CN110716579A - Target tracking method and unmanned aerial vehicle - Google Patents
Target tracking method and unmanned aerial vehicle Download PDFInfo
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- CN110716579A CN110716579A CN201911144128.4A CN201911144128A CN110716579A CN 110716579 A CN110716579 A CN 110716579A CN 201911144128 A CN201911144128 A CN 201911144128A CN 110716579 A CN110716579 A CN 110716579A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The embodiment of the invention relates to a target tracking method and an unmanned aerial vehicle, and the target tracking method applied to the unmanned aerial vehicle comprises the following steps: the method comprises the steps of firstly obtaining instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder, then obtaining target longitude and latitude information according to the instantaneous navigation data and the instantaneous target attitude angle, and further tracking a target according to the target longitude and latitude information, so that the target can be simply and effectively tracked on the basis of a target tracking technology independent of vision.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the technical field of unmanned aerial vehicles, in particular to a target tracking method and an unmanned aerial vehicle.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are also becoming increasingly popular. The unmanned aerial vehicle can be controlled in many ways, for example, through a remote controller, a mobile phone, a computer and other mobile terminals.
An important application scenario of the unmanned aerial vehicle is the tracking of an airborne holder on a target, most of currently used methods are target tracking technologies based on computer vision, and particularly, a target tracking method utilizing deep learning in the last two years achieves a satisfactory effect, so that the target tracking technology achieves breakthrough progress. However, the visual target tracking technology faces some of the following challenges: the target tracking method based on the visual sense is a very complex task determined by all the challenging factors such as shielding, deformation, background speckle, scale deformation, illumination, low resolution, motion blur, rapid motion, beyond visual field, rotation and the like, and when the challenging factors are met, the target cannot be tracked timely and effectively.
[ summary of the invention ]
In order to solve the technical problem, the embodiment of the invention provides a simple and effective target tracking method independent of vision and an unmanned aerial vehicle.
In order to solve the above technical problems, embodiments of the present invention provide the following technical solutions: a target tracking method is applied to an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a holder, and the method comprises the following steps: acquiring instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder;
obtaining target longitude and latitude information according to the instantaneous navigation data and the instantaneous target attitude angle;
and tracking the target according to the latitude and longitude information of the target.
Optionally, the instantaneous target attitude angle comprises an instantaneous heading angle and an instantaneous pitch angle; the instantaneous navigation data comprises instantaneous longitude and latitude information and instantaneous relative height;
the obtaining of the target longitude and latitude information according to the instant navigation data and the instant target attitude angle comprises the following steps:
and obtaining the target longitude and latitude information according to the instantaneous course angle, the instantaneous pitch angle, the instantaneous longitude and latitude information and the instantaneous relative height.
Optionally, the instantaneous latitude and longitude information comprises an instantaneous latitude and an instantaneous longitude;
the target longitude and latitude information comprises a target longitude and a target latitude;
calculating the target longitude and the target latitude by the following formula:
tanψ′＝Δx/Δy＝Rweft yarn(xtarget-x′plane)/(RGround(ytarget-y′plane))
Wherein ψ ' is the instantaneous heading angle, θ ' is the instantaneous pitch angle, x 'planeIs the instantaneous longitude, y'planeIs the instantaneous latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnThe section radius of the earth at the latitude of the unmanned aerial vehicle, and H' is the instantaneous relative altitude.
Optionally, the tracking the target according to the latitude and longitude information of the target includes:
acquiring real-time navigation data of the unmanned aerial vehicle;
obtaining a real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information;
and tracking the target according to the real-time attitude angle.
Optionally, the real-time navigation data includes real-time longitude and latitude information and real-time relative altitude;
the obtaining of the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information comprises the following steps:
and obtaining the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height.
