CN109857128A - Unmanned plane vision pinpoint landing method, system, equipment and storage medium - Google Patents
Unmanned plane vision pinpoint landing method, system, equipment and storage medium Download PDFInfo
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Abstract
The present invention provides a kind of unmanned plane vision pinpoint landing method, comprising the following steps: S1, the lower view camera for crossing unmanned plane acquire ground image I0, a picture point u is selected on it0=(ux, uy) it is used as level point；S2, according to unmanned plane position and posture, using unmanned plane departure time position as origin, calculate position P=[x of the level point under world coordinate systemw,yw,zw]T；S3, with position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, is flown towards target point；S4, current frame image and ground image I by unmanned plane in flight course0It matches, and estimates position u of the level point in current image framet；S5, according to position ut, level point is recalculated in the position of world coordinate system and updates target point, step S2-S5 is repeated during unmanned plane during flying, until unmanned plane flies to target point overhead and lands.The precision of unmanned plane Autonomous landing is improved by means of the present invention.
Description
Technical field
The present invention relates to unmanned plane during flying technical field, especially a kind of unmanned plane vision pinpoint landing method.
Background technique
Multi-rotor unmanned aerial vehicle pinpoint landing refers to unmanned plane during flying at high-altitude, acquires surface map by being equipped with lower view camera
Picture, by manually selecting a drop target point in ground image, unmanned plane flies automatically to target point overhead and accurately drops
Fall on the level point of setting.
Unmanned plane pinpoint landing can be applied to rescue, automatic material flow docking, and unmanned plane in emergency circumstances is compeled
Drop etc..
Existing unmanned plane pinpoint landing scheme is to estimate level point by the posture and current distance away the ground of unmanned plane
Position, and in this, as target point control unmanned plane during flying to target point overhead and land.
Existing method has following limitation:
1, level point position is estimated according to UAV Attitude and distance away the ground, this estimation method precision is poor, error master
The error of the error and distance away the ground of wanting the UAV Attitude in source to estimate.
2, after estimating level point, image information is not used, is equivalent to and sees a target point at the beginning of most
Afterwards estimate out position after, behind no longer see target point, and only use inertial navigation carry out position adjustment.
Summary of the invention
It is situated between to solve the above problems, the present invention provides a kind of unmanned plane vision pinpoint landing method, system, equipment and storage
Matter improves the computational accuracy of single-frame images estimation level point position, and by being tracked in descent on sequential frame image
The precision of landing is improved in the position in level point.
Unmanned plane vision pinpoint landing method of the invention, comprising the following steps: S1, the lower view camera acquisition for crossing unmanned plane
Ground image I0, a picture point u is selected on it0=(ux, uy) it is used as level point；S2, according to unmanned plane position and posture,
Using unmanned plane departure time position as origin, position P=[x of the level point under world coordinate system is calculatedw,yw,zw]T；S3, with
Position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, is flown towards target point；S4, by unmanned plane in flight course
In current frame image and ground image I0It matches, and estimates position u of the level point in current image framet；S5, according to position
Set ut, level point is recalculated in the position of world coordinate system and updates target point, and step is repeated during unmanned plane during flying
S2-S5, until unmanned plane flies to target point overhead and lands.
Preferably, according to unmanned plane position and posture, using unmanned plane departure time position as origin, it is alive to calculate level point
Position P=[x under boundary's coordinate systemw,yw,zw]TCalculation method are as follows:
Wherein, the world coordinate system is using unmanned plane departure time position as origin, and x-axis is directed toward the north, and y-axis is directed toward east
Side, z-axis are directed toward earth center；[nx,ny,nz] it is intermediate variable N, indicate image center to target point ray in world coordinate system
Under unit direction vector；H is the unmanned plane currently height relative to ground；tc=[xc,yc,zc]TIt is sat for unmanned plane in the world
Position under mark system.
Preferably, intermediate variable N=[nx,ny,nz] calculation method are as follows:
Wherein, RcIt is 3 × 3 spin matrixs for posture of the unmanned plane under world coordinate system；fx,fyFor the coke of camera
Away from cx,cyFor optical center.
