CN109151357A - A kind of method that nano platform realizes positioning based on drift compensation - Google Patents
A kind of method that nano platform realizes positioning based on drift compensation Download PDFInfo
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- CN109151357A CN109151357A CN201811035854.8A CN201811035854A CN109151357A CN 109151357 A CN109151357 A CN 109151357A CN 201811035854 A CN201811035854 A CN 201811035854A CN 109151357 A CN109151357 A CN 109151357A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N17/00—Diagnosis, testing or measuring for television systems or their details
- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/102—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or selection affected or controlled by the adaptive coding
- H04N19/124—Quantisation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/102—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the element, parameter or selection affected or controlled by the adaptive coding
- H04N19/13—Adaptive entropy coding, e.g. adaptive variable length coding [AVLC] or context adaptive binary arithmetic coding [CABAC]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/10—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding
- H04N19/169—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding
- H04N19/182—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals using adaptive coding characterised by the coding unit, i.e. the structural portion or semantic portion of the video signal being the object or the subject of the adaptive coding the unit being a pixel
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N19/00—Methods or arrangements for coding, decoding, compressing or decompressing digital video signals
- H04N19/44—Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder
- H04N19/45—Decoders specially adapted therefor, e.g. video decoders which are asymmetric with respect to the encoder performing compensation of the inverse transform mismatch, e.g. Inverse Discrete Cosine Transform [IDCT] mismatch
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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Abstract
The present invention provides a kind of method that nano platform realizes positioning based on drift compensation, the method includes that the initial position of nano platform is recorded by camera, inertia angular speed is obtained as the feedback signal of stable loop using gyroscope, feed back input is to controlling terminal, recorded video, first frame picture in video is denoted as the initial position for nano platform, and first frame picture is marked, is labeled as I frame.The beneficial effects of the invention are as follows accurate positionings, and it is accurate to calculate, and realize that high-performance stablizes drift compensation method.
Description
Technical field
The invention belongs to nano measurement fields, realize the side of positioning based on drift compensation more particularly, to a kind of nano platform
Method.
Background technique
In existing technology, it is getting faster with the development of science and technology, the requirement to technology is increasingly stringenter, precision component
Use with precision machinery becomes frequently, and accurate measurement also becomes a kind of universal means therewith, but with the length of measuring table
Time uses, and the error for being displaced accumulation is always present within measuring table, while error also will increase, so needing to survey
It measures platform and carries out drift compensation.
Summary of the invention
The object of the present invention is to provide a kind of accurate positionings, and it is accurate to calculate, and realize that high-performance stablizes drift compensation method, see
Lasting carries out long-time shooting to key area, is especially suitable for a kind of side of the nano platform based on drift compensation realization positioning
Method.
The technical scheme is that
A kind of method that nano platform realizes positioning based on drift compensation is provided, the method includes:
(1) initial position that nano platform is recorded by camera obtains inertia angular speed as steady using gyroscope
Determine the feedback signal in circuit, feed back input to controlling terminal, the first frame picture in video is denoted as putting down for nanometer by recorded video
The initial position of platform, and first frame picture is marked, it is labeled as I frame；
(2) pixel value of first frame picture is subjected to inverse quantization, obtains a new pixel value, asks poor with original pixel value,
It is drift compensation amount that difference, which is carried out the numerical value obtained after inverse quantization, again, and drift time and the angle of nano platform is arranged, so that it may
Calculate nano platform drift velocity and elegant direction；
(3) start nano platform, nano platform post exercise first frame picture is recorded and fed back by using camera
Movement first frame picture is marked, is labeled as II frame, II frame is encoded by controlling terminal, and II frame is estimated by movement
Obtain motion residuals value by inverse transformation and inverse quantization after meter and motion compensation, motion residuals value according to I frame drift compensation value
It compensates, is moved according to drift velocity and elegant direction；
(4) nano platform progress drift compensation post exercise first frame picture is recorded using camera and feeds back control
This picture is marked terminal, is labeled as III frame, III frame is carried out entropy coding, then by the drift compensation amount of I frame in III frame
Removal, obtains a new motion residuals value for this value inverse quantization and is denoted as a；
(5) nano platform progress the second frame of drift compensation post exercise picture is recorded using camera and feeds back control
This picture is marked terminal, is labeled as IV frame, IV frame is carried out entropy coding, then by the drift compensation amount of I frame in IV frame
Removal, obtains a new motion residuals value for this value inverse quantization and is denoted as b；
(6) after the difference of a and b being carried out inverse quantization, after obtained value is added to III frame and IV frame, III frame can be obtained
Pixel value and I frame when not carrying out drift compensation movement with IV frame are compared with II frame, until the complete telemechanical of nano platform
Origin when, all frames are disposed, nano platform can be properly positioned.
Further, after nano platform completes drift compensation, need to be arranged nano platform new drift time and angle,
Repeat above-mentioned steps.
Further, when the amount of exercise of nano platform and the motion range value that breaks bounds need to stop positioning at once, by nanometer
Platform is moved to the record position of I frame.
