CN108445900A - A kind of unmanned plane vision positioning replacement differential technique - Google Patents
A kind of unmanned plane vision positioning replacement differential technique Download PDFInfo
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- CN108445900A CN108445900A CN201810639261.6A CN201810639261A CN108445900A CN 108445900 A CN108445900 A CN 108445900A CN 201810639261 A CN201810639261 A CN 201810639261A CN 108445900 A CN108445900 A CN 108445900A
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- 230000004438 eyesight Effects 0.000 title claims abstract description 16
- 230000016776 visual perception Effects 0.000 claims abstract description 17
- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 238000004364 calculation method Methods 0.000 claims description 7
- 239000003550 marker Substances 0.000 claims description 6
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- 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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- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to a kind of unmanned plane vision positionings to substitute differential technique,Including ground base station,External camera,Unmanned plane and the airborne camera on unmanned plane and inertial navigation system,The visual perception information of unmanned plane is obtained by the airborne camera on unmanned plane and inertial guidance data is obtained by unmanned plane inertial navigation system,The ground base station is wirelessly connected with unmanned plane,Ground base station receives the visual perception information and inertial guidance data of unmanned plane,The environmental information of unmanned plane present position is calculated by visual perception information,Drone flying height information is calculated by inertial guidance data,Airspeed information,Attitude angle information and state of flight information,The external camera will shoot the location information of unmanned plane,Ground base station is transferred data to after being calculated by cut zone calculating method,Ground base station sends out control signal to unmanned plane,Unmanned plane is controlled to target flight.The invention has the advantages that：It is accurately positioned, real-time is good and algorithm is simple.
Description
Technical field
The present invention relates to unmanned plane visual fields, and differential technique is substituted more particularly to a kind of unmanned plane vision positioning.
Background technology
In recent years, rotor wing unmanned aerial vehicle has obtained quick development, has flight stability, easily manipulation, low noise, safety hazard
The features such as property is small, obtains increasingly wider in multiple fields such as aeroplane photography, electric inspection process, the condition of a disaster investigation, military surveillances.It is existing
Unmanned plane positioning system, rely primarily on global positioning system (GlobalPositioningSystem, GPS), by receive it is more
The navigator fix signal that navigation satellite is sent, and using navigation satellite as dynamic known point, the position of the real time measure aircraft with
Motion state, vector aircraft safely and effectively arrive at, to realize positioning；Since GPS satellite is controlled by the U.S.,
The U.S. can control GPS accuracy；Especially the low clearance area (especially having electromagnetic interference) of environment and complexity, GPS believe indoors
It is number extremely unstable, therefore unmanned plane can not be positioned using GPS signal.
Invention content
For above-mentioned deficiency in the prior art, the present invention provides a kind of unmanned plane vision positionings to substitute differential technique,
Its mechanism is reasonable, and the positioning of unmanned plane degree of precision is realized using vision technique.
In order to solve the above technical problems, technical solution provided by the invention is：A kind of unmanned plane vision positioning replacement difference
Technology, including ground base station, external camera, unmanned plane and the airborne camera on unmanned plane and inertial navigation system, lead to
The airborne camera crossed on unmanned plane obtains the visual perception information of unmanned plane and obtains inertial navigation number by unmanned plane inertial navigation system
According to the ground base station is wirelessly connected with unmanned plane, and ground base station receives the visual perception information and inertial guidance data of unmanned plane, is led to
The environmental information that visual perception information calculates unmanned plane present position is crossed, drone flying height is calculated by inertial guidance data
Information, airspeed information, attitude angle information and state of flight information, the external camera believe the position for shooting unmanned plane
Breath transfers data to ground base station after being calculated by cut zone calculating method, and ground base station sends out control signal to unmanned plane,
Unmanned plane is controlled to target flight.
After using the above structure, the invention has the advantages that：Nothing is realized using external camera and airborne camera
Man-machine accurate positionin, feasibility is high, and real-time is good and algorithm is simple.
As an improvement, the external camera is located at the central point of unmanned plane working region, the external camera is super
High definition can 360 ° of rotations, the external camera is connected with ground base station.