Optionally, the real-time attitude angle comprises a real-time heading angle and a real-time pitch angle;
the real-time longitude and latitude information comprises real-time longitude and real-time latitude;
obtaining the real-time attitude angle by the following equation:
tanψ＝Δx/Δy＝Rweft yarn(xtarget-xplane)/(RGround(ytarget-yplane))
Where ψ is the real-time heading angle, θ is the real-time pitch angle, xplaneIs said real-time longitude, yplaneAs the real-time latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnAnd H is the real-time relative altitude.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an object tracking apparatus. The target tracking apparatus includes: the instantaneous data acquisition module is used for acquiring instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder;
the target longitude and latitude information acquisition module is used for acquiring target longitude and latitude information according to the instant navigation data and the instant target attitude angle;
and the target tracking module is used for tracking the target according to the latitude and longitude information of the target.
Optionally, the target tracking module includes a real-time navigation data obtaining unit, a real-time attitude angle calculating unit, and a target tracking unit;
the real-time navigation data acquisition unit is used for acquiring real-time navigation data of the unmanned aerial vehicle;
the real-time attitude angle calculation unit is used for obtaining the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information;
and the target tracking unit is used for tracking a target according to the real-time attitude angle.
Optionally, the real-time navigation data includes real-time longitude and latitude information and real-time relative altitude;
the real-time attitude angle calculation unit is specifically used for obtaining the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height.
In order to solve the above technical problems, embodiments of the present invention further provide the following technical solutions: an unmanned aerial vehicle. The unmanned aerial vehicle includes:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform a target tracking method as described above.
Compared with the prior art, the target tracking method provided by the embodiment of the invention can firstly acquire the instantaneous navigation data of the unmanned aerial vehicle and the instantaneous target attitude angle of the holder, then obtain the latitude and longitude information of the target according to the instantaneous navigation data and the instantaneous target attitude angle, further track the target according to the latitude and longitude information of the target, and finally realize the simple and effective tracking of the target on the basis of the target tracking technology independent of vision.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
FIG. 1 is a schematic diagram of an application environment of an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a target tracking method according to an embodiment of the present invention;
FIG. 3 is a schematic flow chart of S30 in FIG. 2;
FIG. 4 is a block diagram of a target tracking device according to an embodiment of the present invention;
fig. 5 is a block diagram of an unmanned aerial vehicle according to an embodiment of the present invention.
[ detailed description ] embodiments
In order to facilitate an understanding of the invention, the invention is described in more detail below with reference to the accompanying drawings and specific examples. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
The embodiment of the invention provides a target tracking method and an unmanned aerial vehicle, wherein the target tracking method applied to the unmanned aerial vehicle comprises the steps of firstly obtaining instant navigation data of the unmanned aerial vehicle and an instant target attitude angle of a holder, then obtaining target longitude and latitude information according to the instant navigation data and the instant target attitude angle, further tracking a target according to the target longitude and latitude information, and finally realizing simple and effective tracking of the target on the basis of a target tracking technology independent of vision.
The following illustrates an application environment of the object tracking method.
FIG. 1 is a schematic illustration of an environment in which an embodiment of the present invention provides an aircraft-less control method; as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 10, an infrared wireless network 20, a remote control device 30, a user 40, and a target 50. The user 40 may control the UAV 10 via the infrared wireless network using the remote control device 30, and the UAV 10 may track the target 50.
Unmanned aerial vehicle 10 may be any type of powered unmanned aerial vehicle including, but not limited to, a rotor unmanned aerial vehicle, a fixed wing unmanned aerial vehicle, an umbrella wing unmanned aerial vehicle, a flapping wing unmanned aerial vehicle, a helicopter model, and the like.
The unmanned aerial vehicle 10 can have corresponding volume or power according to the needs of actual conditions, so that the loading capacity, the flight speed, the flight endurance mileage and the like which can meet the use needs are provided. One or more functional modules can be added to the unmanned aerial vehicle 10, so that the unmanned aerial vehicle 10 can realize corresponding functions.
For example, in the present embodiment, the unmanned aerial vehicle 10 is provided with a battery module, a positioning device, an infrared emitting device, a cradle head, and an aerial camera, and the aerial camera is mounted on the unmanned aerial vehicle 10 through the cradle head to perform operations such as photographing and recording.
