CN109782014A - A kind of unmanned plane method for determining speed and device - Google Patents
A kind of unmanned plane method for determining speed and device Download PDFInfo
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- CN109782014A CN109782014A CN201910181384.4A CN201910181384A CN109782014A CN 109782014 A CN109782014 A CN 109782014A CN 201910181384 A CN201910181384 A CN 201910181384A CN 109782014 A CN109782014 A CN 109782014A
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Abstract
The application provides a kind of unmanned plane method for determining speed and device, for improving the very poor problem of unmanned plane controls flying speed in the prior art stability.This method comprises: receiving the first image and the second image, the shooting interval of the first image and the second image is preset time period；Compare the first image and the second image, the area image of characterization the same area is determined from the first image and the second image, square pixel in area image including preset quantity, pixel are identical relative to the moving direction in the position of the first image in the position of the second image；The coordinate value of square pixel of preset quantity is substituted into the first default equation, obtains First Speed vector sum second speed vector；According to First Speed vector sum second speed vector, the actual motion speed of unmanned plane is obtained.
Description
Technical field
This application involves the technical field of unmanned plane, it is related to a kind of unmanned plane method for determining speed and device.
Background technique
At present in industry, under complicated atmospheric environment, the method for determining speed of the unmanned plane of atmospheric monitoring task is executed,
The acceleration transducer and global positioning system (Global of unmanned plane itself are usually added by ultrasonic sensor
Positioning System, GPS) sensor obtains speed, then the speed of acquisition controlled, however, passing through
The speed that acceleration transducer and GPS sensor obtain has certain error, during unmanned plane carries out takeoff and landing,
It is very poor that this error will lead to the stability that unmanned plane controls flying speed, can not meet unmanned plane well to speed
The requirement of control.
Summary of the invention
In view of this, the application provides a kind of unmanned plane method for determining speed and device, for improve in the prior art without
The man-machine problem very poor to the stability of flying speed control.
A kind of unmanned plane method for determining speed that the embodiment of the present application provides, which comprises receive the first image
With the second image, the shooting interval of the first image and second image is preset time period；Compare described first
Image and the second image determine the area image of characterization the same area, institute from the first image and second image
State square pixel in area image including preset quantity, the pixel the position of second image relative to
The moving direction of the position of the first image is identical；The coordinate value of square pixel of the preset quantity is substituted into first
Default equation, obtains First Speed vector sum second speed vector；It is sweared according to second speed described in the First Speed vector sum
Amount, obtains the actual motion speed of the unmanned plane.A series of meters are carried out by the first image and the second image using this method
The actual motion speed for obtaining unmanned plane is calculated, so that the acquisition of speed is more accurate, to effectively improve in the prior art
The very poor problem of the stability that unmanned plane controls flying speed.
Optionally, in the embodiment of the present application, in the coordinate value generation of square pixel by the preset quantity
Enter the first default equation, before obtaining First Speed vector sum second speed vector, further includes: use the second default equation safe
Series expansion is strangled, the first equation is obtained；Default transformation is carried out to first equation, obtains second equation；To the second party
Journey is fitted solution, obtains the first default equation.Taylor series expansion is used to the second default equation using this method,
It played an important role in the approximate calculation of distance, so that the acquisition of speed is more accurate.
Optionally, in the embodiment of the present application, described that Taylor series expansion is used to the second default equation, obtain first party
Journey, comprising:
Taylor series expansion is used to the second default equation I (x, y, t)=I (x+dx, y+dy, t+dt), obtains first party
Journey
Wherein, x refers to the abscissa of pixel in the picture, and y refers to the ordinate of pixel in the picture, when t refers to
Between, dx indicates the distance that pixel moves in abscissa, and dy indicates the distance that pixel moves in ordinate, and dt is described
Preset time period, dI are the linear distance that pixel moves in the preset time period, and g is the micro constant of high-order.
