CN110109188A - A kind of unmanned plane water surface triangulation location rescue method - Google Patents
A kind of unmanned plane water surface triangulation location rescue method Download PDFInfo
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- CN110109188A CN110109188A CN201910289367.2A CN201910289367A CN110109188A CN 110109188 A CN110109188 A CN 110109188A CN 201910289367 A CN201910289367 A CN 201910289367A CN 110109188 A CN110109188 A CN 110109188A
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- G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
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Abstract
A kind of unmanned plane water surface triangulation location rescue method, step are as follows: (1) record camera horizontal field of view angle α, camera vertical field of view angle beta；(2) pitching corner γ, level angle δ are recorded；(3) flying height h, the latitude and longitude coordinates of unmanned plane are recorded；(4) image shot by camera determines ratio and position of the target in entire image；(5) angle theta that TO line is projected with camera lens central axes in the water surface is calculated；(6) angle on the water surface between target and the course of unmanned plane is calculated(7) line segment TO length value d:(8 is calculated) according to the latitude and longitude coordinates of known quantity calculating target；(9) latitude and longitude coordinates of target are sent back to the receiving end of rescue personnel by wireless network module.Remote search and rescue can be achieved in the present invention, and search speed is fast, and search target is wide, and positioning accuracy is high, and the success rate for searching and rescuing the water surface is high.
Description
Technical field
The present invention relates to SAR at Sea field, especially a kind of unmanned plane water surface triangulation location rescue method.
Background technique
Unmanned plane has been widely used in various fields as a kind of infant industry technology, in SAR at Sea field
In, the flight of infrared thermal imaging equipment is carried by unmanned plane, waters face is shot, is reached to the distress personnel in the water surface
The purpose of search and positioning.Have many advantages, such as high efficiency, convenience, economy using unmanned plane search and rescue, simultaneous nobody
Machine technology reaches its maturity, and makes unmanned plane in SAR at Sea field with more widespread.
It is existing to be using the positioning method of unmanned plane, the infrared thermal imaging camera of UAV flight and the shooting of horizontal plane
Angle just penetrates shooting in an angle of 90 degrees, when unmanned plane during flying crosses target area, the display pair of target distress personnel in the picture
The position for the pixel center of gravity answered then carries out the physical location of inverse target in conjunction with parameters such as height, the coordinates of unmanned plane.Using
When such mode is positioned, because the focal length of infrared thermal imaging camera is fixed, angle is fixed, the distance of effective position target compared with
Closely, unmanned plane is needed to fly to right above target, the imaging area that target falls into infrared thermal imaging camera is just able to achieve positioning.For
Discovery target at the first time is needed when water surface search and rescue industry, search and rescue, search target is quickly positioned, saving search time
Utmostly to guarantee the efficiency of rescue, so the limitation of such search and rescue mode is larger, search efficiency is lower.Then, it needs
Camera setting with the discovery of the fastest speed, positioning target, and is calculated into target in the shooting angle less than 90 degree when search and rescue
Location parameter strives for the more time for rescue time, improves rescue efficiency.
Summary of the invention
To solve the above problems, the invention discloses a kind of unmanned plane water surface triangulation location rescue method,
Specific technical solution is as follows: a kind of unmanned plane water surface triangulation location rescue method, step are as follows:
Step 1, by the field angle of camera known to the inherent parameters of camera, camera horizontal field of view angle α and camera is vertical
Field angle β is recorded as known quantity；
Step 2, the parameter that camera head can be measured by the sensor of unmanned plane, by the bat of camera head and horizontal plane
Angle is taken the photograph as pitching corner γ, camera lens central axes and the angle in unmanned plane during flying course as level angle δ, by pitching
Corner γ and level angle δ is recorded as known quantity；
Step 3, the flight parameter that unmanned plane can be measured by the sensor of unmanned plane, by the flying height h of unmanned plane,
Latitude and longitude coordinates are recorded as known quantity；
Step 4, camera shoots to form image when unmanned plane flies over target area, and camera passes through measurement entire image pixel
Quantity and target pixel points quantity, determine ratio and position of the target in entire image；Entire image is learnt in processor calculating
The pixel number of picture broadside AB is x, and the pixel number of entire image picture long side CD is y, the central pixel point of target
For point T, pixel number of the central pixel point T of target apart from entire image long side ST is v, the central pixel point distance of target
The pixel number of entire image broadside TU is w；
Step 5, point unmanned plane to be flown in the sky is as Z, and subpoint of the Z point on the water surface is as O, by subpoint O
With target's center's pixel T line, TO is formed；The angle theta that TO line and camera lens central axes are projected in the water surface, processor root
It is found out according to following formula:
Wherein, camera horizontal field of view angle α, camera vertical field of view angle beta, pitching corner γ, AB pixel number x, CD pixel
Point number y, ST pixel number v, TU pixel number w is known parameter；
Step 6, the angle on the water surface between target and the course of unmanned plane is found outThat is:
Step 7, using the length value of line segment TO as d, length value d can be found out by following formula:
Step 8, the latitude and longitude coordinates for the unmanned plane learnt according to the sensor of unmanned plane, further according to finding out target and nobody
Angle between the course of machineThe horizontal distance d of unmanned plane and target can calculate the latitude and longitude coordinates of target in real time；
Step 9, the latitude and longitude coordinates of target are sent back the receiving end of rescue personnel by the wireless network module of UAV flight.
