CN110030988B - Multi-beacon high-speed synchronous identification method for high-dynamic pose measurement - Google Patents
Multi-beacon high-speed synchronous identification method for high-dynamic pose measurement Download PDFInfo
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- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention relates to a multi-beacon high-speed synchronous identification method for high-dynamic pose measurement, which is characterized in that a plurality of luminous beacons are reasonably arranged in a space installation layout in a measurement system based on three linear array imaging cameras, designing pulse modulation time sequence for the luminous beacons of a plurality of specific wave bands to complete synchronous acquisition of images of the luminous beacons by the three linear array cameras, then, frame difference processing is carried out on two adjacent frames of images, the area range of each luminous beacon is determined, calculating the image coordinate of each luminous beacon by adopting a gray threshold centroid method for each frame of acquired image, then, the nearest distance principle is adopted to perform neighborhood search matching in the area range of the luminous beacon, the serial number of the extinguished beacon corresponding to the luminous beacon with the position matching can not be found, the position information is recorded, the position of each luminous beacon in the image collected when the luminous beacons are simultaneously lightened can be identified corresponding to the image frame of the luminous beacons which are fully lightened.
Description
Technical Field
The invention discloses a multi-beacon high-speed synchronous identification method for high-dynamic pose measurement, and relates to the technical field of photoelectric non-contact high-dynamic measurement.
Background
The multi-beacon high-speed synchronous identification for high-dynamic pose measurement is a technical basis for high-dynamic pose measurement of a moving target, the identification algorithm provides the positions of beacons in an image coordinate system, the position information of at least three beacons in the image coordinate system is input into an imaging model, the pose information of a measured platform can be calculated, and the method can be widely applied to the fields of moving platforms such as space rendezvous and docking, automatic air refueling, unmanned aerial vehicle take-off and landing auxiliary navigation, space robot navigation, space manipulator grabbing and the like, and provides high-precision measurement information for subsequent control and guidance. At present, in the pose measurement of a moving target, a plurality of (at least three) beacons need to be arranged on the moving target, and the pose measurement of the moving target is realized through the identification measurement of multiple beacons, wherein the multi-beacon identification mainly has the following four problems:
1. the real-time performance is high, the position and the posture of each beacon change along with time, and high measurement frequency needs to be maintained while the measurement precision is ensured in order to obtain the pose information of each beacon in real time;
2. multi-beacon tracking, namely, in order to obtain attitude information of a measured object, at least three beacon points are required to be placed on a rigid body of the measured object, and the attitude information is calculated through three-dimensional coordinates of the beacon points;
3. synchronous identification among multiple beacon points requires synchronization among multiple identification units on one hand and multiple beacon points to be identified on the other hand, so that spatial offset caused by asynchronous measurement time sequence of the multiple beacon points in the motion process is avoided, and further dynamic measurement errors are increased;
4. strong anti-interference performance, so as to avoid the interference of strong light irradiation mainly by sunlight, even leading to the saturation of the device and the failure of the device.
The technical difficulties in the four aspects limit the use of the existing object space three-dimensional coordinate measuring technology. For example, although the conventional area-array camera can realize multi-beacon synchronous identification measurement, the frame frequency can be up to hundreds of frames at present, but the image data volume is large, the processing algorithm is complex, and along with the increase of the number of beacons, the algorithm operation volume is multiplied, so that the identification speed is reduced, in addition, the imaging of the area-array camera at different moments is seriously interfered by strong light in different areas, the imaging quality is seriously reduced, so that the illumination interference needs to be considered in the identification algorithm, and even the situation that the identification cannot be realized occurs.
Disclosure of Invention
The invention provides a multi-beacon high-speed synchronous identification method for high-dynamic pose measurement aiming at the defects in the prior art, and aims to overcome the defects that an area-array camera identification algorithm is complex, the calculation amount is large, and the imaging quality is seriously reduced due to the fact that the area-array camera is easily interfered by strong light.