Optionally, in the embodiment of the present application, described that default transformation is carried out to first equation, second equation is obtained,
Include:
Constant according to the pixel grey scale between the first image and second image, two adjacent frame pixels have phase
To continuous movement, and displacement ratio is relatively small, to first equationDefault transformation is carried out, i.e.,It is transformed toWherein, x refers to the abscissa of pixel in the picture,
Y refers to that the ordinate of pixel in the picture, t refer to the time, and dx indicates the distance that pixel moves in abscissa, and dy is indicated
The distance that pixel moves in ordinate, dt are the preset time period, and dI is that pixel moves in the preset time period
Dynamic linear distance；
According toIt obtainsWherein, u, v points
It Wei not velocity vector of the pixel along x-axis and y-axis, I in imagex,IyThe gray scale of pixel is along x in image, the partial derivative in the direction y,
K is variation coefficient, and w is the preset quantity；
According toObtain second equationWherein, u, v are respectively pixel in image
Point is along the velocity vector of x-axis and y-axis, i.e. u is the First Speed vector, and v is the second speed vector, and A is the pixel
The gray scale of point is partial derivative of the pixel in time dimension along x, the partial derivative in the direction y, b.
Optionally, in the embodiment of the present application, described that solution is fitted to the second equation, obtain the first default side
Journey, comprising:
By second equationTransformation obtains the first default equation
Wherein, u, v are respectively that for pixel along the velocity vector of x-axis and y-axis, i.e. u is the First Speed vector in image,
V is the second speed vector, Ix,IyThe gray scale of pixel is along x in image, and the partial derivative in the direction y, i is variation coefficient.
Optionally, in the embodiment of the present application, in the second speed vector according to the First Speed vector sum,
After the actual motion speed for obtaining the unmanned plane, further includes: it is pre- to carry out first to the ground image that camera shooting obtains
If operation, position deviation is obtained, the position deviation is target level point and the ground image in the ground image
The linear distance of projected position point, wherein the projected position point is the unmanned plane upright projection in ground location point；According to
The position deviation and the actual motion speed, control the unmanned plane during flying to the target level point surface position
It sets；According to the unmanned plane of acquisition and the altitude information on ground, controls the unmanned plane and dropped to from the position directly above
The target level point.Using this method by calculating the target level point in ground image and the projection position of the ground image
Linear distance a little is set as position deviation, and obtains altitude information to control flight and landing, unmanned plane is increased and is landing
Validity and stability during to target level point.
Optionally, in the embodiment of the present application, the ground image obtained to camera shooting carries out the first default fortune
It calculates, obtains position deviation, comprising: find point identical with the default feature in the target level point in the ground image and sit
Mark, as level point coordinate；According to the position coordinates where the symmetrical centre point of the level point coordinate and the ground image,
Calculate the position deviation.Using this method by calculating the target level point in ground image and the projection of the ground image
The linear distance of location point as position deviation, increase unmanned plane in the validity of the surface of flight to target level point and
Stability.
The embodiment of the present application also provides a kind of unmanned plane velocity determination apparatus, described device includes: that shooting image receives
Module, for the first image of reception and the second image, the shooting interval of the first image and second image is pre-
If the period；Area image determining module, for comparing the first image and the second image, from the first image and described
The area image of characterization the same area is determined in second image, includes square pixel of preset quantity in the area image
Point, the pixel are identical relative to the moving direction of the position in the first image in the position of second image；Speed
It spends vector and obtains module, for the coordinate value of square pixel of the preset quantity to be substituted into the first default equation, obtain
First Speed vector sum second speed vector；The speed of service obtains module, for according to the First Speed vector sum the
Two velocity vectors obtain the actual motion speed of the unmanned plane.
Optionally, in the embodiment of the present application, described device further include: the first equation obtains module, for pre- to second
If equation uses Taylor series expansion, the first equation is obtained；Second equation obtains module, pre- for carrying out to first equation
If transformation obtains second equation；Default equation obtains module, for being fitted solution to the second equation, described in acquisition
First default equation.
Optionally, in the embodiment of the present application, described device further include: position deviation obtains module, for camera
The ground image that shooting obtains carries out the first default operation, obtains position deviation, and the position deviation is in the ground image
Target level point and the ground image projected position point linear distance, wherein the projected position point be the nothing
Man-machine upright projection is in ground location point；Target flight control module, for according to the position deviation and the actual motion
Speed, control the unmanned plane during flying to the target level point position directly above；Target landing control module, is used for basis
The altitude information of the unmanned plane and ground that obtain, controls the unmanned plane from the position directly above and drops to the target
Level point.