Further, the camera uses infrared thermal imaging equipment.
Further, the sensor is angular distance sensor.
Further, the wireless module is wifi module.
Further, the wireless module and the processor are realized by electric connection mode connects.
Further, the processor realizes that signal is connect with the camera by cable.
Further, the receiving terminal is one of tablet computer, laptop, mobile phone or a variety of.Of the invention
Beneficial effect is:
It carries infrared thermal imaging equipment the present invention provides a kind of novel unmanned plane distress personnel determine at a distance
The method of position, is positioned to oblique with target by equipment, can quick obtaining by calculating formula by measurement part known quantity
The location parameter of target achievees the effect that position targeting accuracy when unmanned plane is in remote, and search speed is fast, search
Target is wide, and positioning accuracy is high, significantly the time of reduction search positioning distress personnel, reserved more to next search-and-rescue work
Quality time, the success rate searched and rescued using the method significant increase water surface.
Detailed description of the invention
Fig. 1 is the schematic diagram of localization method side view of the present invention.
Fig. 2 is the schematic diagram that localization method of the present invention is faced.
Fig. 3 is the schematic diagram that localization method of the present invention is overlooked.
Fig. 4 is the schematic diagram that target of the present invention positions in entire image.
Specific embodiment
Clear to be more clear technical solution of the present invention, the present invention is described further with reference to the accompanying drawing,
The technical characteristic of any pair of technical solution of the present invention carries out the scheme that equivalencing is obtained with conventional reasoning and each falls within guarantor of the present invention
Protect range.
In conjunction with attached drawing as it can be seen that a kind of unmanned plane water surface triangulation location rescue method, step are as follows:
Step 1, by the field angle of camera known to the inherent parameters of camera, camera horizontal field of view angle α and camera is vertical
Field angle β is recorded as known quantity；In conjunction with attached drawing 1, attached drawing 2 as it can be seen that horizontal field of view angle α=∠ CZD, vertical field of view angle beta
=∠ AZB；
Step 2, the parameter that camera head can be measured by the sensor of unmanned plane, by the bat of camera head and horizontal plane
Angle is taken the photograph as pitching corner γ, camera lens central axes and the angle in unmanned plane during flying course as level angle δ, by pitching
Corner γ and level angle δ is recorded as known quantity；Fly in conjunction with attached drawing 1, the visible unmanned plane course of attached drawing 3 along ray ZP
Row, level angle δ=∠ PZB, pitching corner γ=∠ PEZ；
Step 3, the flight parameter that unmanned plane can be measured by the sensor of unmanned plane, by the flying height h of unmanned plane,
Latitude and longitude coordinates are recorded as known quantity；In conjunction with attached drawing 1 as it can be seen that flying height h=ZO；
Step 4, camera shoots to form image when unmanned plane flies over target area, and camera passes through measurement entire image pixel
Quantity and target pixel points quantity, determine ratio and position of the target in entire image；In conjunction with attached drawing 4 as it can be seen that processor meter
It calculates and learns that the pixel number of entire image picture broadside AB is x, the pixel number of entire image picture long side CD is y, mesh
Target central pixel point is point T, and pixel number of the central pixel point T of target apart from entire image long side ST is v, target
Pixel number of the central pixel point apart from entire image broadside TU is w；
Step 5, point unmanned plane to be flown in the sky is as Z, and subpoint of the Z point on the water surface is as O, by subpoint O
With target's center's pixel T line, TO is formed；The angle theta that TO line and camera lens central axes are projected in the water surface, processor root
It is found out according to following formula:
Wherein, camera horizontal field of view angle α, camera vertical field of view angle beta, pitching corner γ, AB pixel number x, CD pixel
Point number y, ST pixel number v, TU pixel number w is known parameter；
Step 6, the angle on the water surface between target and the course of unmanned plane is found outThat is:
Step 7, using the length value of line segment TO as d, length value d can be found out by following formula:
Step 8, the latitude and longitude coordinates for the unmanned plane learnt according to the sensor of unmanned plane, further according to finding out target and nobody
Angle between the course of machineThe horizontal distance d of unmanned plane and target can calculate the latitude and longitude coordinates of target in real time；
Step 9, the latitude and longitude coordinates of target are sent back the receiving end of rescue personnel by the wireless network module of UAV flight.