The pan/tilt head is used to fix the aerial camera, or to adjust the attitude of the aerial camera at will (for example, to change the shooting direction of the aerial camera), and to stably maintain the aerial camera at a set attitude. The cradle head 20 comprises a base, a motor and a motor controller, wherein the base is fixedly connected or detachably connected with the unmanned aerial vehicle and is used for carrying the aerial camera on the unmanned aerial vehicle; the motor is installed in the base to be connected with the camera of taking photo by plane, motor controller and motor electricity are connected for control motor. The cloud platform can be for multiaxis cloud platform, and it is adapted to, and the motor is a plurality of, also every axle is provided with a motor.
The motors can drive the aerial camera to rotate on one hand, so that the aerial camera can be adjusted in different shooting directions, and the motors can be manually and remotely controlled to rotate or automatically rotate by utilizing a program, so that the function of omnibearing scanning monitoring is achieved; on the other hand, in the process of aerial photography of the unmanned aerial vehicle, the disturbance of the aerial camera is counteracted in real time through the rotation of the motor, the aerial camera is prevented from shaking, and the stability of a shot picture is guaranteed.
The aerial camera comprises a camera shell and a camera connected with the camera shell, wherein a holder connecting piece is arranged on the camera shell and used for being connected with a holder, a depth camera is further installed on the camera shell, and the depth camera and a main camera are installed on the same surface of the camera shell. The depth camera can be transversely, longitudinally or obliquely arranged on the installation surface, and when the tripod head motor rotates, the depth camera and the video camera synchronously move and always face to the same direction.
After the battery module is connected to the unmanned aerial vehicle 10, the battery module can provide a power supply for the unmanned aerial vehicle 10.
The positioning device may be a GPS positioning system for acquiring real-time geographic location information of the unmanned aerial vehicle.
The infrared transmitting device is configured to send infrared access information and receive an infrared control instruction sent by a remote control device, for example, when the remote control device sends an infrared control instruction, the infrared transmitting device receives the infrared control instruction, so that the unmanned aerial vehicle 10 controls a starting state of the unmanned aerial vehicle 10 according to the infrared control instruction. After the battery module is connected to the unmanned aerial vehicle 10, the infrared transmitting device may transmit the infrared access information obtained according to the access information of the battery module to the remote control device 30.
The unmanned aerial vehicle 10 includes at least one flight control module as a control core for flight and data transmission of the unmanned aerial vehicle 10, and has the capability of monitoring, computing and manipulating flight and tasks of the unmanned aerial vehicle. The remote control device 30 may be any type of smart device, such as a mobile phone, a tablet computer, a laptop computer, or other mobile control terminal, for establishing a communication connection with the unmanned aerial vehicle 10.
The remote control device 30 is equipped with an infrared receiving device for receiving infrared access information and sending infrared control instructions for controlling the unmanned aerial vehicle. For example, the remote control device 30 may be configured to receive infrared access information generated by the UAV 10 when the battery module is normally accessed to the UAV. The remote control device 30 may also send an infrared control command generated according to the control command of the user 40 to the unmanned aerial vehicle 10 to control the starting state of the unmanned aerial vehicle 10. The remote control device 30 may also be equipped with a picture transmission module for controlling the positioning of the picture, the shooting of the picture by the pan/tilt and the return of the aiming picture. In this embodiment, the map transmission module may further modulate the binary digital signal into an infrared signal in the form of a corresponding optical pulse or demodulate the infrared signal in the form of an optical pulse into a binary digital signal.
The remote control device 30 may also be equipped with one or more different user 40 interaction devices for collecting user 40 instructions or presenting and feeding back information to the user 40.
These interaction means include, but are not limited to: button, display screen, touch-sensitive screen, speaker and remote control action pole. For example, the remote control device 30 may be equipped with a touch display screen through which a remote control instruction of the unmanned aerial vehicle 10 by the user 40 is received.
In some embodiments, the unmanned aerial vehicle 10 and the remote control device 30 can further provide more intelligent services by fusing the existing image vision processing technology. For example, the unmanned aerial vehicle 10 may capture images by means of a dual-optical camera, and the images are analyzed by the remote control device 30, so as to realize gesture control of the user 40 on the unmanned aerial vehicle 10.