The application provides a kind of unmanned plane method for determining speed and device, by receiving the first image and second taken
Image, and determine from the first image and the second image the area image of characterization the same area, it include movement in the area image
The coordinate value of these pixels is substituted into the first default equation calculation and goes out the by square pixel of the identical preset quantity in direction
One velocity vector and second speed vector finally calculate actual motion speed by First Speed vector sum second speed vector again
Degree.The actual motion speed that unmanned plane is obtained by calculating from two images taken, to effectively improve existing skill
The very poor problem of the stability that unmanned plane controls flying speed in art.
To enable the above object and advantages of the application to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate attached drawing,
It is described in detail below.
Detailed description of the invention
Illustrate the technical solutions in the embodiments of the present application or in the prior art in order to clearer, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of application for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 shows the electronic devices structure schematic diagram of embodiment offer；
Fig. 2 shows unmanned plane method for determining speed flow diagrams；
Fig. 3 shows square mobile schematic diagram of the pixel between image that area image includes preset quantity；
Fig. 4 shows the flow diagram before unmanned plane method for determining speed step S130；
Fig. 5 shows the flow diagram after unmanned plane method for determining speed step S140；
Fig. 6 shows the flow diagram of unmanned plane method for determining speed step S150；
Fig. 7 shows unmanned plane velocity determination apparatus structural schematic diagram；
Fig. 8 shows the entire infrastructure schematic diagram of unmanned plane velocity determination apparatus.
Icon: 100- unmanned plane velocity determination apparatus；101- processor；102- memory；103- storage medium；109- electricity
Sub- equipment；110- shoots image receiver module；120- area image determining module；130- velocity vector obtains module；140- fortune
Scanning frequency degree obtains module；The first equation of 150- obtains module；160- second equation obtains module；170- presets equation and obtains mould
Block；180- position deviation obtains module；190- target flight control module；200- target landing control module.
Specific embodiment
The part term in the embodiment of the present application will be explained below, in order to those skilled in the art's reason
Solution.
Matrix is the common tool in higher algebra, is also common in the subjects of applied mathematics such as statistical analysis, matrix
Operation be numerical analysis field major issue.
Phase information, according to pixel in image sequence the variation in time-domain and the correlation between consecutive frame come
Previous frame is found with corresponding relationship existing between present frame.
Taylor series (English: Taylor series), in mathematics, the Lian Jiashi series of the unlimited item of Taylor series come
Indicate a function, these derivatives of item being added by function in certain point acquire.
Least square method (also known as least squares method) is a kind of mathematical optimization techniques.It passes through square for minimizing error
With the optimal function matching for finding data.Unknown data can be easily acquired using least square method, and these are asked
The quadratic sum of error is minimum between the data and real data obtained.Least square method can also be used in curve matching.
In addition, it is necessary to understand, in the description of the embodiment of the present application, the vocabulary such as " first ", " second " are only used for area
Divide the purpose of description, and should not be understood as instruction and perhaps imply that relative importance can not be interpreted as instruction or hint sequentially.
With reference to the accompanying drawing, it elaborates to some embodiments of the embodiment of the present application.In the absence of conflict,
Feature in following embodiments and embodiment can be combined with each other.
Referring to Figure 1, Fig. 1 shows electronic devices structure schematic diagram.A kind of electronic equipment provided by the embodiments of the present application
109, comprising: processor 101 and memory 102, memory 102 are stored with the executable machine readable instructions of processor 101, machine
Unmanned plane method for determining speed is executed when device readable instruction is executed by processor 101.
In the specific implementation process, graphics processor can be used to the relevant calculation of unmanned plane method for determining speed
(Graphics Processing Unit, GPU) is accelerated, and therefore, which can also include graphics processor.This
Outside, it is needed when using distributed computing framework using communication interface, which can also include that communication is extended with network
The components such as card, sonet card or multi-serial communication card, details are not described herein.
Referring to Figure 1, a kind of storage medium 103 that the embodiment of the present application provides is stored with meter on the storage medium 103
Calculation machine program executes unmanned plane method for determining speed when the computer program is run by processor 101.
It will be understood by those skilled in the art that the structure of electronic equipment shown in Fig. 1 does not constitute the limit to the equipment
Fixed, equipment provided by the embodiments of the present application may include than illustrating more perhaps less component or different component layouts.
