CN109974660A - Method based on unmanned plane hovering video measuring unmanned plane hovering precision - Google Patents
Method based on unmanned plane hovering video measuring unmanned plane hovering precision Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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Abstract
The invention discloses a kind of methods based on unmanned plane hovering video measuring unmanned plane hovering precision, pass through processing unmanned plane hovering all frames of video acquisition video, each frame image chooses the lower-left point of unmanned aerial vehicle body as measurement reference point, and it is for statistical analysis to selected reference point, then unmanned plane own dimensions information and proportionate relationship are utilized, unmanned plane hovering precision is calculated.This method only needs the common camera that can shoot video, and at low cost, be simple and efficient without additional auxiliary tool and professional measuring tool, measurement accuracy is secure, and experiment measurement can be completed in conventional daytime, requires time of measuring weaker.
Description
Technical field
It is more particularly to a kind of to be surveyed based on unmanned plane hovering video the present invention relates to unmanned plane the field of test technology
The method for measuring unmanned plane hovering precision.
Background technique
Current small drone industry development is more and more rapider, unmanned plane can application field also more extensively, many systems
It can be mounted on unmanned plane and realize remote sensing and detection, some of systems such as SAR imaging system, millimeter wave using its maneuverability
Radiometer etc. has higher requirements for unmanned plane hovering precision, therefore unmanned plane hovering precision is analyzed and measured is very heavy
It wants.But the hovering accuracy data of existing brand unmanned plane offer is mostly the measurement data under specific environment, it is different surely complete
Meet the operating accuracy requirement of system under circumstances, needs additional pointedly to the hovering precision progress under various environment
Measurement.In addition, for the unmanned plane for voluntarily assembling exploitation using unmanned plane accessory, when lacking professional measuring tool, it is also desirable to
A kind of method that can be simple and efficient measurement unmanned plane hovering precision.
The measurement method of the precision of unmanned plane hovering at present mainly has additional auxiliary tool to measure and by professional measuring tool
Measure two ways:
1, additional auxiliary tool measurement refers to that UAV flight's auxiliary tool measures hovering precision, such as can be in nothing
One light source of man-machine upper installation, small range when unmanned plane hovers moves so that light source synchronous movement, is formed by photographic light sources
Then light source trace image is analyzed to obtain unmanned plane hovering precision.But there are following two disadvantages for its measurement method: 1. right
Shooting environmental requires, and generally requires selection at night or the weaker place of light is tested, daylight too Qiang Huiying
It rings unmanned plane and carries light source effect.2. higher to camera quality requirement, the camera photographic light sources of general low and middle-end can exist
Glare, light belt and hot spot situation influence subsequent image processing, to influence measurement accuracy.
2, mainly pass through ultrasonic sensor either barometer by professional measuring tool to drone vertical direction
Hovering precision measure, measured by hovering precision of the high-precision GPS module to unmanned plane horizontal direction.But it is surveyed
There are following two disadvantages for amount method: (1) the professional measuring tool such as ultrasonic sensor and high-precision GPS module is needed, than
Costly, for general unmanned plane self-developing personnel, it is difficult to obtain；(2) conventional barometer is limited by measuring principle limit
System, measurement accuracy be not high.
In conclusion needing one kind, cost is relatively low, the method for the higher measurement unmanned plane hovering precision of precision is this field
The problem of technical staff's urgent need to resolve.
Summary of the invention
In view of this, the present invention provides a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision,
Only one section of video need to be shot with common camera, then utilize unmanned plane own dimensions information and proportionate relationship, nothing can be completed
The measurement of man-machine hovering precision, at low cost, precision is high.
To achieve the goals above, the present invention adopts the following technical scheme:
A method of based on unmanned plane hovering video measuring unmanned plane hovering precision, include the following steps:
S1: each frame image of the unmanned plane hovering video shot in advance is obtained；
S2: by each frame image procossing at binary image；Specifically, being pre-processed to each frame image, gray processing
After binaryzation, binary image is obtained.
