CN109613923A - A kind of unmanned helicopter warship control method - Google Patents
A kind of unmanned helicopter warship control method Download PDFInfo
- Publication number
- CN109613923A CN109613923A CN201811315494.7A CN201811315494A CN109613923A CN 109613923 A CN109613923 A CN 109613923A CN 201811315494 A CN201811315494 A CN 201811315494A CN 109613923 A CN109613923 A CN 109613923A
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- China
- Prior art keywords
- warship
- unmanned helicopter
- sensor
- control method
- attitude
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention discloses a kind of unmanned helicopter warship control method, elements of interior orientation calibration is carried out using maximum field of view of the plane target drone method to TV sensor in airborne opto-electronic device, the identification point of known geometric relationship on TV sensor image is extracted using contours extract algorithm, relative position and attitude of the unmanned helicopter relative to each angle point in airplane parking area is resolved using the OPnP position and attitude estimation method of orthogonal iteration optimization, realize the rapid survey to unmanned plane and naval vessel airplane parking area relative position and attitude, warship is assisted especially suitable for carrier-borne unmanned helicopter photoelectricity, with high popularizing value.
Description
Technical field
The invention belongs to airborne opto-electronic device technical fields, and in particular to a kind of photoelectricity of carrier-borne unmanned helicopter assists
Warship control method.
Background technique
When carrier-borne unmanned helicopter plan warship, 50 meters of left sides above naval vessels are directed to through the multinomial means such as radar, GPS
Right height.
Naval vessel airplane parking area is the narrow floating platform of an area at this time, and can be occurred along with mother ship carrier irregular vertical
Incline, rolling and plunging motion, several meters of change may occur in a short time for ideal warship point, and mesh is only leaned on for manipulator
Depending on interpretation safety difficult to realize warship.
There is not been reported for the warship method that assists of realization unmanned helicopter and airplane parking area Measurement of the relative position and attitude.
Summary of the invention
The present invention is directed to above-mentioned background, provide a kind of unmanned helicopter warship control method, in conjunction with airborne opto-electronic device
With on naval vessel airplane parking area warship mark realize unmanned helicopter relative to airplane parking area it is ideal the accurate survey of warship point position and attitude
Amount.
Step 1 carries out inner orientation member using maximum field of view of the plane target drone method to TV sensor in airborne opto-electronic device
Plain calibration obtains image principal point coordinate (x0, y0), focal length f and distortion factor k1, k2；
Step 2, before unmanned helicopter takes off, on airplane parking area warship mark each angle point plane geometry relationship carry out it is pre-
First measure；
Step 3 guarantees that warship mark appears in the view of TV sensor after unmanned helicopter takes off and enters and help drop range
In the central area of field, the azimuth Az and pitch angle El of airborne opto-electronic device at this time are recorded；
Step 4, warship face station obtain the single-frame images of TV sensor in real time, are extracted and warship mark using contours extract algorithm
Know the corresponding picpointed coordinate of angle point；
Step 5, according to perspective projection transformation relationship calculate TV sensor field of view center and warship identify between each angle point
Relative position and attitude relationship, so that auxiliary operation hand completes automatic/semi-automatic the warship of unmanned helicopter.
Further, described the warship mark has 10 angle points.
Further, the contours extract algorithm in step 4 specifically: the profile for extracting original image first is passing through Gauss
Filtering after Cany edge extracting, first extracts the straight line in bianry image, store remove after straight line information it is straight on bianry image
Line information, then the extraction of oval information is carried out, it obtains identifying each angle point one by one with warship according to oval and straight line overlapping relation
Corresponding picpointed coordinate.
Further, in step 5 relative position and attitude relationship resolving specifically: according to the inner orientation of TV sensor member
Element is sought the spin matrix R and translation vector T of TV sensor using OPnP algorithm, is pressed according to azimuth Az and pitch angle El
FormulaCalculate attitude matrix R of the unmanned helicopter relative to airplane parking areah。
The beneficial effects of the present invention are: the airplane parking area scene image obtained using TV sensor in airborne opto-electronic device,
The special sign point that a series of known geometric relationships on single-frame images are extracted using contours extract algorithm, is sat according to landmark space
Mark and its perspective projection relationship on target surface between projection coordinate, the OPnP position and attitude estimation side optimized in conjunction with orthogonal iteration
Method realizes the rapid survey to unmanned plane and naval vessel airplane parking area relative position and attitude, especially suitable for carrier-borne unmanned helicopter
Photoelectricity assists warship, has high popularizing value.
Detailed description of the invention
Fig. 1 is the elements of interior orientation calibration face target of TV sensor；
Fig. 2 be airplane parking area on warship mark identification point schematic diagram；
Fig. 3 is contours extract algorithm flow chart.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The photoelectricity that the present invention devises a kind of carrier-borne unmanned helicopter assists warship control method, is marked in advance based on laboratory
TV sensor (television camera) elements of interior orientation in fixed airborne opto-electronic device, and the TV sensor list obtained in real time
Frame image realizes the measurement of unmanned helicopter Yu airplane parking area relative position and attitude, with assist unmanned helicopter warship.It includes
Following steps:
Step 1, unmanned helicopter need to regard the maximum of its TV sensor before assisting warship using airborne opto-electronic device
Field carries out elements of interior orientation calibration, carries out indoor calibration using plane target drone method, obtains its elements of interior orientation, including principal point is sat
Mark (x0, y0), focal length f, distortion factor k1, k2, plane target drone that calibration uses as shown in Figure 1, method with it is current use it is most extensive
Zhang Zhengyou plane reference method it is consistent.
