relevant with attitude of flight vehicle angle；
Attitude of flight vehicle angle includes roll angle φ and pitching angle theta；
Step 3: determine the discriminant function of the optimal value of the parameter of linear equation；
Step 4: determine traversal angular range；Wherein,
First, set straight line to divide the equilibrium of day ground area, all angular regions of traversal straight line, calculate discriminant score,
And the sequence by discriminant score progress from big to small；
Secondly, the relatively low discriminant score that optimized parameter peak value can not possibly occur is excluded, chooses the angular range being likely to occur；
Step 5: the angular range in traversal step four, by the straight line parameter of maximum occurrences be converted to aircraft roll angle φ and
Pitching angle theta.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113551663A (en) * | 2021-06-21 | 2021-10-26 | 北京理工大学 | Image and geomagnetism combined aircraft attitude calculation system and method |
| CN116242322A (en) * | 2023-05-11 | 2023-06-09 | 开拓导航控制技术股份有限公司 | Object rolling gesture detection method, device and system |
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| CN116242322A (en) * | 2023-05-11 | 2023-06-09 | 开拓导航控制技术股份有限公司 | Object rolling gesture detection method, device and system |
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Application publication date: 20171110 |