Further, according to the drift time of the nano platform of setting, after drift compensation can also being moved, difference is more
Apparent image frame is used as IV frame.
Further, the difference of the inverse magnitude of the residual error motion value calculated according to drift compensation goniometer is only positive value,
It can not be negative value.
The advantages and positive effects of the present invention are: due to the adoption of the above technical scheme, the present invention has rational design, step
Rationally, accurate positioning, it is accurate to calculate, and realizes that high-performance stablizes drift compensation.
Specific embodiment
A kind of method that nano platform realizes positioning based on drift compensation is provided, the method includes:
(1) initial position that nano platform is recorded by camera obtains inertia angular speed as steady using gyroscope
Determine the feedback signal in circuit, feed back input to controlling terminal, the first frame picture in video is denoted as putting down for nanometer by recorded video
The initial position of platform, and first frame picture is marked, it is labeled as I frame；
(2) pixel value of first frame picture is subjected to inverse quantization, obtains a new pixel value, asks poor with original pixel value,
It is drift compensation amount that difference, which is carried out the numerical value obtained after inverse quantization, again, and drift time and the angle of nano platform is arranged, so that it may
Calculate nano platform drift velocity and elegant direction；
(3) start nano platform, nano platform post exercise first frame picture is recorded and fed back by using camera
Movement first frame picture is marked, is labeled as II frame, II frame is encoded by controlling terminal, and II frame is estimated by movement
Obtain motion residuals value by inverse transformation and inverse quantization after meter and motion compensation, motion residuals value according to I frame drift compensation value
It compensates, is moved according to drift velocity and elegant direction；
(4) nano platform progress drift compensation post exercise first frame picture is recorded using camera and feeds back control
This picture is marked terminal, is labeled as III frame, III frame is carried out entropy coding, then by the drift compensation amount of I frame in III frame
Removal, obtains a new motion residuals value for this value inverse quantization and is denoted as a；
(5) nano platform progress the second frame of drift compensation post exercise picture is recorded using camera and feeds back control
This picture is marked terminal, is labeled as IV frame, IV frame is carried out entropy coding, then by the drift compensation amount of I frame in IV frame
Removal, obtains a new motion residuals value for this value inverse quantization and is denoted as b；
(6) after the difference of a and b being carried out inverse quantization, after obtained value is added to III frame and IV frame, III frame can be obtained
Pixel value and I frame when not carrying out drift compensation movement with IV frame are compared with II frame, until the complete telemechanical of nano platform
Origin when, all frames are disposed, nano platform can be properly positioned.
Wherein, it after nano platform completes drift compensation, needs to be arranged nano platform new drift time and angle, repeats
Execute above-mentioned steps.
Wherein, when the amount of exercise of nano platform and the motion range value that breaks bounds need to stop positioning at once, by nano platform
It is moved to the record position of I frame.
Wherein, according to the drift time of the nano platform of setting, difference is more obvious after drift compensation can also being moved
Image frame be used as IV frame.
Wherein, the difference of the inverse magnitude of the residual error motion value calculated according to drift compensation goniometer is only positive value, can not
For negative value.
The operating instruction of this example:
Embodiment 1
The initial position that nano platform is recorded by camera obtains inertia angular speed as stablizing back using gyroscope
First frame picture in video is denoted as nano platform by the feedback signal on road, feed back input to controlling terminal, recorded video
Initial position, and first frame picture is marked, it is labeled as I frame, the pixel value of first frame picture is subjected to inverse quantization, is obtained
One new pixel value asks poor with original pixel value, then it is drift compensation amount, setting that difference, which is carried out the numerical value obtained after inverse quantization,
The drift time of nano platform and angle, so that it may calculate nano platform drift velocity and elegant direction, start nano platform,
Nano platform post exercise first frame picture records by using camera and feeds back controlling terminal, will move first frame picture
Be marked, be labeled as II frame, II frame is encoded, II frame after Motion estimation and compensation by inverse transformation and
Inverse quantization obtains motion residuals value, and motion residuals value is compensated according to the drift compensation value of I frame, according to drift velocity and elegant
Direction is moved, and nano platform progress drift compensation post exercise first frame picture is recorded using camera and feeds back control
This picture is marked terminal processed, is labeled as III frame, III frame is carried out entropy coding, then by the drift compensation amount of I frame in III frame
Middle removal obtains a new motion residuals value for this value inverse quantization and is denoted as a, and nano platform is carried out drift compensation movement
The second frame picture afterwards records using camera and feeds back controlling terminal, this picture is marked, and IV frame is labeled as, by IV
Frame carries out entropy coding, then the drift compensation amount of I frame is removed in IV frame, a new motion residuals value is obtained, by this value
Inverse quantization is denoted as b, after the difference of a and b is carried out inverse quantization, after obtained value is added to III frame and IV frame, can be obtained III
Pixel value and I frame when frame and IV frame do not carry out drift compensation movement are compared with II frame, until nano platform is completely remote
When dynamic origin, all frames are disposed, nano platform can be properly positioned.