First embodiment
Fig. 2 is referred to, Fig. 2 shows unmanned plane method for determining speed flow diagrams.What the embodiment of the present application provided
A kind of unmanned plane method for determining speed, method include:
Step S110: the shooting interval of the first image of reception and the second image, the first image and the second image is pre-
If the period.
It should be noted that determination method electronic equipment shown in Fig. 1 of the unmanned plane speed executes, it should
Electronic equipment is the component of unmanned plane, which can be the flight controller of unmanned plane.In some embodiments, unmanned plane can
With GP configuring U, the determination method which can execute the unmanned plane speed for flight controller provides assistance, improves unmanned plane
The arithmetic speed of the determination method related operation of speed.Therefore, the specific executing subject of the unmanned plane method for determining speed is not answered
It is interpreted as the limitation to the embodiment of the present application.
Wherein, here the first image and the second image be in the collected two field pictures of camera, this two field pictures it
Between pixel grey scale it is constant.For camera on unmanned plane after shooting obtains image, which may be mounted at unmanned plane
Underface.
Here preset time period can be arranged according to demand, and for example, 100 milliseconds, can be 300 milliseconds, can also be with
It is 500 milliseconds, or 1000 milliseconds.It optionally, can be in conjunction with the flight speed of unmanned plane for more flexible acquisition image
The preset time period is arranged in degree, and when unmanned plane during flying speed is larger, the numerical value of the preset time period can be smaller, conversely,
When unmanned plane during flying speed is smaller, the numerical value of the preset time period can be larger, for example, when the flying speed of unmanned plane is 20,000
M/h, then the numerical value of preset time period can be 100 milliseconds；When unmanned plane flying speed be 5,000 ms/h, then preset
The numerical value of period can be 500 milliseconds.
Step S120: the first image of comparison and the second image are determined to characterize same from the first image and the second image
The area image in region includes square pixel of preset quantity in area image.
Wherein, in the specific implementation process, preset quantity here, which typically refers to window, (usually needs in image procossing
The temporal sliding window wanted draws rectangular selection frame with select tools on the image similar in photoshop) pixel
Number, the i.e. length of window, the occurrence of length of window can be 2, or 3, or 5.For example, ought here pre-
It include 9 (3 squares) a pixels in area image if quantity is 3.
Fig. 3 is referred to, Fig. 3 shows a square movement of the pixel between image that area image includes preset quantity and shows
It is intended to.Square pixel of the preset quantity is in the position of the second image relative in the position of the first image, moving direction
It is consistent.Continue to use the preset quantity be 3 example, 9 pixel moving directions having the same which includes,
In other words, this 9 pixels moving direction all having the same in same frame image, for example, t moment is located at (x, y)
Pixel, if the position of t+dt is (x+dt, y+dt), dt represents preset time interval.
It in the specific implementation process, can be according to the first image and the second image come zoning image, area image
Calculation method can be completed by flight controller using OpenMV module, wherein OpenMV module here is one and opens
Source, low cost, the software module of powerful machine vision processing, it is real to execute corresponding software program by flight controller
It is existing.Machine vision algorithm in OpenMV module includes finding color lump, Face datection, eye tracking, edge detection, mark tracking
Deng, can be used to realize illegal invasion detection, the defect ware screening of product, track fixed marker etc..Flight controller is
The hardware component of unmanned plane, and OpenMV module is the software module run on flight controller, hardware component and software mould
Block is used in combination so that the calculating of this method is more convenient, and calculating speed is also faster.
In the embodiment of the present application, the same reality in the first image and the second image can be determined by grey scale pixel value
The area image in region, for example, the grey scale pixel value of the adjacent same practical specific region of two images of a video is fixed
Constant, specifically, adjacent two images here can refer to that the first image and the second image, the first image may include two
The area image gray value that row two arranges is [[1,2], [3,4]], and the second image may include the area of two rows two column of different location
Area image gray value is that [[1,2], [3,4]] therefore can determine same in the first image and the second image according to above-mentioned analysis
The area image of one actual area is the identical area image of gray value.Therefore, the area image of characterization the same area here
Specific method should not be construed as the limitation to the embodiment of the present application.