Preferably, calculation method of the unmanned plane currently relative to the height h on ground rises the following steps are included: obtaining unmanned plane
Fly the barometer height h at moment0；Obtain the barometer height h during unmanned plane during flyingt, and pass through sensor measurement unmanned plane
Distance away the ground htof；When sensor is effective, unmanned plane distance away the ground h=htof, and according to h at this timetUpdate h0=ht-htof；
When sensor failure, unmanned plane distance away the ground h=ht-h0。
Preferably, the sensor for measuring unmanned plane distance away the ground is lower view one point sensing device or ultrasonic sensor.
Preferably, with position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, the control flown towards target point
Method processed are as follows:
According to target position P=[xw,yw,zw]TWith current location tb=[xb, yb, zb]TError e is calculated,
Control amount is calculated according to error e,
V=f (e),
Wherein, v is the control speed of unmanned plane, and f is error map function.
Preferably, error map function f uses ratio control algolithm:
F (e)=k × e,
Wherein, k is proportionality coefficient.
Preferably, the current frame image by unmanned plane in flight course is matched with ground image I0, and estimates landing
Position u of the point in current image frametIt include: in ground image I0On with u0Centered on choose a region image block, scheming
As extracting characteristic point in block；The characteristic point for extracting current frame image, matches with the characteristic point extracted in described image block.
Preferably, position u of the estimation level point in current image frametMethod are as follows: according to the t-1 frame that is matched to and
The characteristic point pair of current t frameHomography matrix H is calculated, so that
According to the level point position u of t-1 framet-1Extrapolate the position u in t frame level pointt=Hut-1。
The present invention also provides a kind of unmanned plane vision pinpoint landing systems, comprising: target selection unit is configured in nothing
The ground image I of man-machine lower view camera acquisition0Upper selection level point u0=(ux, uy)；Position calculation unit is configured to root
According to unmanned plane position and posture, using unmanned plane departure time position as origin, position P of the level point under world coordinate system is calculated
=[xw,yw,zw]T；Position adjustment unit is configured to position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted
It sets, flies towards target point；Image matching unit is configured to current frame image and surface map by unmanned plane in flight course
As I0It matches, and estimates position u of the level point in current image framet；Location updating unit is configured to according to position ut,
Level point is recalculated in the position of world coordinate system and updates target point, until unmanned plane lands.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, and the program is processed
The step of device realizes method as described above when executing.
Position of the unmanned plane vision pinpoint landing method provided by the invention by calculating level point under world coordinate system,
It adjusts unmanned plane to fly towards target point, and recalculates the position in level point on sequential frame image constantly more in flight course
Fresh target point, until unmanned plane flies to target point overhead and lands.Which raises the precision of landing place estimation, make unmanned plane
Autonomous landing is more accurate and intelligent.
Detailed description of the invention
Below with reference to the accompanying drawings the preferred embodiment of the present invention described, attached drawing in order to illustrate the preferred embodiment of the present invention without
It is to limit the purpose of the present invention.In attached drawing,
Fig. 1 is the overall procedure block diagram of the unmanned plane vision pinpoint landing method of the embodiment of the present invention；
Fig. 2 is the level point location estimation schematic diagram of the embodiment of the present invention.
Specific embodiment
A specific embodiment of the invention is used to illustrate the present invention, but is not limited to the specific embodiment.
Fig. 1 is the overall procedure block diagram of the unmanned plane vision pinpoint landing method of the embodiment of the present invention.
As shown in Figure 1, the unmanned plane vision pinpoint landing method of the embodiment of the present invention, includes the following steps:
Step S1 acquires ground image I by the lower view camera of unmanned plane0, a picture point u is selected on it0=(ux,
uy) it is used as level point.
Unmanned plane during flying acquires ground image I in high-altitude, by lower view camera0, an image is selected in ground image
Point u0=(ux, uy) it is used as drop target point.Image coordinate system be defined as the upper left corner be it is former, be to the right x-axis, be downwards y-axis 2D
Coordinate system, uxCoordinate position for picture point in x-axis, uyFor picture point y-axis coordinate position.