Fig. 2 is an embodiment of a target tracking method according to an embodiment of the present invention. The method may be performed by the unmanned aerial vehicle of fig. 1. Specifically, referring to fig. 2, the method may include, but is not limited to, the following steps:
and S10, acquiring the instantaneous navigation data of the unmanned aerial vehicle and the instantaneous target attitude angle of the holder.
Wherein the instantaneous target attitude angle comprises an instantaneous heading angle and an instantaneous pitch angle; the instantaneous navigation data comprises instantaneous longitude and latitude information and instantaneous relative height. The instantaneous relative height refers to the vertical distance between the tripod head of the unmanned aerial vehicle and the target at the current moment.
Specifically, to track a target, a pan-tilt mounted on an in-flight unmanned aerial vehicle needs to know an instantaneous pitch angle and an instantaneous heading angle of the target relative to the pan-tilt in real time. And automatically adjusting the angle of the holder to place the clicked target in the center of the picture by clicking the target in the picture of the camera of the ground station, and obtaining the instantaneous pitch angle and the instantaneous course angle through geometric calculation of the image and the focal length of the camera.
And S20, obtaining the longitude and latitude information of the target according to the instant navigation data and the instant target attitude angle.
Specifically, the target longitude and latitude information is obtained according to the obtained instantaneous heading angle, the instantaneous pitch angle, the instantaneous longitude and latitude information and the instantaneous relative height.
And S30, tracking the target according to the latitude and longitude information of the target.
Specifically, the real-time navigation data of the unmanned aerial vehicle is firstly acquired, then the real-time attitude angle of the holder is acquired according to the real-time navigation data and the longitude and latitude information of the target, and the target is tracked according to the real-time attitude angle.
The real-time navigation data comprises real-time longitude and latitude information and real-time relative height. The real-time relative height refers to the vertical distance between the tripod head of the unmanned aerial vehicle and the target at the current moment.
Further, the obtaining a real-time attitude angle of the cradle head according to the real-time navigation data and the target longitude and latitude information includes: obtaining the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height; and tracking the target according to the real-time attitude angle.
The embodiment of the invention provides a target tracking method, which comprises the steps of firstly obtaining instantaneous navigation data of an unmanned aerial vehicle and an instantaneous target attitude angle of a holder, then obtaining target longitude and latitude information according to the instantaneous navigation data and the instantaneous target attitude angle, further tracking a target according to the target longitude and latitude information, and finally realizing simple and effective tracking of the target on the basis of a target tracking technology independent of vision.
To better derive target latitude and longitude information based on the instant navigation data and the instant target attitude angle, in some embodiments, S20 includes the following steps:
and obtaining the target longitude and latitude information according to the instantaneous course angle, the instantaneous pitch angle, the instantaneous longitude and latitude information and the instantaneous relative height.
Wherein the instantaneous latitude and longitude information comprises an instantaneous longitude and an instantaneous latitude; the target longitude and latitude information comprises a target longitude and a target latitude.
Specifically, the target longitude and the target latitude are calculated by the following equations:
tanψ′＝Δx/Δy＝Rweft yarn(xtarget-x′plane)/(RGround(ytarget-y′plane))
Where ψ 'is the instantaneous heading angle and θ' isInstantaneous pitch angle, x'planeIs the instantaneous longitude, y'planeIs the instantaneous latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnThe section radius of the earth at the latitude of the unmanned aerial vehicle, and H' is the instantaneous relative altitude.
In order to better track the target according to the latitude and longitude information of the target, in some embodiments, referring to fig. 3, S30 includes the following steps:
s31: and acquiring real-time navigation data of the unmanned aerial vehicle.
Specifically, the real-time navigation data is generated by combining the existing satellite navigation device of the unmanned aerial vehicle and the existing inertial navigation equipment on the aircraft.
S32: and obtaining the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information.
The real-time navigation data comprises real-time longitude and latitude information and real-time relative height.