The purpose of the invention is realized by the following technical scheme:
the multi-beacon high-speed synchronous identification method for high-dynamic pose measurement is characterized by comprising the following steps of: the method comprises the following steps:
a, arranging luminous beacons 2 on a measured platform 1, wherein the number of the luminous beacons 2 is more than 6 and is an even number, and the luminous beacons 2 are symmetrically arranged on the measured platform 1 in two groups;
b pulse-modulates the luminous signals generated by luminous beacons 2, and the luminous beacons 2 are simultaneously lighted in a modulation period and then in the same time interval TmSequentially turning off only one of the luminous beacons 2 until the 6 luminous beacons 2 are simultaneously turned on again after polling is finished;
c, in the modulation period of the luminous beacon 2, using 3 linear array cameras 4 on the measuring movable platform 3 to collect images of all the luminous beacons 2, wherein the time sequence of the image collection and the time interval T in the modulation period of the luminous beacons 2mAre identical and corresponding;
d, performing frame difference processing on the collected two adjacent frames of images to determine the region range phi epsilon [ u ] of each luminous beacon 2min,umax]Calculating the image coordinate of each luminous beacon 2 by adopting a gray threshold centroid method for each frame of acquired image
Wherein i is 1,2,3 represents the ith line camera, j is 1,2,3,4,. n, n is more than or equal to 6 represents the jth luminous beacon, f is 1,2,3,. n represents the fth frame collected in one period, and then the distance nearest principle is adopted in phi epsilon [ u ∈ [min,umax]Performing neighborhood search within range
The matched position, the serial number of the extinguished beacon corresponding to the luminous beacon with the position matching can not be found, the position information is recorded, the image frame with the luminous beacon 2 fully lightened is corresponding, and the position of each luminous beacon 2 in the acquired image when being lightened simultaneously can be identified。
The method of the invention adopts the GPS time synchronizer as the time reference of the whole algorithm to realize beacon pulse modulation. A wireless AP, a wireless module integrated on a linear array camera 4 synchronous card and a wireless module integrated on a beacon controller are adopted to build a wireless communication network, so that the linear array camera 4, an image processing computer of a luminous beacon and a pulse modulation control circuit of the luminous beacon are wirelessly interconnected, the image processing computer of the luminous beacon sends out a control signal through a wireless TCP/IP network transmission protocol, and 3 linear array cameras 4 are controlled to synchronously acquire images of the luminous beacon and identify the position of the luminous beacon.
The technical scheme of the invention has the following characteristics and technical effects:
1. in the technical scheme of the invention, the one-dimensional linear array camera 4 is used as equipment for acquiring the images of the luminous beacons 2, so that the real-time performance is higher, and the defects that the area array camera has complex recognition algorithm, large calculation amount and is easily interfered by strong light irradiation to cause serious reduction of imaging quality are overcome;
2. according to the technical scheme, the modulation time sequence of the luminous beacons is designed, image acquisition is completed according to the modulation time sequence, coding information is provided for each luminous beacon, and the technical problems that the linear array camera is small in imaging information amount, has no obvious coding information and cannot be identified are solved;
3. according to the technical scheme, a frame difference algorithm is adopted to determine the matching search area range of each luminous beacon 2, the position of each luminous beacon 2 in an image collected when the luminous beacons are simultaneously lightened is identified on a two-dimensional image, the matching between a plurality of beacon points and identification characteristics is realized, the calculation amount is small, on the premise of equal identification precision, even if the number of the synchronously identified luminous beacons is large, the high identification speed can be achieved, the real-time performance of image processing is ensured, and the requirement of high dynamic state of attitude measurement of a movable platform is met;
4. the technical scheme of the invention can carry out high dynamic synchronous identification on the multiple beacons of the mobile platform and has good anti-interference performance. The system is suitable for position and attitude measurement systems of moving targets such as space intersection docking, automatic air refueling, unmanned aerial vehicle take-off and landing auxiliary navigation and the like, changes the camera parameters of the linear array imaging unit and the time sequence period of the beacon controller while keeping the basic principle unchanged, and can realize the remote synchronous high-dynamic identification of dozens of beacons.