Step S130: the coordinate value of square pixel of preset quantity is substituted into the first default equation, obtains the first speed
Spend vector sum second speed vector.
First default equation is using pixel in image sequence in the variation in time-domain and the correlation between consecutive frame
Property building equation after, obtained by series of steps, series of steps here includes: Taylor series expansion, equation transformation and quasi-
It closes and solves.
Step S140: according to First Speed vector sum second speed vector, the actual motion speed of unmanned plane is obtained.
In one implementation, First Speed vector is v1, second speed vector is v2, then the practical fortune of unmanned plane
Scanning frequency degree isSpecifically, for example, First Speed vector is 3, second speed vector is 4, then the reality of unmanned plane
The border speed of service is
The above method carries out the actual motion speed that series of computation obtains unmanned plane by the first image and the second image,
So that the accuracy for obtaining speed is higher, with the more accurate in-flight speed of control unmanned plane, to effectively improve
The stability that unmanned plane controls flying speed in the prior art very poor problem.
Optionally, Fig. 4 is referred to, Fig. 4 shows the flow diagram before unmanned plane method for determining speed step S130.
In the embodiment of the present application, before step S130, further includes:
Step S101: Taylor series expansion is used to the second default equation, obtains the first equation.
In the embodiment of the present application, which can specifically include following steps:
Taylor series expansion is used to the second default equation I (x, y, t)=I (x+dx, y+dy, t+dt), obtains first party
Journey
Wherein, x refers to the abscissa of pixel in the picture, and y refers to the ordinate of pixel in the picture, when t refers to
Between, dx indicates the distance that pixel moves in abscissa, and dy indicates the distance that pixel moves in ordinate, and dt is default
Period, dI are the linear distance that pixel moves within a preset period of time, and g is the micro constant of high-order.Using this method to
Two default equations use Taylor series expansion, played an important role in the approximate calculation of distance, so that speed
It obtains more accurate.
Step S102: default transformation is carried out to the first equation, obtains second equation.
Optionally, in the embodiment of the present application, which can specifically include following steps:
Constant according to the pixel grey scale between the first image and the second image, two adjacent frame pixels have relatively continuous movement,
And displacement ratio is relatively small, to the first equationInto
The default transformation of row, i.e.,It is transformed toWherein, x refers to that pixel exists
Abscissa in image, y refer to that the ordinate of pixel in the picture, t refer to the time, and dx indicates that pixel moves in abscissa
Dynamic distance, dy indicate the distance that pixel moves in ordinate, and dt is preset time period, and dI is pixel in preset time
The linear distance moved in section；
According toIt obtainsWherein, u, v points
It Wei not velocity vector of the pixel along x-axis and y-axis, I in imagex,IyThe gray scale of pixel is along x in image, the partial derivative in the direction y,
K is variation coefficient, and w is preset quantity；
According toObtain second equationWherein, u, v are respectively picture in image
For vegetarian refreshments along the velocity vector of x-axis and y-axis, i.e. u is First Speed vector, and v is second speed vector, and A is the gray scale edge of pixel
The partial derivative in the direction x, y, b are partial derivative of the pixel in time dimension.
Step S103: solution is fitted to second equation, obtains the first default equation.
Optionally, in the embodiment of the present application, which can specifically include following steps:
By second equationTransformation obtains the first default equation
Wherein, u, v are respectively that for pixel along the velocity vector of x-axis and y-axis, i.e. u is First Speed vector in image, and v is
Second speed vector, Ix,IyThe gray scale of pixel is along x in image, and the partial derivative in the direction y, i is variation coefficient.
Fig. 5 is referred to, Fig. 5 shows the flow diagram after unmanned plane method for determining speed step S140.Optionally,
In the embodiment of the present application, the actual motion speed for according to First Speed vector sum second speed vector, obtaining unmanned plane it
Afterwards, i.e., after step s 140, further includes:
Step S150: the ground image obtained to camera shooting carries out the first default operation, obtains position deviation.
Wherein, position deviation here is the straight of the projected position point in the target level point and ground image in ground image
Linear distance, the projected position point are unmanned plane upright projection in ground location point.