S3: unmanned aerial vehicle body is chosen based on each frame binary image and measures reference point, and is recorded in each frame binary image
Measure the pixel coordinate of reference point；
S4: the pixel coordinate edge of measurement reference point is calculated based on the pixel coordinate for measuring reference point in each frame binary image
Variance and standard deviation both vertically and horizontally；
S5: the practical vehicle wheel base length of unmanned plane is obtained in advance, and obtains unmanned plane wheelbase two based on each frame binary image
The pixel separation number of endpoint, calculates the physical length of each pixel；
S6: the pixel coordinate of physical length based on each pixel and measurement reference point is vertically and horizontal direction
Variance and standard deviation calculate unmanned plane actual variance and standard deviation both horizontally and vertically.
Preferably, during shooting unmanned plane hovering video, fixing camera shoots one section of unmanned plane hovering video, and
And keep shooting background single in shooting process.
Preferably, step S3 is specifically included:
It chooses unmanned aerial vehicle body lower-left point in each frame binary image and is used as measurement reference point, and record each frame binary picture
Pixel coordinate (the x of reference point is measured as inm ym), m=1,2 ..., M；Wherein, M is video totalframes.
Preferably, step S4 is specifically included:
The average value of the pixel coordinate of unmanned aerial vehicle body lower-left point vertically is calculated based on formula (1)
The average value of the pixel coordinate of unmanned aerial vehicle body lower-left point in the horizontal direction is calculated using formula (2)
The variance of unmanned aerial vehicle body lower-left point pixel coordinate vertically is calculated using formula (3) and (4)And standard
Poor δx；
The variance of unmanned aerial vehicle body lower-left point pixel coordinate in the horizontal direction is calculated using formula (5) and (6)And standard
Poor δy；
Preferably, step S5 is specifically included:
The practical vehicle wheel base length l of unmanned plane is obtained in advance, and unmanned plane wheelbase two ends are obtained according to each frame binary image
The pixel separation number Δ x of point utilizes public affairs due to unmanned plane size in image and actual unmanned plane size proportion relation
Formula (7) finds out the physical length λ of each pixel of machine；
Preferably, step S6 is specifically included:
The vertically actual variance of unmanned plane is found out using formula (8) and (9)And standard deviation
Unmanned plane actual variance in the horizontal direction is found out according to formula (10) and (11)And standard deviation
Obtain unmanned plane hovering precision.
It can be seen via above technical scheme that compared with prior art, the present disclosure provides one kind to be based on unmanned plane
The method for video measuring unmanned plane hovering precision of hovering passes through processing unmanned plane hovering all frames of video acquisition video, each frame
The lower-left point that image chooses unmanned aerial vehicle body is used as measurement reference point, and for statistical analysis to selected reference point, then utilizes
Unmanned plane hovering precision is calculated in unmanned plane own dimensions information and proportionate relationship.This method, which only needs one, can shoot view
The common camera of frequency, at low cost, be simple and efficient without additional auxiliary tool and professional measuring tool, measurement accuracy is secure,
And experiment measurement can be completed in conventional daytime, requires time of measuring weaker.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, 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
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is the process signal of the method provided by the invention based on unmanned plane hovering video measuring unmanned plane hovering precision
Figure；
Fig. 2 is the first frame image of captured unmanned plane hovering video provided by the invention；
Fig. 3 is captured unmanned plane hovering video first frame binary image provided by the invention；
Fig. 4 is the pixel coordinate distribution of unmanned aerial vehicle body lower-left point in 325 frame binary image of whole provided by the invention
Situation.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to attached drawing 1, the embodiment of the invention discloses one kind based on unmanned plane hovering video measuring unmanned plane hovering precision
Method, include the following steps:
S1: each frame image of the unmanned plane hovering video shot in advance is obtained；
S2: by each frame image procossing at binary image；Specifically, being pre-processed to each frame image, gray processing
After binaryzation, the image array of only " 0 " and " 1 " two pixel values is obtained, wherein numerical value " 0 " represents black, i.e. unmanned plane
Part, numerical value " 1 " represent white, the i.e. background parts of image.