Further, the camera uses infrared thermal imaging equipment.
Further, the sensor is angular distance sensor.
Further, the wireless module is wifi module.
Further, the wireless module and the processor are realized by electric connection mode connects.
Further, the processor realizes that signal is connect with the camera by cable.
Further, the receiving terminal is one of tablet computer, laptop, mobile phone or a variety of.Of the invention
Beneficial effect is:
It carries infrared thermal imaging equipment the present invention provides a kind of novel unmanned plane distress personnel determine at a distance
The method of position, is positioned to oblique with target by equipment, can quick obtaining by calculating formula by measurement part known quantity
The location parameter of target achievees the effect that position targeting accuracy when unmanned plane is in remote, and search speed is fast, search
Target is wide, and positioning accuracy is high, significantly the time of reduction search positioning distress personnel, reserved more to next search-and-rescue work
Quality time, the success rate searched and rescued using the method significant increase water surface.
Claims (7)
1. a kind of unmanned plane water surface triangulation location rescue method, which is characterized in that step are as follows:
Step 1, by the field angle of camera known to the inherent parameters of camera, by camera horizontal field of view angle α and camera vertical field of view
Angle beta is recorded as known quantity；
Step 2, the parameter that camera head can be measured by the sensor of unmanned plane, by the shooting angle of camera head and horizontal plane
It spends as pitching corner γ, camera lens central axes and the angle in unmanned plane during flying course as level angle δ, by pitching corner
γ and level angle δ is recorded as known quantity；
Step 3, the flight parameter that unmanned plane can be measured by the sensor of unmanned plane, by flying height h, the longitude and latitude of unmanned plane
Degree coordinate is recorded as known quantity；
Step 4, camera shoots to form image when unmanned plane flies over target area, and camera passes through measurement entire image pixel quantity
With target pixel points quantity, ratio and position of the target in entire image are determined；Entire image picture is learnt in processor calculating
The pixel number of broadside AB is x, and the pixel number of entire image picture long side CD is y, and the central pixel point of target is point
The pixel number of T, the central pixel point T of target apart from entire image long side ST is v, and the central pixel point of target is apart from whole picture
The pixel number of image broadside TU is w；
Step 5, point unmanned plane to be flown in the sky is as Z, and subpoint of the Z point on the water surface is as O, by subpoint O and mesh
Central pixel point T line is marked, TO is formed；The angle theta that TO line and camera lens central axes are projected in the water surface, processor according to
Lower formula is found out:
Wherein, camera horizontal field of view angle α, camera vertical field of view angle beta, pitching corner γ, AB pixel number x, CD pixel
Number y, ST pixel number v, TU pixel number w is known parameter；
Step 6, the angle on the water surface between target and the course of unmanned plane is found outThat is:
Step 7, using the length value of line segment TO as d, length value d can be found out by following formula:
Step 8, the latitude and longitude coordinates for the unmanned plane learnt according to the sensor of unmanned plane, further according to finding out target and unmanned plane
Angle between courseThe horizontal distance d of unmanned plane and target can calculate the latitude and longitude coordinates of target in real time；
Step 9, the latitude and longitude coordinates of target are sent back the receiving end of rescue personnel by the wireless network module of UAV flight.
2. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the camera is adopted
With infrared thermal imaging equipment.
3. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the sensor
For angular distance sensor.
4. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the wireless mould
Block is wifi module.
5. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the wireless mould
Block and the processor are realized by electric connection mode to be connected.
6. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the processor
Realize that signal is connect with the camera by cable.
7. a kind of unmanned plane water surface triangulation location rescue method according to claim 1, which is characterized in that the receiving terminal
For one of tablet computer, laptop, mobile phone or a variety of.
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| CN201910289367.2A CN110109188A (en) | 2019-04-11 | 2019-04-11 | A kind of unmanned plane water surface triangulation location rescue method |
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Cited By (2)
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| CN113933871A (en) * | 2021-10-15 | 2022-01-14 | 贵州师范学院 | Flood disaster detection system based on unmanned aerial vehicle and Beidou positioning |
| CN117237438A (en) * | 2023-09-18 | 2023-12-15 | 共享数据(福建)科技有限公司 | Range matching method and terminal for three-dimensional model and unmanned aerial vehicle video data |
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