Fig. 6 is referred to, Fig. 6 shows the flow diagram of unmanned plane method for determining speed step S150.Optionally, at this
Apply in embodiment, which can specifically comprise the following steps:
Step S151: in ground image find with the identical coordinate of default feature in target level point, as landing
Point coordinate.
Wherein, default feature here can be the concrete shape in target level point, such as the shape in target level point is H
Shape is also possible to Z-shaped shape.Certainly, default feature is also possible to the special color in target level point, such as eye-catching red mark
It is denoted as target level point.Certainly, the concrete shape that default feature is also possible to target level point adds color, for example, eye-catching
Red H shape label is used as target level point.Therefore, default feature here should not be construed as the limit to the embodiment of the present application
System.
Step S152: according to the position coordinates where the symmetrical centre of level point coordinate and ground image point, calculating position
Deviation.
Wherein, the camera of unmanned plane may be mounted at the underface of unmanned plane, can use OpenMV module to calculate
Position deviation, specific calculation, for example, being made when unmanned plane finds ground target with the symmetrical centre point of ground image
For reference point.Therefore, the opposite position deviation in ground image with unmanned plane of ground target, is exactly that level point coordinate is compared
The relative position of the position coordinates where symmetrical centre point in ground image.Therefore, the specific calculating of position deviation here
Mode should not be construed as the limitation to the embodiment of the present application.
Step S160: according to position deviation and actual motion speed, control unmanned plane during flying to target level point just on
It sets in orientation.
Wherein, when having flown over the position directly above in target level point, the location error and letter to GPS itself can be carried out
The compensation of number drift, specific mode is for example, OpenMV is using the position of target as feedback data, and position model controller is according to the
Deviation between t controlled volume sampled result and setting value calculates the control variable exported after the t times sampling:Wherein, the control variable that u (t) is exported after being sampled by the t times, e (t) are
The difference of pre-set value and actual measured value, KpIt is proportionality coefficient；TiIt is integration period；TdIt is the differential period.
When desired locations and bigger current location deviation, the desired speed of output is bigger, the expectation appearance that unmanned plane needs
State angle is also bigger, and aircraft can be more timely locked in above target, floats to realize to the location error and signal of GPS itself
The compensation of shifting.Flight control modules combination laser sensor feedback altitude information enable atmospheric monitoring unmanned plane accurately
Designated place is dropped to, to reduce the requirement to aircraft landing airspace.
Step S170: it according to the altitude information of the unmanned plane of acquisition and ground, controls unmanned plane and lands from position directly above
To target level point.
Wherein, during control unmanned plane drops to target level point from position directly above, and control unmanned plane flies
During row arrives the position directly above in target level point, not only the speed of unmanned plane is controlled, it also will be to unmanned plane
Posture controlled.When atmospheric monitoring unmanned plane reaches specified region, i.e., when the GPS coordinate of unmanned plane is in target area
Interior, unmanned plane will receive the landing order of host computer transmission.In order to improve the precision of landing, if unmanned plane only receives host computer
Primary feedback, this is not to be able to satisfy the landing of unmanned plane to require, especially the unmanned plane in the work of atmospheric monitoring field
Landing requires.When unmanned aerial vehicle (UAV) control unit receives the host computer feedback of preset times, unmanned plane will be in target area at this time
The preset height hovering preset time in domain.Here preset times can be 3 times, or 5 times, preset height here can
Think 3 meters, or 5 meters, preset time here can be 10 seconds, can also be also possible to 20 seconds with 15 seconds.Therefore, this
In preset height and hovering preset time, should not be construed as the limitation to the embodiment of the present application.
It should be noted that using this method by calculating the target level point in ground image and the projection of ground image
The linear distance of location point obtains altitude information as position deviation to control flight and landing, increases unmanned plane and is dropping
Drop down onto the validity and stability during target level point.
Second embodiment
Fig. 7 is referred to, Fig. 7 shows unmanned plane velocity determination apparatus structural schematic diagram.The embodiment of the present application provides one
Kind unmanned plane velocity determination apparatus 100, unmanned plane velocity determination apparatus 100 include:
Image receiver module 110 is shot, for receiving the first image and the second image, the bat of the first image and the second image
Taking the photograph time interval is preset time period.