S3: unmanned aerial vehicle body is chosen based on each frame binary image and measures reference point, and is recorded in each frame binary image
Measure the pixel coordinate of reference point；
Herein it should be noted that can choose fuselage any point as measurement reference point, but select lower-left point more
Add and facilitates extraction.
Specifically may be used by taking first frame image as an example to choose unmanned aerial vehicle body lower-left point convenient for analysis as measurement reference point
To find the maximum number of lines x that pixel value is " 0 " from binary image matrix1, then from maximum number of lines x1In find pixel value be 0
The smallest columns y1, position mark is (x1 y1), this coordinate is unmanned plane lower-left point pixel coordinate；Likewise, recording it
The pixel coordinate of unmanned aerial vehicle body lower-left point, is denoted as (x in his each frame binary image matrixm ym), m=1,2 ..., M；Its
In, M is video totalframes.
S4: for statistical analysis to each frame image: based on the pixel coordinate for measuring reference point in each frame binary image
Calculate measurement reference point pixel coordinate vertically with the variance of horizontal direction and standard deviation；
S5: the practical vehicle wheel base length of unmanned plane is obtained in advance, and obtains unmanned plane wheelbase two based on each frame binary image
The pixel separation number of endpoint, calculates the physical length of each pixel；
S6: the pixel coordinate of physical length based on each pixel and measurement reference point is vertically and horizontal direction
Variance and standard deviation calculate unmanned plane actual variance and standard deviation both horizontally and vertically.
Technical solution of the present invention is further elaborated With reference to embodiment.
In specific implementation, can use Matlab handle unmanned plane hovering video, obtain all frames, for convenient for point
Analysis chooses unmanned aerial vehicle body lower-left point as measurement reference point, can be obtained unmanned plane for statistical analysis to this reference point
Hovering precision.
The specific steps of specific embodiment provided by the present invention are as follows:
1) fixing camera shoots one section of unmanned plane hovering video in advance, and it is outstanding that effective unmanned plane is filtered out after the completion of shooting
Stop video clip, the video clip that total duration is 13 seconds is had selected in the present embodiment.
2) it reads and has screened the video clip of completion and obtained all frames of video, obtain 325 frame images in this example altogether,
Wherein first frame image is as shown in Figure 2；
3) the 1st frame image is pre-processed, after gray processing and binaryzation, a binaryzation as shown in Figure 3 can be obtained
Image, by black (pixel value is " 0 ", i.e. unmanned plane part in image array) and white, (pixel value is image in image array
" 1 ", i.e. background parts) two parts composition.To choose unmanned aerial vehicle body lower-left point as measurement reference point, specifically convenient for analysis
The maximum number of lines x that pixel value is " 0 " can be found from image array1=164, then find pixel value from maximum number of lines and be
The minimum columns y of " 0 "1=249, position coordinates are labeled as (x1 y1)=(164 249), this coordinate is unmanned plane lower-left point picture
Plain coordinate；
4) to the 2nd, 3 ..., 325 frame images repeat step 3), and record in other each frame binary image matrixes nobody
The pixel coordinate of machine fuselage lower-left point, obtains all pixels coordinate, is denoted as (xm ym), m=1,2 ..., M；
5) (x1 y1)、(x2 y2)…(x325 y325) be plotted in the same coordinate system unmanned plane lower-left point pixel can be obtained
The distribution situation of coordinate is as shown in Figure 4.Unmanned aerial vehicle body lower-left point pixel coordinate vertically flat is found out using formula (1)
Mean value
Similarly the average value of unmanned aerial vehicle body lower-left point pixel coordinate in the horizontal direction is found out using formula (2)
It is utilized respectively formula (3) again, (4) find out the variance of unmanned aerial vehicle body lower-left point pixel coordinate verticallyWith
Standard deviation δx:
Similarly it is utilized respectively formula (5), (6) find out the variance of unmanned aerial vehicle body lower-left point pixel coordinate in the horizontal direction
With standard deviation δy:
By inquiry unmanned plane parameter it is found that unmanned plane wheelbase l=1133mm, two wheelbases in binary picture in video
The position coordinates of endpoint are respectively (187,121) and (313,121), i.e. two endpoint pixel separation number Δ x=of unmanned plane wheelbase