As an improvement, the unmanned plane is four wing structures, and marker, the airborne camera are equipped with below each rotor
It is located at below unmanned plane main body with inertial navigation system.
As an improvement, the unmanned plane is equipped with the first wireless transport module, and it is connected with unmanned plane.
As an improvement, the external camera is equipped with unmanned plane positional information calculation module, the unmanned plane position letter
Breath computing module is connected with external camera, the ambient image of the external camera acquisition unmanned plane, the unmanned seat in the plane
It sets information computational module to calculate ambient image by cut zone calculating method, while external camera collects under rotor
The marker of side, calculates the center of unmanned plane, to obtain the location information of unmanned plane.
As an improvement, being equipped with tele-control system in ground base station, the second nothing is connected on the tele-control system
Line transmission module, the tele-control system receives visual perception information and inertial guidance data from unmanned plane, to obtain nothing
Man-machine flight environment of vehicle information is carried out according to flight environment of vehicle information and unmanned plane location information to unmanned aerial vehicle (UAV) control, planning flight
Path.
Description of the drawings
Fig. 1 is that a kind of unmanned plane vision positioning of the present invention substitutes differential technique structural schematic diagram.
Fig. 2 is the schematic diagram that a kind of unmanned plane vision positioning of the present invention substitutes differential technique.
Specific implementation mode
Present invention will be described in further detail below with reference to the accompanying drawings.
In conjunction with attached drawing 1 and attached drawing 2, a kind of unmanned plane vision positioning replacement differential technique, including ground base station, external camera shooting
Head, unmanned plane and the airborne camera on unmanned plane and inertial navigation system are obtained by the airborne camera on unmanned plane
The visual perception information of unmanned plane and by unmanned plane inertial navigation system obtain inertial guidance data, the ground base station and unmanned plane are wireless
Connection, ground base station receive the visual perception information and inertial guidance data of unmanned plane, unmanned plane are calculated by visual perception information
The environmental information of present position calculates drone flying height information, airspeed information, attitude angle by inertial guidance data and believes
Breath and state of flight information, the external camera will shoot the location information of unmanned plane, calculated by cut zone calculating method
After transfer data to ground base station, ground base station sends out control signal to unmanned plane, and control unmanned plane is to target flight.
The external camera is located at the central point of unmanned plane working region, and the external camera is that ultra high-definition can be 360 °
Rotation, the external camera are connected with ground base station.
The unmanned plane is four wing structures, and is equipped with marker, the airborne camera and inertial navigation system below each rotor
System is located at below unmanned plane main body.
The unmanned plane is equipped with the first wireless transport module, and is connected with unmanned plane.
The external camera is equipped with unmanned plane positional information calculation module, the unmanned plane positional information calculation module
It is connected with external camera, the ambient image of the external camera acquisition unmanned plane, the unmanned plane positional information calculation
Module calculates ambient image by cut zone calculating method, while external camera collects the label below rotor
Object calculates the center of unmanned plane, to obtain the location information of unmanned plane.
It is equipped with tele-control system in ground base station, the second wireless transmission mould is connected on the tele-control system
Block, the tele-control system receive visual perception information and inertial guidance data from unmanned plane, to obtain flying for unmanned plane
Row environmental information carries out, to unmanned aerial vehicle (UAV) control, planning flight path according to flight environment of vehicle information and unmanned plane location information.
In the specific implementation, unmanned plane passes through the first wireless transport module and the second transmission module to the present invention with ground base station
It mutually interconnects, unmanned plane visual perception information instantly and inertial navigation is acquired respectively using the airborne camera and inertial navigation system of unmanned plane
Data calculate the environmental information of unmanned plane instantly from visual perception information, unmanned plane are calculated from inertial guidance data instantly
Flying height information, airspeed information, attitude angle information and state of flight information, then pass through the first wireless transport module
Unmanned plane environmental information and inertial guidance data are transmitted to ground base station with the second wireless transport module, ground base station receives unmanned plane
After environmental information and inertial guidance data, unmanned plane is calculated positioned at the big of environment instantly according to unmanned plane environmental information and inertial guidance data
Cause position；The marker below unmanned plane rotor is shot by external camera, is calculated in unmanned plane according to tool shooting image
Heart point, the unmanned plane environmental information then taken according to airborne camera, then unmanned plane is calculated by cut zone calculating method
Central point is located at the more specific location information of working region, then sends the location information of unmanned plane to ground base station, ground base
It stands after receiving signal, unmanned plane is controlled by tele-control system, plan flight path.In this way when unmanned plane navigates
Line deviates or the working region that flies out can timely in real time control unmanned plane.
