CN109634305A - UAV position and orientation method of adjustment and system based on visual aids positioning - Google Patents
UAV position and orientation method of adjustment and system based on visual aids positioning Download PDFInfo
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- G—PHYSICS
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- 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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Abstract
The invention discloses a kind of UAV position and orientation methods of adjustment based on visual aids positioning, comprising the following steps: flies according to RTK positioning to source location after unmanned plane starting flight, carries out image taking to mark point using Airborne camera；Identification mark point is pre-processed and is detected to shooting image, whether judge mark point is in image range, if mark point is relocated not in range using RTK, until mark point occurs in the picture；It will identify that the present image of mark point is matched with the standard picture with target point, calculate the offset of present image, if offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset is more than preset threshold value, unmanned plane carries out the azimuthal adjustment of camera, until meeting offset less than preset threshold value.A kind of UAV position and orientation adjustment system is also disclosed, the present invention realizes UAV Intelligent autonomous flight using static image.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly to a kind of UAV position and orientation adjustment side based on visual aids positioning
Method and system.
Background technique
Tool of the unmanned plane as typical flatbed, radix is numerous takes photo by plane other than field in addition to being applied to, and also answers extensively
For fields such as power-line patrolling, oil exploration, land surveying, bridge maintenance, police service security protections.These fields be often fixed point,
Scheduled airline operation, it is at present substantially or the unmanned machine operation of manual operation, not only time-consuming and laborious, but also precision, operation quality
It is not easy to guarantee, misoperation is easy aircraft bombing, causes danger.In order to independently complete task, Yi Zhongwen in the case where unsupervised
Determine, fast, accurately aided positioning system is most important for unmanned plane.
Recent image procossing and computer vision technique advance the unmanned plane for having visual capacity with merging for unmanned plane
Exploitation.It therefore, is very necessary to the research of the unmanned plane adjust automatically attitude system based on image recognition auxiliary positioning.
At present using GPS, light stream, three units of IMU (inertia measurement) and sound wave position unmanned plane all there are some problems:
(1) general inertial navigation system will receive the interference of electromagnetic field, air pressure, rainwater, generate inertial navigation accumulated error；
(2) after unmanned plane hovers, can not determine whether to be in best hovering position and optimum posture.
Therefore it is urgent to provide a kind of novel above-mentioned to solve based on the UAV position and orientation method of adjustment of visual aids positioning
Problem.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of UAV position and orientation adjustment sides based on visual aids positioning
Method and system can be calculated the displacement difference of unmanned plane using static image, realize UAV Intelligent autonomous flight.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: it is a kind of fixed based on visual aids to provide
The UAV position and orientation method of adjustment of position, comprising the following steps:
S1: flying according to RTK positioning to source location after unmanned plane starting flight, is clicked through using Airborne camera to label
Row image taking；
S2: identification mark point is pre-processed and is detected to shooting image, whether judge mark point is in image range, such as
Fruit mark point is relocated not in range using RTK, until mark point occurs in the picture；
S3: it will identify that the present image of mark point is matched with the provincial characteristics image with mark point, calculating is worked as
The offset of preceding image, if offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset
Amount is more than preset threshold value, then unmanned plane carries out the azimuthal adjustment of camera, is set in advance until meeting offset and being less than
Fixed threshold value.
In a preferred embodiment of the present invention, in step s 2, image preprocessing and detection mark point specific steps packet
It includes:
S2.1: color image RGB decompose, by RGB multi-channel detection current taken image with coloured mark point；
S2.2: binary conversion treatment, the color image after decomposing to RGB carry out binaryzation；
S2.3: the shape of mark point is identified in edge detection, the image border after detecting binary conversion treatment.
Further, the mark point is located on marker, with color and with shape.
In a preferred embodiment of the present invention, in step S3, the present image for identifying mark point with have mesh
The provincial characteristics image of punctuate carries out matched specific steps
Assuming that identifying a length of x of the present image of mark pointmax, width ymax, choosing includes mark point in present image
Provincial characteristics image f (x, y), present image be g (x', y'), two o'clock carry out image related operation:
WhereinIndicate that f (x, y) and g (x', y') does point-to-point multiply at (x', y')
Method operation, h (x', y') are the distribution of correlation function, and value is bigger, indicate that degree of correlation is higher.