Step S2, using unmanned plane departure time position as origin, it is alive to calculate level point according to unmanned plane position and posture
Position P=[x under boundary's coordinate systemw,yw,zw]T。
Fig. 2 is the level point location estimation schematic diagram of the embodiment of the present invention.
Calculate position P=[x of the level point under world coordinate systemw,yw,zw]TCalculation method are as follows:
Wherein, world coordinate system is using unmanned plane departure time position as origin, and x-axis is directed toward the north, and y-axis is directed toward east, z
Axis is directed toward earth center；[nx,ny,nz] it is intermediate variable N, indicate image center to target point ray under world coordinate system
Unit direction vector；H is the unmanned plane currently height relative to ground；tc=[xc,yc,zc]TIt is unmanned plane in world coordinate system
Under position.
Intermediate variable N=[nx,ny,nz] calculation method are as follows:
Wherein, RcIt is 3 × 3 spin matrixs for posture of the unmanned plane under world coordinate system；fx,fyFor under unmanned plane
Depending on the focal length of camera, cx,cyFor optical center.
Unmanned plane currently relative to ground height h calculation method, i.e. Height Estimation algorithm, comprising the following steps:
Obtain the barometer height h of unmanned plane departure time0.Barometer height h0It can be by being mounted on unmanned plane
Air pressure flowmeter sensor obtains.
Obtain the barometer height h during unmanned plane during flyingt, and pass through sensor measurement unmanned plane distance away the ground htof。
The sensor of measurement unmanned plane distance away the ground can use lower view one point sensing device or ultrasonic sensor.Due to sensor measurement model
It is with limit, ground level is excessively high or too low in unmanned plane, and sensor is likely to fail.
When sensor is effective, unmanned plane distance away the ground h=htof, and according to barometer height h at this timetUpdate h0,
More new formula is h0=ht-htof。
When sensor failure, subtract each other to obtain unmanned plane distance away the ground position by barometer height
H=ht-h0。
As shown in Fig. 2, the current distance away the ground h of unmanned plane is calculated by Height Estimation algorithm, and according to unmanned plane
Position and Attitude Calculation obtain position P of the level point under world coordinate system, to obtain the target point of unmanned plane during flying.
Step S3, with position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, is flown towards target point.
The control method flown towards target point are as follows:
According to target position P=[xw,yw,zw]TWith current location tb=[xb, yb, zb]TError e is calculated,
Control amount is calculated according to error e,
V=f (e),
Wherein, v is the control speed of unmanned plane, and f is error map function.
Control errors algorithm includes proportional, integral control algolithm, proportional integral differential control algorithm, is missed in the present embodiment
Poor mapping function f uses ratio control algolithm:
F (e)=k × e,
Wherein, k is proportionality coefficient.
Unmanned plane is controlled towards the target point P flight being calculated in step 2, according to error e meter by ratio control algolithm
Control amount is calculated, to improve the precision that unmanned plane flies towards target point.
Step S4, by current frame image of the unmanned plane in flight course and ground image I0It matches, and estimates landing
Position u of the point in current image framet。
By current frame image of the unmanned plane in flight course and ground image I0It matches, comprising: in ground image I0On
With u0Centered on choose a region image block, characteristic point is extracted in image block；The characteristic point for extracting current frame image, with
The characteristic point extracted in described image block matches.
The image block of selection can be rectangle or circle etc., visual signature be extracted in image block, extraction algorithm includes
But it is not limited to SIFT, SURF, FAST, ORB scheduling algorithm.
In the present embodiment, using ORB feature extraction and character description method, the runing time that ORB feature describes algorithm is remote
Better than SIFT and SURF, it can be used for the detection of real-time feature.ORB feature is based on the characteristic point detection of FAST angle point and description skill
Art has scale and rotational invariance, while also having invariance to noise and perspective affine.
The detection of ORB feature is broadly divided into feature extraction and feature describes following two step:
Firstly, direction FAST characteristic point detects；
FAST Corner Detection is a kind of Fast Corner feature detection algorithm based on machine learning, and it is special to have directive FAST
Sign point detection be to point of interest 16 pixels circumferentially judge, if the Current central pixel point after judging is dark
Or it is bright, angle point will be determined whether it is.FAST Corner Detection is accelerating algorithm realization, is usually first arranged the point set returned on week
Sequence sorts so that its calculating process is optimized significantly.