Specifically, the real-time attitude angle is obtained according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height.
The real-time attitude angle comprises a real-time course angle and a real-time pitching angle, and the real-time longitude and latitude information comprises a real-time longitude and a real-time latitude;
further, the real-time attitude angle is obtained by the following equation:
tanψ＝Δx/Δy＝Rweft yarn(xtarget-xplane)/(RGround(ytarget-yplane))
Where ψ is the real-time heading angle, θ is the real-time pitch angle, xplaneIs said real-time longitude, yplaneAs the real-time latitude, xtargetTo the order ofStandard longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnAnd H is the real-time relative altitude.
S33: and tracking the target according to the real-time attitude angle.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiment of the present application, the embodiment of the present application provides a target tracking device 60, which is applied to an unmanned aerial vehicle. Referring to fig. 4, the target tracking device 60 includes: an instantaneous data acquisition module 61, a target latitude and longitude information acquisition module 62 and a target tracking module 63.
The instantaneous data acquisition module 61 is used for acquiring instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder.
The target longitude and latitude information obtaining module 62 is configured to obtain target longitude and latitude information according to the instant navigation data and the instant target attitude angle.
The target tracking module 63 is configured to track a target according to the latitude and longitude information of the target.
Therefore, in this embodiment, the target longitude and latitude information is obtained by first obtaining the instantaneous navigation data of the unmanned aerial vehicle and the instantaneous target attitude angle of the holder according to the instantaneous navigation data and the instantaneous target attitude angle, and then the target is tracked according to the target longitude and latitude information, so that the target can be simply and effectively tracked on the basis of a target tracking technology independent of vision.
In some embodiments, the target latitude and longitude information acquiring module 62 is specifically configured to obtain the target latitude and longitude information according to the instantaneous heading angle, the instantaneous pitch angle, the instantaneous latitude and longitude information, and the instantaneous relative altitude. The instantaneous target attitude angle comprises an instantaneous course angle and an instantaneous pitch angle; the instantaneous navigation data comprises instantaneous longitude and latitude information and instantaneous relative height;
the target latitude and longitude information acquisition module 62 is further specifically configured to obtain the instantaneous latitude and longitude information; the target longitude and latitude information comprises a target longitude and a target latitude;
calculating the target longitude and the target latitude by the following formula:
tanψ′＝Δx/Δy＝Rweft yarn(xtarget-x′plane)/(RGround(ytarget-y′plane))
Wherein ψ ' is the instantaneous heading angle, θ ' is the instantaneous pitch angle, x 'planeIs the instantaneous longitude, y'planeIs the instantaneous latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnThe section radius of the earth at the latitude of the unmanned aerial vehicle, and H' is the instantaneous relative altitude.
In some embodiments, the target tracking module includes a real-time navigation data acquisition unit, a real-time attitude angle calculation unit, and a target tracking unit;
the real-time navigation data acquisition unit is used for acquiring real-time navigation data of the unmanned aerial vehicle;
and the real-time attitude angle calculation unit is used for obtaining the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information.
And the target tracking unit is used for tracking a target according to the real-time attitude angle.
In some embodiments, the real-time navigation data obtaining unit is specifically configured to obtain the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information, and the real-time relative height. The real-time navigation data comprises real-time longitude and latitude information and real-time relative height.
The real-time navigation data acquisition unit is further specifically configured to obtain the real-time attitude angle according to the following equation:
tanψ＝Δx/Δy＝Rweft yarn(xtarget-xplane)/(RGround(ytarget-yplane))
Where ψ is the real-time heading angle, θ is the real-time pitch angle, xplaneIs said real-time longitude, yplaneAs the real-time latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnAnd H is the real-time relative altitude. The real-time attitude angle comprises a real-time course angle and a real-time pitching angle; the real-time longitude and latitude information comprises real-time longitude and real-time latitude.