Further, in step S3, the specific steps for calculating the offset of present image include:
Assuming that x'=x'0, y'=y'0When h it is maximum, then judgement is maximal correlation, carries out offset and calculates xv=xm-x'0,
ys=ym-y'0；
Assuming that pre-set threshold size be v, s, if | xv|≤v,|ys|≤s then illustrates the position of shooting preset
In position range, then unmanned plane is without adjusting current pose, otherwise, carries out the adjustment of camera azimuth.
In order to solve the above technical problems, another technical solution used in the present invention is: providing a kind of based on visual aids
The UAV position and orientation of positioning adjusts system, specifically includes that
RTK locating module flies for the unmanned plane that navigates to source location；
Image taking module, for carrying out image taking to mark point；
Image processing module carries out image preprocessing to the image of described image shooting module shooting；
Picture recognition module identifies mark point to the image detection of described image processing module output, and judge mark point is
It is no in image range；
Interpretation of result module, the present image by will identify that mark point and the standard picture progress with target point
Match, calculate the offset of present image and carries out interpretation of result.
In a preferred embodiment of the present invention, the analytic process of the interpretation of result module are as follows:
If offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset is more than
Preset threshold value then carries out pose adjustment to unmanned machine head using RTK locating module.
The beneficial effects of the present invention are:
(1) present invention utilizes the position (offset of mark point in the picture by the image of preset mark point and static state
Amount), to calculate the displacement difference of unmanned plane, unmanned plane during flying is controlled, thus to realize that intelligent autonomous flight operation provides guarantor
Barrier；
(2) RTK accurate positioning is utilized, is positioned for next step visual aids and provides support, and the mark point of image procossing
Target point with unmanned machine operation be it is fixed, greatly improve the positioning accuracy using IMU, GPS etc., significantly improve nobody
Machine operation efficiency.
Detailed description of the invention
Fig. 1 is that the present invention is based on the flow charts of the UAV position and orientation method of adjustment of visual aids positioning；
Fig. 2 is the image schematic diagram in step S3 during images match；
Fig. 3 is the structural block diagram of the UAV position and orientation adjustment system based on visual aids positioning.
Specific embodiment
The preferred embodiments of the present invention will be described in detail with reference to the accompanying drawing, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art, so as to make a clearer definition of the protection scope of the present invention.
Referring to Fig. 1, the embodiment of the present invention includes:
A kind of UAV position and orientation method of adjustment based on visual aids positioning, comprising the following steps:
S1: space coordinate and the azimuth of target position are inputted after unmanned plane starting flight, is flown according to RTK positioning to target
Location point carries out image taking to mark point using Airborne camera；
S2: identification mark point is pre-processed and is detected to shooting image, whether judge mark point is in image range, such as
Fruit mark point is relocated not in range using RTK, until mark point occurs in the picture；
The mark point artificially marks in advance, is located on marker, with color and with shape.Preferably, institute
Stating mark point can be selected the chromatic colours such as red, green, and shape is rectangle or circle etc., can mark in insulator or needs
Beside the pin of detection.Steel tower individual for one can carry out the combination row of both the above mark point or a variety of mark points
It puts, as the green circle diagram of red figure-- red figure represents first test point of pylon first layer.
Image preprocessing and the specific steps for detecting mark point include:
S2.1: color image RGB decompose, by RGB multi-channel detection current taken image with coloured mark point；
Specifically, carrying out the detection of particular color according to the threshold range of color, limiting the channel R value range is 200-
255, at the same time the channel G limitation value range be 0-60, channel B is also 0-60, it is all meet respective threshold range i.e.
It is corresponding color.Red is such as detected, after decomposing by RGB, the channel R is more strong, and threshold size is in 200-255 ranges
It is interior, identify other colors similarly.
S2.2: the color image after decomposing to RGB carries out binary conversion treatment；
In one embodiment, the pixel value that red (Red image) is met in the color image after RGB being decomposed is set as 1, no
What is met is set as 0, and the operation of closing operation and opening operation is carried out to this ReRed image, obtains the figure of a binaryzation
Picture.