Drawings
FIG. 1 is a schematic flow diagram of the process of the present invention;
FIG. 2 is a schematic layout diagram of 6 light-emitting beacons on the measured platform 1 according to the embodiment of the present invention;
fig. 3 is a schematic diagram of the position relationship between the line camera 4 and the luminous beacon 2 in the embodiment of the invention;
FIG. 4 is a schematic diagram of the light emission timing of 6 light-emitting beacons in one modulation period according to an embodiment of the present invention;
FIG. 5 is a timing diagram illustrating image acquisition of the line camera 4 according to an embodiment of the present invention;
FIG. 6 is a software flow diagram of a beacon location identification algorithm of an image processing computer of a light emitting beacon in an embodiment of the present invention;
fig. 7 is a schematic diagram of the time sequence corresponding relationship among the line camera 4, the image processing computer of the light-emitting beacon, and the pulse modulation control circuit of the light-emitting beacon in the embodiment of the present invention;
fig. 8 is a schematic flow chart of the overall software algorithm in the image processing computer of the luminous beacon in the embodiment of the invention.
Detailed Description
The technical scheme of the invention is further detailed in the following by combining the embodiment of the attached drawings:
referring to fig. 1, the multi-beacon high-speed synchronous identification method for high dynamic pose measurement according to the embodiment of the present invention includes the following steps:
a, arranging luminous beacons 2 on a measured platform 1, wherein the number of the luminous beacons 2 is n (n is more than or equal to 6), the luminous beacons 2 are symmetrically arranged on the measured platform 1 in two groups, and the two groups of the luminous beacons 2 are respectively arranged at two waist positions of an isosceles trapezoid, as shown in figure 2.
The luminous beacon 2 selects a high-power near-infrared LED lamp, the working wave band of the lamp is in the photosensitive range of a CMOS of the linear array camera 4, and an optical filter matched with the working wave band of the LED lamp is added in the imaging light path of the linear array camera 4, so that stray light interference outside the working wave band of the LED lamp is eliminated. In order to ensure the extraction accuracy of the light-emitting beacons 2, the spatial installation layout of the beacons requires that every two beacons have a certain spatial distance as far as possible, and the schematic diagram of the position relationship between the line camera 4 and the light-emitting beacons 2 is shown in fig. 3.
In the practical application process of the movable platform, 3 one-dimensional linear array measuring cameras are arranged on the measuring movable platform 5, three-linear array arrangement requires that linear array sensors on two sides are horizontally arranged, a linear array sensor in the middle is vertically arranged, a lens and the linear array sensor are vertically arranged on the movable platform 5, in the application example, the size of an image element of the one-dimensional camera is 7.04um, the number of effective image elements is 8k, and a CameraLink interface is adopted as an interface. In the whole algorithm working process, three frequency values are involved, namely the working frequency f of the linear array cameraCBeacon light frequency fSPose measurement frequency fMWherein the pose measuring frequency fM＝fCAnd n is the number of beacons used in pose measurement. The luminous frequency of the beacon is related to the parameters such as pose measurement frequency, camera exposure time, the motion rate of the measured object and the like. If the pose measurement data refresh rate is greater than 50Hz and the number of beacons is 6, the working frequency of the linear array camera is at least greater than 300Hz, if the movement rate of the measured object is considered, the working frequency of the camera is higher, and the beacon position change in an acquisition period is smaller than the system resolution. The maximum sampling frequency can reach 50 kHz.
B pulse-modulates the luminous signals generated by luminous beacons 2, and the luminous beacons 2 are simultaneously lighted in a modulation period and then in the same time interval TmSequentially turning off only one of the luminous beacons 2 until the 6 luminous beacons 2 are simultaneously turned on again after polling is finished;
in the technical scheme, a GPS time synchronizer is adopted to output a synchronous pulse signal to a beacon controller through a wireless network, and the controller starts to perform different time sequence pulse modulation on 1-n beacons after the time period required by the work triggering of the camera is continued under the control of the synchronous pulse, as shown in fig. 4.
Recording an initial time t of one cycle0At a time, lasting until t1At the time, the pulse modulation control circuit of the light-emitting beacon drives all the n beacons to be lighted. Wherein a sustained period of time t1-t0Is the time required for the camera to work and trigger;
go to t'1At that time, the pulse modulation control circuit of the light-emitting beacon drives all the n beacons to be extinguished. t'1-t1Is the time that the beacon is lit, which should be at least greater than Tlr+Tlf+TlhOf time of (a), wherein Tlr、Tlh、TlfThe specific numerical values are determined according to the selected beacon characteristics, the system working distance and the camera exposure time;
last until t2At the moment, the beacon controller drives the beacon A to keep a turn-off state, and drives other beacons except the beacon A to be simultaneously lightened; t is t2-t1At least greater than Tc+(t′1-t1)+TgSum of time, wherein TcIs the time required for the camera to operate and trigger, TgIs the time, t ', required for the camera to acquire one frame of image'2-t2Is the time the beacon is lit;
go to t'2At that time, the beacon controller drives the lighted beacons to all go out, t'2At the moment t'2-t2＝t′1-t1；
With n beacons, it lasts until tnAt the moment, the beacon controller drives the (n-1) th beacon to keep a blanking state, and drives other beacons except the (n-1) th beacon to light up simultaneously;
last until tn+1At that time, the beacon controller drives the light-emitting beacon to be fully illuminated again, at which point the next modulation cycle is entered.