226, due to unmanned plane size in image and actual unmanned plane size proportion relation, asked using formula (7)
The each pixel physical length λ of unmanned plane in image out:
The vertically actual variance of unmanned plane is found out using formula (8), (9)And standard deviation
Similarly unmanned plane actual variance in the horizontal direction is found out using formula (10), (11)And standard deviation
This method chooses unmanned aerial vehicle body by processing unmanned plane hovering all frames of video acquisition video, each frame image
Lower-left point is and for statistical analysis to selected reference point as measurement reference point, then using unmanned plane own dimensions information and
Unmanned plane hovering precision is calculated in proportionate relationship.This method only needs the common camera that can shoot video, without outer
Add auxiliary tool and professional measuring tool, at low cost, be simple and efficient, measurement accuracy is secure, and reality can be completed in conventional daytime
Test amount requires time of measuring weaker.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (6)
1. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision, which comprises the steps of:
S1: each frame image of the unmanned plane hovering video shot in advance is obtained；
S2: by each frame image procossing at binary image；
S3: unmanned aerial vehicle body is chosen based on each frame binary image and measures reference point, and records and is measured in each frame binary image
The pixel coordinate of reference point；
S4: the pixel coordinate of measurement reference point is calculated along vertical based on the pixel coordinate for measuring reference point in each frame binary image
The variance and standard deviation in direction and horizontal direction；
S5: the practical vehicle wheel base length of unmanned plane is obtained in advance, and two endpoints of unmanned plane wheelbase are obtained based on each frame binary image
Pixel separation number, calculate the physical length of each pixel；
S6: the pixel coordinate of physical length based on each pixel and measurement reference point vertically with the side of horizontal direction
Difference and standard deviation calculate the actual variance and standard deviation of unmanned plane both horizontally and vertically.
2. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision according to claim 1, special
Sign is, during shooting unmanned plane hovering video, fixing camera shoots one section of unmanned plane hovering video, and is shooting
Keep shooting background single in the process.
3. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision according to claim 2, special
Sign is that step S3 is specifically included:
It chooses unmanned aerial vehicle body lower-left point in each frame binary image and is used as measurement reference point, and record in each frame binary image
Measure the pixel coordinate (x of reference pointm ym), m=1,2 ..., M；Wherein, M is video totalframes.
4. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision according to claim 3, special
Sign is that step S4 is specifically included:
The average value of the pixel coordinate of unmanned aerial vehicle body lower-left point vertically is calculated based on formula (1)
The average value of the pixel coordinate of unmanned aerial vehicle body lower-left point in the horizontal direction is calculated using formula (2)
The variance of unmanned aerial vehicle body lower-left point pixel coordinate vertically is calculated using formula (3) and (4)With standard deviation δx；
The variance of unmanned aerial vehicle body lower-left point pixel coordinate in the horizontal direction is calculated using formula (5) and (6)With standard deviation δy；
5. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision according to claim 4, special
Sign is that step S5 is specifically included:
The practical vehicle wheel base length l of unmanned plane is obtained in advance, and two endpoints of unmanned plane wheelbase are obtained according to each frame binary image
Pixel separation number Δ x, the physical length λ of each pixel of machine is found out using formula (7)；
6. a kind of method based on unmanned plane hovering video measuring unmanned plane hovering precision according to claim 5, special
Sign is that step S6 is specifically included:
The vertically actual variance of unmanned plane is found out using formula (8) and (9)And standard deviation
Unmanned plane actual variance in the horizontal direction is found out according to formula (10) and (11)And standard deviation
Obtain unmanned plane hovering precision.
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