S2.3: the shape of mark point is identified in edge detection, the image border after detecting binary conversion treatment.
Specifically, selection binary image carries out edge detection, the edge detection in image is gone out using canny operator etc.
Come, obtains the image containing marginal information, utilize skin-active change detection straight line or circle.In conjunction with image color information, then carry out
Combination obtains mark point detected, such as red, green circle or red circle, green side.
S3: it will identify that the present image of mark point is matched with the provincial characteristics image with mark point, calculating is worked as
The offset of preceding image, if offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset
Amount is more than preset threshold value, then unmanned plane carries out the azimuthal adjustment of camera, is set in advance until meeting offset and being less than
Fixed threshold value.Specific steps include:
In conjunction with Fig. 2, it is assumed that identify a length of x of the present image of mark pointmax, width ymax, choose in present image and wrap
Provincial characteristics image f (x, y) containing mark point, present image are g (x', y'), and two o'clock carries out image related operation:
WhereinIndicate that f (x, y) and g (x', y') does point-to-point multiply at (x', y')
Method operation, it is clear that the size of g (x', y') is small compared with the pixel number of f (x, y), and h (x, y) is the distribution of correlation function, value
It is bigger, indicate that degree of correlation is higher, in whole image domain, maximum value is to match.
Assuming that x'=x'0, y'=y'0When h it is maximum, then judgement is maximal correlation, carries out offset and calculates xv=xm-x'0,
ys=ym-y'0；
Assuming that pre-set threshold size be v, s, threshold size according to specific tasks situation be arranged, be traditionally arranged to be 0
~image a quarter size, if | xv|≤v,|ys|≤s then illustrate shooting position in preset position range, then nobody
Machine is without adjusting current pose, otherwise, carries out the adjustment of camera azimuth.Specific method of adjustment, adjustment holder gradually, makes cloud
Platform drives camera to adjust xv, ysSize, re-inspection images match are in default range.
This method is by the image of preset mark point and static state, using the position (offset) of mark point in the picture,
To calculate the displacement difference of unmanned plane, control unmanned plane during flying, thus to realize that intelligent autonomous flight operation provides guarantee.
The present invention also provides a kind of UAV position and orientations based on visual aids positioning to adjust system, referring to Fig. 3, mainly
Including the sequentially connected RTK locating module of head and the tail, image taking module, image processing module, picture recognition module, interpretation of result
Module.
The RTK locating module flies for the unmanned plane that navigates to source location, using RTK accurate positioning, in next step
Visual aids positioning provides support.Described image shooting module is used to carry out image taking to mark point, captured image
The target point of mark point and unmanned machine operation be it is fixed, greatly improve the positioning accuracy using IMU, GPS etc., and then significant
Improve the operating efficiency of unmanned plane.It is pre- that described image processing module carries out image to the image that described image shooting module is shot
Processing, including color image RGB decomposition, binary conversion treatment, edge detection.Described image identification module handles mould to described image
The image detection of block output identifies mark point, and whether judge mark point is in image range.The interpretation of result module will be by that will know
Not Chu the present image of mark point matched with the standard picture of target point, calculate the offset of present image and progress
Interpretation of result.If offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset is more than
Preset threshold value then carries out pose adjustment to unmanned machine head using RTK locating module.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (7)
1. a kind of UAV position and orientation method of adjustment based on visual aids positioning, comprising the following steps:
S1: fly according to RTK positioning to source location after unmanned plane starting flight, figure is carried out to mark point using Airborne camera
As shooting；
S2: identification mark point is pre-processed and is detected to shooting image, whether judge mark point is in image range, if mark
Note point is relocated not in range using RTK, until mark point occurs in the picture；
S3: it will identify that the present image of mark point is matched with the provincial characteristics image with mark point, calculate current figure
The offset of picture, if offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset is super
Preset threshold value is crossed, then unmanned plane carries out the azimuthal adjustment of camera, until meeting offset less than preset
Threshold value.