The present invention and its embodiments have been described above, this description is no restricted, shown in attached drawing
Only one of embodiments of the present invention, actual structure is not limited to this.All in all if the ordinary skill of this field
Personnel are enlightened by it, without departing from the spirit of the invention, are not inventively designed and the technical solution phase
As frame mode and embodiment, be within the scope of protection of the invention.
Claims (6)
1. a kind of unmanned plane vision positioning substitutes differential technique, it is characterised in that：Including ground base station, external camera, nobody
Machine and the airborne camera on unmanned plane and inertial navigation system obtain unmanned plane by the airborne camera on unmanned plane
Visual perception information and pass through unmanned plane inertial navigation system and obtain inertial guidance data, the ground base station and unmanned plane are wirelessly connected, ground
Face base station receives the visual perception information and inertial guidance data of unmanned plane, and unmanned plane present position is calculated by visual perception information
Environmental information, drone flying height information, airspeed information, attitude angle information and flight are calculated by inertial guidance data
Status information, the external camera will shoot the location information of unmanned plane, by data after being calculated by cut zone calculating method
Send ground base station to, ground base station sends out control signal to unmanned plane, controls unmanned plane to target flight.
2. a kind of unmanned plane vision positioning according to claim 1 substitutes differential technique, it is characterised in that：The outside is taken the photograph
As head is located at the central point of unmanned plane working region, the external camera be ultra high-definition can 360 ° of rotations, the external camera shooting
Head is connected with ground base station.
3. a kind of unmanned plane vision positioning according to claim 1 substitutes differential technique, it is characterised in that：The unmanned plane
For four wing structures, and it is equipped with marker below each rotor, the airborne camera and inertial navigation system are located under unmanned plane main body
Side.
4. a kind of unmanned plane vision positioning according to claim 1 substitutes differential technique, it is characterised in that：The unmanned plane
It is equipped with the first wireless transport module, and is connected with unmanned plane.
5. a kind of unmanned plane vision positioning according to claim 1 substitutes differential technique, it is characterised in that：The outside is taken the photograph
Picture head is equipped with unmanned plane positional information calculation module, and the unmanned plane positional information calculation module is connected with external camera
It connects, the ambient image of the external camera acquisition unmanned plane, the unmanned plane positional information calculation module passes through cut zone
Calculating method calculates ambient image, while external camera collects the marker below rotor, calculates unmanned plane
Center, to obtain the location information of unmanned plane.
6. a kind of unmanned plane vision positioning according to claim 1 substitutes differential technique, it is characterised in that：In ground base station
Equipped with tele-control system, the second wireless transport module, the tele-control system are connected on the tele-control system
Visual perception information and inertial guidance data from unmanned plane are received, to obtain the flight environment of vehicle information of unmanned plane, according to flight
Environmental information and unmanned plane location information carry out, to unmanned aerial vehicle (UAV) control, planning flight path.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810639261.6A CN108445900A (en) | 2018-06-20 | 2018-06-20 | A kind of unmanned plane vision positioning replacement differential technique |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2020088399A1 (en) * | 2018-10-30 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Information processing device, flight control method, and flight control system |
| CN112002145A (en) * | 2020-07-14 | 2020-11-27 | 萧县航迅信息技术有限公司 | Method and system for reporting illegal flight of unmanned aerial vehicle |
| CN112040175A (en) * | 2020-07-31 | 2020-12-04 | 深圳供电局有限公司 | Unmanned aerial vehicle inspection method and device, computer equipment and readable storage medium |
| CN113917948A (en) * | 2021-12-15 | 2022-01-11 | 北京航空航天大学 | Low-visual-environment unmanned aerial vehicle foundation auxiliary landing method |
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Application publication date: 20180824 |
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