Area image determining module 120, for comparing the first image and the second image, from the first image and the second image
The area image for determining characterization the same area, includes square pixel of preset quantity in area image, and pixel is the
The position of two images is identical relative to the moving direction in the position of the first image.
Velocity vector obtains module 130, presets for the coordinate value of square pixel of preset quantity to be substituted into first
Equation obtains First Speed vector sum second speed vector.
The speed of service obtains module 140, for obtaining the reality of unmanned plane according to First Speed vector sum second speed vector
The border speed of service.
Fig. 8 is referred to, Fig. 8 shows the entire infrastructure schematic diagram of unmanned plane velocity determination apparatus.Optionally, in the application
In embodiment, device further include:
First equation obtains module 150, for using Taylor series expansion to the second default equation, obtains the first equation.
Second equation obtains module 160, for carrying out default transformation to the first equation, obtains second equation.
Default equation obtains module 170, for being fitted solution to second equation, obtains the first default equation.
Fig. 8 is referred to, optionally, in the embodiment of the present application, device further include:
Position deviation obtains module 180, and the ground image for obtaining to camera shooting carries out the first default operation, obtains
Position deviation is obtained, position deviation is the linear distance of the projected position point in the target level point and ground image in ground image,
Wherein, projected position point is unmanned plane upright projection in ground location point.
Target flight control module 190, for controlling unmanned plane during flying to mesh according to position deviation and actual motion speed
Mark the position directly above in level point.
Target is landed control module 200, for according to the unmanned plane of acquisition and the altitude information on ground, control unmanned plane from
Position directly above drops to target level point.
A kind of unmanned plane method for determining speed and device provided by the embodiments of the present application, by receiving the first figure taken
Picture and the second image, and determine from the first image and the second image the area image of characterization the same area, in the area image
Square pixel including the identical preset quantity of moving direction, substitutes into the first default equation for the coordinate value of these pixels
First Speed vector sum second speed vector is calculated, reality is finally calculated by First Speed vector sum second speed vector again
The border speed of service.The actual motion speed that unmanned plane is obtained by calculating from two images taken, to effectively improve
The stability that unmanned plane controls flying speed in the prior art very poor problem.
The above is only the preferred embodiments of the embodiment of the present application, are not intended to limit this application embodiment, for this
For the technical staff in field, the embodiment of the present application can have various modifications and variations.It is all the embodiment of the present application spirit and
Within principle, any modification, equivalent replacement, improvement and so on be should be included within the protection scope of the embodiment of the present application.
Claims (10)
1. a kind of unmanned plane method for determining speed, which is characterized in that the described method includes:
Receive the first image and the second image, the shooting interval of the first image and second image is preset time
Section；
The first image and the second image are compared, determines to characterize same area from the first image and second image
The area image in domain includes square pixel of preset quantity in the area image, and the pixel is in second figure
The position of picture is identical relative to the moving direction of the position in the first image；
The coordinate value of square pixel of the preset quantity is substituted into the first default equation, obtains First Speed vector sum the
Two velocity vectors；
According to second speed vector described in the First Speed vector sum, the actual motion speed of the unmanned plane is obtained.
2. unmanned plane method for determining speed as described in claim 1, which is characterized in that described by the flat of the preset quantity
The coordinate value of side's pixel substitutes into the first default equation, before obtaining First Speed vector sum second speed vector, further includes:
Taylor series expansion is used to the second default equation, obtains the first equation；
Default transformation is carried out to first equation, obtains second equation；
Solution is fitted to the second equation, obtains the first default equation.
3. unmanned plane method for determining speed as claimed in claim 2, which is characterized in that described to use Thailand to the second default equation
Series expansion is strangled, the first equation is obtained, comprising:
Taylor series expansion is used to the second default equation I (x, y, t)=I (x+dx, y+dy, t+dt), obtains the first equation
Wherein, x refers to that the abscissa of pixel in the picture, y refer to that the ordinate of pixel in the picture, t refer to time, dx
Indicate the distance that pixel moves in abscissa, dy indicates the distance that pixel moves in ordinate, and dt is described default
Period, dI are the linear distance that pixel moves in the preset time period, and g is the micro constant of high-order.