Secondly, BRIEF feature describes；
The key point information that feature is extracted from image is generally only it image location information (it is possible that including
Scale and directional information), the matching of characteristic point can not be carried out well just with these information, so just needing more detailed
Information comes feature differentiation, and here it is Feature Descriptors.In addition, the variation band at visual angle can be eliminated by Feature Descriptor
Come the scale of image and the variation in direction, can preferably be matched between image.
If BRIEF description mainly forms small interest region by randomly selecting doing for point of interest peripheral region,
By the binarization of gray value in these small interest regions and it is parsed into binary system sequence, the feature that will go here and there is sub as the description of this feature point,
BRIEF description chooses the region near key point and to its intensity size of each bit comparison, then according to two in image block
Binary point come judge current key point coding be 0 or 1.Because all codings of BRIEF description are all binary numbers,
Which offers a saving computer memory spaces.
According to the above ORB method in ground image I0On with u0Centered on choose a region image block in extract feature
Point.
The characteristic point for extracting current frame image, matches with the characteristic point extracted in described image block.In unmanned plane during flying
In the process, by Image Feature Matching algorithm, the ground image I that will be acquired in current frame image and step 10It matches.Image
Feature Correspondence Algorithm includes but is not limited to optical flow tracking, SIFT feature matching etc..After the completion of matching, estimation image level point is being worked as
Position on preceding picture frame.Evaluation method includes but is not limited to DLT (direct linear change) algorithm.
Estimate position u of the level point in current image frametMethod are as follows:
According to the characteristic point pair of the t-1 frame and current t frame that are matched toHomography matrix H is calculated, is made
?
To according to the level point position u of t-1 framet-1Extrapolate the position u in t frame level pointt=Hut-1。
Step S5, according to position ut, level point is recalculated in the position of world coordinate system and updates target point；At nobody
Step S2-S5 is constantly repeated in machine flight course, until unmanned plane flies to target point overhead and lands.
According to position u calculated in step S4t, according to the calculation method in step S2, recalculate the position in level point
It sets and updates target point.Step S2 to step S5 is constantly repeated during unmanned plane during flying, until unmanned plane flies to target point
Simultaneously land in overhead.
The present invention also provides a kind of unmanned plane vision pinpoint landing systems, comprising: target selection unit is configured in nothing
The ground image I of man-machine lower view camera acquisition0Upper selection level point u0=(ux, uy)；Position calculation unit is configured to root
According to unmanned plane position and posture, using unmanned plane departure time position as origin, position P of the level point under world coordinate system is calculated
=[xw,yw,zw]T；Position adjustment unit is configured to position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted
It sets, flies towards target point；Image matching unit is configured to current frame image and surface map by unmanned plane in flight course
As I0It matches, and estimates position u of the level point in current image framet；Location updating unit is configured to according to position ut,
Level point is recalculated in the position of world coordinate system and updates target point, until unmanned plane lands.
The present invention also provides a kind of computer readable storage mediums, are stored thereon with computer program, and the program is processed
The step of device realizes method as described above when executing.
Above method, system, equipment and storage medium according to the present invention, during unmanned plane during flying, according to nobody
Position of the target point under world coordinate system is constantly updated in the current location of machine, to constantly adjust flying towards target point for unmanned plane
Row reaches target point overhead and lands, to improve the precision of unmanned plane landing.
Above embodiments are the preferred embodiment of the present invention, all of the invention not to limit the purpose of the present invention
The modification and replacement carried out within spirit and principle, within protection of the invention.
Claims (10)
1. a kind of unmanned plane vision pinpoint landing method, which comprises the following steps:
S1, ground image I is acquired by the lower view camera of unmanned plane0, a picture point u is selected on it0=(ux, uy) as drop
Drop point；
S2, according to unmanned plane position and posture, using unmanned plane departure time position as origin, calculate level point in world coordinate system
Under position P=[xw,yw,zw]T；
S3, with position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, is flown towards target point；
S4, current frame image and ground image I by unmanned plane in flight course0It matches, and estimates that level point is schemed currently
As the position u on framet；
S5, according to position ut, level point is recalculated in the position of world coordinate system and updates target point, in unmanned plane during flying mistake
Step S2-S5 is repeated in journey, until unmanned plane flies to target point overhead and lands.