In this step Tm＝Tn-Tn-1，TmRequires at least more than Tc+(t′n-tn)+TgSum of time, wherein TcIs the camera workingTime required for triggering, TgIs the time, t ', required for the camera to acquire one frame of image'n-tnIs the time interval during which the beacon is illuminated;
the time interval during which the beacon is lit is t'n-tnThe time should be at least longer than Tlr+Tlf+TlhOf time of (a), wherein Tlr、Tlh、TlfThe specific values are determined according to the selected beacon characteristic, the system working distance and the camera exposure time.
C, in the modulation period of the luminous beacon 2, using 3 linear array cameras 4 on the measuring movable platform 3 to collect images of all the luminous beacons 2, wherein the time sequence of the image collection and the time interval T in the modulation period of the luminous beacons 2mIdentical and corresponding as shown in fig. 5.
Go on to (t'1-t1) At the moment of 2, the image processing computer of the luminous beacon controls 3 linear array one-dimensional cameras to synchronously acquire first frame beacon images which are respectively stored in the Memory of the image processing computer of the luminous beacon1、Memory2、Memory3In (1), respectively denoted as M1F1、M2F1、M3F1A frame;
go on to (t'2-t2) At the moment of 2, the image processing computer of the luminous beacon controls 3 linear array one-dimensional cameras to synchronously acquire second frame beacon images which are respectively stored in the Memory1、Memory2、Memory3In (1), respectively denoted as M1F2、M2F2、M3F2A frame;
if there are n beacons, continue to (t'n-tn) At the moment of 2, the image processing computer of the luminous beacon controls 3 linear array one-dimensional cameras to synchronously acquire the nth frame beacon image which is respectively stored in the Memory1、Memory2、Memory3In (1), respectively denoted as M1Fn+1、M2Fn+1、M3Fn+1A frame;
d, performing frame difference processing on the collected two adjacent frames of images to determine the region range phi epsilon [ u ] of each luminous beacon 2min,umax]Calculating the image coordinate of each luminous beacon 2 by adopting a gray threshold centroid method for each frame of acquired image
Wherein i is 1,2,3 represents the ith line camera, j is 1,2,3,4,. n, n is more than or equal to 6 represents the jth luminous beacon, f is 1,2,3,. n represents the fth frame collected in one period, and then the distance nearest principle is adopted in phi epsilon [ u ∈ [min,umax]Performing neighborhood search within range
The matched position, the serial number of the extinguished beacon corresponding to the light-emitting beacon with the position matching cannot be found, the position information is recorded, and the position in the image acquired when each light-emitting beacon 2 is simultaneously lit can be identified corresponding to the image frame with the light-emitting beacon 2 fully lit, as shown in fig. 6.
Before completing the image acquisition of one frame till the next frame, the following steps are carried out:
a. firstly, sub-pixel image processing is carried out on images in 3 memories by adopting a threshold value centroid method, and the position information of each luminous beacon in each frame of image is extracted
Wherein, i is 1,2,3 represents the ith line camera, j is 1,2,3,4,. n, n is more than or equal to 6 represents the jth luminous beacon, f is 1,2,3,. n represents the f-th frame collected in one period;
b. judging whether the number of luminous beacons in a first frame image in a modulation period is n or not and whether the number of beacons in second to nth frame images is n-1 or not, if so, continuing to execute the next step; if not, stopping the program;
c. within one modulation period, aiming at two adjacent frame images M in each memoryiFjAnd MiFj+1Wherein i is 1,2,3 respectively represent the ith linear arrayN-1 represents the j frame image, and the area range phi epsilon [ u ] of each luminous beacon is determined on the j +1 frame by adopting an adjacent frame difference methodmin,umax]；
d, on the j +1 frame, in each search region φ ∈ [ u ]min,umax]In the method, neighborhood searching and matching are carried out on each luminous beacon by adopting a nearest distance principle, position matching correspondence between adjacent frames is found, lost beacons between two frames correspond to the sequence of extinguished luminous beacons, and the position of each luminous beacon 2 in an image collected when the luminous beacons are simultaneously lightened is identified;
e. and c, judging whether n frames are executed, wherein n is the number of the luminous beacons of one embodiment, if so, ending the program entry, and if not, returning to the step a.