4. unmanned plane method for determining speed as claimed in claim 2, which is characterized in that described to be carried out in advance to first equation
If transformation obtains second equation, comprising:
It is constant according to the pixel grey scale between the first image and second image, to first equationDefault transformation is carried out, i.e.,It is transformed toWherein, x refers to the abscissa of pixel in the picture,
Y refers to that the ordinate of pixel in the picture, t refer to the time, and dx indicates the distance that pixel moves in abscissa, and dy is indicated
The distance that pixel moves in ordinate, dt are the preset time period, and dI is that pixel moves in the preset time period
Dynamic linear distance；
According toIt obtainsWherein, u, v are respectively to scheme
Velocity vector of the pixel along x-axis and y-axis as in, Ix,IyThe gray scale of pixel is along x in image, and the partial derivative in the direction y, k is to become
Coefficient of discharge, w are the preset quantity；
According toObtain second equationWherein, u, v are respectively pixel edge in image
The velocity vector of x-axis and y-axis, i.e. u are the First Speed vector, and v is the second speed vector, and A is the pixel
Gray scale is partial derivative of the pixel in time dimension along x, the partial derivative in the direction y, b.
5. unmanned plane method for determining speed as claimed in claim 2, which is characterized in that described to intend the second equation
It closes and solves, obtain the first default equation, comprising:
By second equationTransformation obtains the first default equation
Wherein, u, v are respectively that for pixel along the velocity vector of x-axis and y-axis, i.e. u is the First Speed vector in image, and v is
The second speed vector, Ix,IyThe gray scale of pixel is along x in image, and the partial derivative in the direction y, i is variation coefficient.
6. unmanned plane method for determining speed as described in claim 1, which is characterized in that sweared described according to the First Speed
It measures with the second speed vector, after the actual motion speed for obtaining the unmanned plane, further includes:
The ground image obtained to camera shooting carries out the first default operation, obtains position deviation, the position deviation is institute
State the linear distance in the target level point in ground image and the projected position point of the ground image, wherein the projection position
Set a little is the unmanned plane upright projection in ground location point；
According to the position deviation and the actual motion speed, the unmanned plane during flying is controlled to the target level point just
Top position；
According to the unmanned plane of acquisition and the altitude information on ground, controls the unmanned plane and dropped to from the position directly above
The target level point.
7. unmanned plane method for determining speed as claimed in claim 6, which is characterized in that the ground obtained to camera shooting
Face image carries out the first default operation, obtains position deviation, comprising:
In the ground image find with the identical coordinate of default feature in the target level point, as level point seat
Mark；
According to the position coordinates where the level point coordinate and the symmetrical centre point of the ground image, it is inclined to calculate the position
Difference.
8. a kind of unmanned plane velocity determination apparatus, which is characterized in that described device includes:
Image receiver module is shot, for receiving the first image and the second image, the first image and second image
Shooting interval is preset time period；
Area image determining module, for comparing the first image and the second image, from the first image and described second
The area image of characterization the same area is determined in image, includes square pixel of preset quantity in the area image,
The pixel is identical relative to the moving direction of the position in the first image in the position of second image；
Velocity vector obtains module, for the coordinate value of square pixel of the preset quantity to be substituted into the first default side
Journey obtains First Speed vector sum second speed vector；
The speed of service obtain module, be used for the second speed vector according to the First Speed vector sum, obtain it is described nobody
The actual motion speed of machine.
9. unmanned plane velocity determination apparatus as claimed in claim 8, which is characterized in that described device further include:
First equation obtains module, for using Taylor series expansion to the second default equation, obtains the first equation；
Second equation obtains module, for carrying out default transformation to first equation, obtains second equation；
Default equation obtains module, for being fitted solution to the second equation, obtains the first default equation.
10. unmanned plane velocity determination apparatus as claimed in claim 8, which is characterized in that described device further include:
Position deviation obtains module, and the ground image for obtaining to camera shooting carries out the first default operation, obtains position
Deviation, the position deviation are the straight line of the projected position point in the target level point and the ground image in the ground image
Distance, wherein the projected position point is the unmanned plane upright projection in ground location point；
Target flight control module, for controlling the unmanned plane and flying according to the position deviation and the actual motion speed
Row arrives the position directly above in the target level point；
Target landing control module, for controlling the unmanned plane according to the unmanned plane of acquisition and the altitude information on ground
The target level point is dropped to from the position directly above.
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