2. unmanned plane vision pinpoint landing method according to claim 1, which is characterized in that
It is described according to unmanned plane position and posture, using unmanned plane departure time position as origin, calculate level point in world coordinates
Position P=[x under systemw,yw,zw]TCalculation method are as follows:
Wherein,
The world coordinate system is using unmanned plane departure time position as origin, and x-axis is directed toward the north, and y-axis is directed toward east, and z-axis refers to
To earth center；
[nx,ny,nz] be intermediate variable N, indicate image center to unit direction of the target point ray under world coordinate system to
Amount；
H is the unmanned plane currently height relative to ground；
tc=[xc,yc,zc]TFor position of the unmanned plane under world coordinate system.
3. unmanned plane vision pinpoint landing method according to claim 2, which is characterized in that
Intermediate variable N=[the nx,ny,nz] calculation method are as follows:
Wherein,
RcIt is 3 × 3 spin matrixs for posture of the unmanned plane under world coordinate system；
fx,fyFor the focal length of camera, cx,cyFor optical center.
4. unmanned plane vision pinpoint landing method according to claim 2, which is characterized in that
The unmanned plane currently relative to ground height h calculation method the following steps are included:
Obtain the barometer height h of unmanned plane departure time0；
Obtain the barometer height h during unmanned plane during flyingt, and pass through sensor measurement unmanned plane distance away the ground htof；
When sensor is effective, unmanned plane distance away the ground h=htof, and according to h at this timetUpdate h0=ht-htof；
When sensor failure, unmanned plane distance away the ground h=ht-h0。
5. unmanned plane vision pinpoint landing method according to claim 4, which is characterized in that
The sensor of the measurement unmanned plane distance away the ground is lower view one point sensing device or ultrasonic sensor.
6. unmanned plane vision pinpoint landing method according to claim 3, which is characterized in that
It is described with position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, the control method flown towards target point are as follows:
According to target position P=[xw,yw,zw]TWith current location tb=[xb, yb, zb]TError e is calculated,
Control amount is calculated according to error e,
V=f (e),
Wherein, v is the control speed of unmanned plane, and f is error map function.
7. unmanned plane vision pinpoint landing method according to claim 1, which is characterized in that
The current frame image by unmanned plane in flight course and ground image I0It matches, and estimates level point current
Position u on picture frametInclude:
In ground image I0On with u0Centered on choose a region image block, characteristic point is extracted in image block；
The characteristic point for extracting current frame image, matches with the characteristic point extracted in described image block.
8. unmanned plane vision pinpoint landing method according to claim 7, which is characterized in that
Position u of the estimation level point in current image frametMethod are as follows:
According to the characteristic point pair of the t-1 frame and current t frame that are matched toHomography matrix H is calculated, so that
According to the level point position u of t-1 framet-1Extrapolate the position u in t frame level pointt=Hut-1。
9. a kind of unmanned plane vision pinpoint landing system, which is characterized in that including
Target selection unit is configured to the ground image I acquired in the lower view camera of unmanned plane0Upper selection level point u0=
(ux, uy)；
Position calculation unit is configured to according to unmanned plane position and posture, using unmanned plane departure time position as origin, is calculated
Position P=[x of the level point under world coordinate systemw,yw,zw]T；
Position adjustment unit is configured to position P=[xw,yw,zw]TFor target point, the position of unmanned plane is adjusted, towards target point
Flight；
Image matching unit is configured to current frame image and ground image I by unmanned plane in flight course0It matches, and
Estimate position u of the level point in current image framet；
Location updating unit is configured to according to position ut, recalculate position and more fresh target of the level point in world coordinate system
Point, until unmanned plane lands.
10. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
It is realized when execution such as the step of any one of claim 1 to 8 the method.
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