Fig. 7 is a schematic diagram of the timing correspondence relationship among the line camera 4, the image processing computer of the light-emitting beacon, and the pulse modulation control circuit of the light-emitting beacon in the embodiment of the present invention.
In the whole algorithm working process, the low-level section of the working trigger signal of the linear array camera 4 which needs to last for a certain time can be determined according to different linear array camera types, after triggering, the linear array camera 4 enters an exposure state, after exposure is completed, data is read into a self-contained memory and is acquired by an image acquisition card, and then the arrival of the next trigger signal is waited; the image acquisition card needs a rising edge to trigger the working state, and the image processing computer of the luminous beacon stores a frame of image acquired by the linear array camera every time the image acquisition card is triggered. In the exposure time of the line-array camera, the pulse modulation control circuit of the luminous beacon drives the luminous beacon to be turned on or off, and the driving signal frequency of the pulse modulation control circuit of the luminous beacon is required to be equal to the camera acquisition frequency and to be kept synchronous.
Fig. 8 is a schematic flow chart of the overall software algorithm in the image processing computer of the luminous beacon in the embodiment of the invention.
After the algorithm software is started, firstly initializing a software interface, then displaying a main menu identification program and an end program, wherein the execution flows are as follows:
a. identification program
Firstly, the camera synchronization card and the beacon controller synchronously receive GPS time service. The pulse modulation control circuit of the illuminated beacon then drives the beacon according to the timing sequence of fig. 4; the image processing computer of the luminous beacons collects and processes the beacon images according to the figure 5, the position of each luminous beacon in the images collected when the luminous beacons are simultaneously lightened is finished according to the algorithm flow of the figure 6, when a program ending instruction is received, the program is turned to be ended, otherwise, the main program is circulated according to the time sequence of the figure 7.
b. End the program
Firstly, driving a beacon controller to enter an ending program; then, sequentially driving the wireless network to enter an ending program; and finally, exiting the main control program.
Claims (1)
1. A multi-beacon high-speed synchronous identification method for high dynamic pose measurement is characterized in that: the method comprises the following steps:
a, arranging luminous beacons (2) on a measured platform (1), wherein the number of the luminous beacons (2) is more than or equal to 6 and is an even number, and the luminous beacons (2) are symmetrically arranged on the measured platform (1) in two groups;
b, the luminous signals generated by the luminous beacons (2) are pulse-modulated, and the luminous beacons (2) are simultaneously lighted in a modulation period and then are in the same time interval TmSequentially turning off only one of the luminous beacons (2) until the 6 luminous beacons (2) are simultaneously turned on again after polling is finished;
c, in the modulation period of the luminous beacon (2), using 3 linear cameras (4) on the measuring movable platform (3) to collect images of all the luminous beacons (2), wherein the time sequence of the image collection and the time interval T in the modulation period of the luminous beacons (2)mAre identical and corresponding;
d, performing frame difference processing on the collected two adjacent frames of images to determine the region range phi epsilon [ u ] of each luminous beacon (2)min,umax]Calculating the image coordinate of each luminous beacon (2) by adopting a gray threshold centroid method for each frame of acquired image
Wherein, i is 1,2,3 represents the ith line camera, j is 1,2,3,4,. n, n is more than or equal to 6 represents the jth luminous beacon, f is 1,2,3,. n represents the f-th frame collected in one period; then adopting the distance nearest principle to determine the distance between phi and umin,umax]Performing neighborhood search within range
And finding the matched position, wherein the luminous beacons with the matched positions correspond to the sequence numbers of the extinguished beacons, recording position information, and corresponding to the full-bright image frames of the luminous beacons (2), namely, identifying the positions of the luminous beacons (2) in the acquired images when being simultaneously lightened.
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