2. the UAV position and orientation method of adjustment according to claim 1 based on visual aids positioning, which is characterized in that in step
In rapid S2, image preprocessing and detection mark point specific steps include:
S2.1: color image RGB decompose, by RGB multi-channel detection current taken image with coloured mark point；
S2.2: binary conversion treatment, the color image after decomposing to RGB carry out binaryzation；
S2.3: the shape of mark point is identified in edge detection, the image border after detecting binary conversion treatment.
3. the UAV position and orientation method of adjustment according to claim 1 or 2 based on visual aids positioning, which is characterized in that
The mark point is located on marker, with color and with shape.
4. the UAV position and orientation method of adjustment according to claim 1 based on visual aids positioning, which is characterized in that step
In S3, the present image for identifying mark point carries out matched specific steps packet with the provincial characteristics image with target point
It includes:
Assuming that identifying a length of x of the present image of mark pointmax, width ymax, choose the area in present image comprising mark point
Characteristic of field image f (x, y), present image are g (x', y'), and two o'clock carries out image related operation:
WhereinIndicate that f (x, y) and g (x', y') does point-to-point multiplication at (x', y') and transport
It calculates, h (x', y') is the distribution of correlation function, and value is bigger, indicates that degree of correlation is higher.
5. the UAV position and orientation method of adjustment according to claim 4 based on visual aids positioning, which is characterized in that step
In S3, the specific steps for calculating the offset of present image include:
Assuming that x'=x'0, y'=y'0When h it is maximum, then judgement is maximal correlation, carries out offset and calculates xv=xm-x'0, ys=
ym-y′0；
Assuming that pre-set threshold size be v, s, if | xv|≤v,|ys|≤s then illustrates the position of shooting in preset position
In range, then unmanned plane is without adjusting current pose, otherwise, carries out the adjustment of camera azimuth.
6. a kind of UAV position and orientation based on visual aids positioning adjusts system, using nothing described in any one of claim 1 to 5
Man-machine pose method of adjustment, which is characterized in that specifically include that
RTK locating module flies for the unmanned plane that navigates to source location；
Image taking module, for carrying out image taking to mark point；
Image processing module carries out image preprocessing to the image of described image shooting module shooting；
Picture recognition module, to described image processing module output image detection identify mark point, judge mark point whether
Image range；
Interpretation of result module, by will identify that the present image of mark point is matched with the standard picture with target point,
It calculates the offset of present image and carries out interpretation of result.
7. the UAV position and orientation according to claim 6 based on visual aids positioning adjusts system, which is characterized in that described
The analytic process of interpretation of result module are as follows:
If offset, in preset threshold range, unmanned plane is without adjusting current pose；If offset is more than preparatory
The threshold value of setting then carries out pose adjustment to unmanned machine head using RTK locating module.
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| CN111754451A (en) * | 2019-12-31 | 2020-10-09 | 广州极飞科技有限公司 | Surveying and mapping unmanned aerial vehicle achievement detection method and device, electronic equipment and storage medium |
| CN113741413A (en) * | 2020-05-29 | 2021-12-03 | 广州极飞科技股份有限公司 | Operation method of unmanned equipment, unmanned equipment and storage medium |
| CN113741413B (en) * | 2020-05-29 | 2022-11-08 | 广州极飞科技股份有限公司 | Operation method of unmanned equipment, unmanned equipment and storage medium |
| CN113899356A (en) * | 2021-09-17 | 2022-01-07 | 武汉大学 | Non-contact mobile measurement system and method |
| CN113899356B (en) * | 2021-09-17 | 2023-08-18 | 武汉大学 | Non-contact mobile measurement system and method |
| CN114253284A (en) * | 2021-12-22 | 2022-03-29 | 湖北襄开电力设备有限公司 | Unmanned aerial vehicle automatic control method, device, equipment and storage medium |
| CN114900609A (en) * | 2022-04-29 | 2022-08-12 | 北京数字绿土科技股份有限公司 | Automatic shooting control method and system for unmanned aerial vehicle |
| CN114900609B (en) * | 2022-04-29 | 2023-03-24 | 北京数字绿土科技股份有限公司 | Automatic shooting control method and system for unmanned aerial vehicle |
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