Step 2: before unmanned helicopter takes off, each angle point (mark of warship mark (pattern) is also needed on measured in advance airplane parking area
Know point) plane geometry relationship, warship mark shape and the angle that measures of needs as shown in Fig. 2, being somebody's turn to do in warship mark altogether
In respect of 10 angle points.
Step 3 after unmanned helicopter takes off, is carried out nearby (entering close to 50 meters of naval vessel height and helping drop range)
When warship, orientation that airborne opto-electronic device is kept fixed, pitch angle observe naval vessel airplane parking area, control airborne opto-electronic device orientation and bow
Rotation is faced upward, guarantees that warship mark appears in the field of view center region of TV sensor, records the side of airborne opto-electronic device at this time
Parallactic angle Az and pitch angle El.
Step 4, warship face station (earth station) software obtain the single-frame images of TV sensor in real time, are receiving TV figure
As after information, process extracts the profile of original image first as shown in Figure 3, after gaussian filtering, Cany edge extracting, elder generation
The straight line in bianry image is extracted, binary edge map is obtained；The straight line removed on bianry image after straight line information is stored to believe
Breath, then carry out the extraction of oval information；After being sequentially completed straight-line detection and ellipses detection, having extracted oval and straight line, root
According to a series of identification points of known geometric relationship on the extractable identification pattern out of the overlapping relation of the two (angle point is identified with warship
Corresponding picpointed coordinate), complete identification point detection.
Step 5 calculates TV sensor field of view center according to perspective projection transformation relationship and identifies respectively with airplane parking area warship
Relative position and attitude relationship between angle point:
(1) in the situation known to TV sensor elements of interior orientation, with n spatial point and corresponding picture point estimation TV sensing
The outer parameter of device, that is, seek spin matrix R and translation vector T, can solve the problems, such as this using PnP algorithm.PnP algorithm is a kind of
Non-iterative linear solution algorithm, fast, the preferable applicability of global optimization with computing speed, main thought is by PnP problem
It is converted into and directly minimizes Solve problems, spin matrix R is indicated by a kind of quaternary number representation of no unit, PnP is asked
Topic switchs to unconstrained optimization problem.
The characteristic for being 1 according to the orthogonal and order of spin matrix, is enabling s=a2+b2+c2+d2In the case where, spin matrix R
It may be expressed as:
Wherein。
Can then PnP problem be converted to the minimum value that solution seeks following formula:
M is the matrix of 2n × 11 as composed by identification point space coordinate and target surface coordinate in formula.
(2) the spin matrix R resolved and translation vector T for passing through previous step, in conjunction with the airborne opto-electronic device of record
Azimuth Az, pitch angle El press formulaIt can be calculated appearance of the unmanned helicopter relative to airplane parking area
State matrix Rh；Unmanned helicopter can directly take translation vector T relative to the position of airplane parking area.
Manipulator after obtaining above- mentioned information, can be adjusted unmanned helicopter warship posture and speed, to realize nothing
The automatic/semi-automatic safety of people's helicopter warship.
The present invention is not limited to above-mentioned preferred forms, and anyone skilled in the art all may be used under the inspiration of the present invention
To obtain other deformations and improved products, however, do any variation in its shape or structure, all have and the application
Identical or similar technical solution, is within the scope of the present invention.
Claims (4)
1. a kind of unmanned helicopter warship control method, it is characterised in that: include the following steps
Step 1 carries out elements of interior orientation mark using maximum field of view of the plane target drone method to TV sensor in airborne opto-electronic device
School；
Step 2, before unmanned helicopter takes off, on airplane parking area warship mark each angle point plane geometry relationship carry out it is pre-
First measure；
Step 3 guarantees that warship mark appears in the view of TV sensor after unmanned helicopter takes off and enters and help drop range
In the central area of field, the azimuth Az and pitch angle El of airborne opto-electronic device at this time are recorded；
Step 4 obtains the single-frame images of TV sensor in real time, is extracted using contours extract algorithm and identifies angle point with warship
Corresponding picpointed coordinate；
Step 5, calculate TV sensor field of view center and warship identify relative position and attitude relationship between each angle point, from
And assist completing automatic/semi-automatic the warship of unmanned helicopter.
2. a kind of unmanned helicopter according to claim 1 warship control method, which is characterized in that described the warship mark
Knowing has 10 angle points.
3. a kind of unmanned helicopter according to claim 1 warship control method, which is characterized in that the wheel in step 4
Wide extraction algorithm specifically: the profile of extraction original image first is first extracted after gaussian filtering, Cany edge extracting
Straight line in bianry image stores the straight line information removed after straight line information on bianry image, then carries out mentioning for oval information
It takes, obtains identifying each one-to-one picpointed coordinate of angle point with warship according to oval and straight line overlapping relation.
4. a kind of unmanned helicopter according to claim 1 warship control method, which is characterized in that it is opposite in step 5
The resolving of position and attitude relationship specifically: according to the elements of interior orientation of TV sensor, seek the spin matrix R of TV sensor
With translation vector T, formula is pressed according to azimuth Az and pitch angle ElCalculate unmanned helicopter relative to
The attitude matrix R of airplane parking areah。
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114384571A (en) * | 2022-03-24 | 2022-04-22 | 山东智航智能装备有限公司 | Unmanned aerial vehicle nest direction calibration method and device |
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| CN114384571B (en) * | 2022-03-24 | 2022-07-08 | 山东智航智能装备有限公司 | Unmanned aerial vehicle nest direction calibration method and device |
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