One embodiment of the present invention has been described in detail above, but the content is only preferable implementation of the invention
Example, should not be considered as limiting the scope of the invention.It is all according to all the changes and improvements made by the present patent application range
Deng should still be within the scope of the patent of the present invention.
Claims (5)
1. a kind of method that nano platform realizes positioning based on drift compensation, it is characterised in that: the method includes:
(1) initial position that nano platform is recorded by camera obtains inertia angular speed as stablizing back using gyroscope
First frame picture in video is denoted as nano platform by the feedback signal on road, feed back input to controlling terminal, recorded video
Initial position, and first frame picture is marked, it is labeled as I frame；
(2) pixel value of first frame picture is subjected to inverse quantization, obtains a new pixel value, asks poor with original pixel value, then will
It is drift compensation amount that difference, which carries out the numerical value obtained after inverse quantization, drift time and the angle of nano platform is arranged, so that it may calculate
The drift velocity of nano platform and elegant direction out；
(3) start nano platform, nano platform post exercise first frame picture is recorded by using camera and feeds back control
Movement first frame picture is marked, is labeled as II frame, II frame is encoded by terminal, II frame by estimation and
Motion residuals value is obtained by inverse transformation and inverse quantization after motion compensation, motion residuals value is carried out according to the drift compensation value of I frame
Compensation, is moved according to drift velocity and elegant direction；
(4) nano platform progress drift compensation post exercise first frame picture is recorded using camera and feeds back control eventually
End, this picture is marked, and is labeled as III frame, III frame is carried out entropy coding, then by the drift compensation amount of I frame in III frame
It removes, obtains a new motion residuals value for this value inverse quantization and be denoted as a；
(5) nano platform progress the second frame of drift compensation post exercise picture is recorded using camera and feeds back control eventually
End, this picture is marked, and is labeled as IV frame, IV frame is carried out entropy coding, then by the drift compensation amount of I frame in IV frame
It removes, obtains a new motion residuals value for this value inverse quantization and be denoted as b；
(6) after the difference of a and b being carried out inverse quantization, after obtained value is added to III frame and IV frame, III frame and IV can be obtained
Pixel value and I frame when frame does not carry out drift compensation movement are compared with II frame, until the original of the complete telemechanical of nano platform
When point, all frames are disposed, nano platform can be properly positioned.
2. the method that a kind of nano platform according to claim 1 realizes positioning based on drift compensation, it is characterised in that: when
After nano platform completes drift compensation, needs to be arranged nano platform new drift time and angle, repeat above-mentioned steps.
3. the method that a kind of nano platform according to claim 1 realizes positioning based on drift compensation, it is characterised in that: when
The amount of exercise and motion range of the nano platform value that breaks bounds need to stop positioning at once, and nano platform is moved to the record of I frame
Position.
4. the method that a kind of nano platform according to claim 1 realizes positioning based on drift compensation, it is characterised in that: root
According to the drift time of the nano platform of setting, the more apparent image frame of difference is used as IV after drift compensation can also being moved
Frame.
5. the method that a kind of nano platform according to claim 1 realizes positioning based on drift compensation, it is characterised in that: according to
It is only positive value according to the difference of the inverse magnitude of the residual error motion value of drift compensation goniometer calculating, can not be negative value.
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| CN201811035854.8A CN109151357A (en) | 2018-09-06 | 2018-09-06 | A kind of method that nano platform realizes positioning based on drift compensation |
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| CN201811035854.8A CN109151357A (en) | 2018-09-06 | 2018-09-06 | A kind of method that nano platform realizes positioning based on drift compensation |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030133500A1 (en) * | 2001-09-04 | 2003-07-17 | Auwera Geert Van Der | Method and apparatus for subband encoding and decoding |
| CN101494756A (en) * | 2009-02-11 | 2009-07-29 | 北京航空航天大学 | Lossless drift compensation method for invertible video watermark |
| CN107797223A (en) * | 2016-08-30 | 2018-03-13 | 康耐视公司 | The system and method for reducing drift effect caused by temperature on liquid lens |
| CN108453676A (en) * | 2018-03-22 | 2018-08-28 | 广东工业大学 | A kind of two dimension precision movement platform and its movement technique |
-
2018
- 2018-09-06 CN CN201811035854.8A patent/CN109151357A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030133500A1 (en) * | 2001-09-04 | 2003-07-17 | Auwera Geert Van Der | Method and apparatus for subband encoding and decoding |
| CN101494756A (en) * | 2009-02-11 | 2009-07-29 | 北京航空航天大学 | Lossless drift compensation method for invertible video watermark |
| CN107797223A (en) * | 2016-08-30 | 2018-03-13 | 康耐视公司 | The system and method for reducing drift effect caused by temperature on liquid lens |
| CN108453676A (en) * | 2018-03-22 | 2018-08-28 | 广东工业大学 | A kind of two dimension precision movement platform and its movement technique |
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Application publication date: 20190104 |