Fig. 5 is a schematic structural diagram of an unmanned aerial vehicle 10 according to an embodiment of the present application, where the unmanned aerial vehicle 10 may be any type of unmanned vehicle, and is capable of executing the target tracking method according to the corresponding method embodiment described above, or operating the target tracking device 60 according to the corresponding device embodiment described above. The unmanned aerial vehicle includes: fuselage, horn, power device, infrared emitter, flight control module 110, memory 120 and communication module 130.
The machine arm is connected with the machine body; the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle; the infrared transmitting device is arranged in the machine body and used for transmitting infrared access information and receiving an infrared control instruction transmitted by the remote control device;
the flight control module has the capability of monitoring, operating and manipulating the flight and tasks of the unmanned aerial vehicle, and comprises a set of equipment for controlling the launching and recovery of the unmanned aerial vehicle. The flight control module can also modulate the binary digital signals into corresponding infrared signals in the form of optical pulses or demodulate the infrared signals in the form of optical pulses into binary digital signals.
The flight control module 110, the memory 120, and the communication module 130 establish a communication connection therebetween in a bus manner.
The flight control module 110 may be any type of flight control module 110 having one or more processing cores. The system can execute single-thread or multi-thread operation and is used for analyzing instructions to execute operations of acquiring data, executing logic operation functions, issuing operation processing results and the like.
The memory 120, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the target tracking method in the embodiment of the present invention (for example, the transient data acquisition module 61, the target latitude and longitude information acquisition module 62, and the target tracking module 63 shown in fig. 4). The flight control module 110 executes various functional applications and data processing of the target tracking device 60 by running non-transitory software programs, instructions and modules stored in the memory 120, so as to implement the target tracking method in any one of the above method embodiments.
The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the target tracking device 60, and the like. Further, the memory 120 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 120 optionally includes memory located remotely from flight control module 110, which may be connected to UAV 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 120 stores instructions executable by the at least one flight control module 110; the at least one flight control module 110 is configured to execute the instructions to implement the target tracking method in any of the above-described method embodiments, for example, to execute the above-described method steps 10, 20, 30, and so on, to implement the functions of the blocks 61-63 in fig. 4.
The communication module 130 is a functional module for establishing a communication connection and providing a physical channel. The communication module 130 may be any type of wireless or wired communication module 130 including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-executable instructions, which are executed by one or more flight control modules 110, for example, by one of the flight control modules 110 in fig. 5, and can cause the one or more flight control modules 110 to execute the target tracking method in any of the above-mentioned method embodiments, for example, execute the above-mentioned method steps 10, 20, 30, and so on, to implement the functions of the modules 61 to 63 in fig. 4.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the target tracking method provided by the embodiment of the invention, and has corresponding functional modules and beneficial effects for executing the target tracking method. For details of the target tracking method provided in the embodiment of the present invention, reference may be made to the technical details not described in detail in the embodiment.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A target tracking method is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle is provided with a holder, and is characterized by comprising the following steps:
acquiring instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder;
obtaining target longitude and latitude information according to the instantaneous navigation data and the instantaneous target attitude angle;
and tracking the target according to the latitude and longitude information of the target.
2. The method of claim 1, wherein the instantaneous target attitude angle comprises an instantaneous heading angle and an instantaneous pitch angle; the instantaneous navigation data comprises instantaneous longitude and latitude information and instantaneous relative height;
the obtaining of the target longitude and latitude information according to the instant navigation data and the instant target attitude angle comprises the following steps:
and obtaining the target longitude and latitude information according to the instantaneous course angle, the instantaneous pitch angle, the instantaneous longitude and latitude information and the instantaneous relative height.
3. The method of claim 2,
the instantaneous longitude and latitude information comprises instantaneous longitude and instantaneous latitude;
the target longitude and latitude information comprises a target longitude and a target latitude;
calculating the target longitude and the target latitude by the following formula:
tanψ′＝Δx/Δy＝Rweft yarn(xtarget-x′plane)/(RGround(ytarget-y′plane))
Wherein ψ ' is the instantaneous heading angle, θ ' is the instantaneous pitch angle, x 'planeIs the instantaneous longitude, y'planeIs the instantaneous latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnThe section radius of the earth at the latitude of the unmanned aerial vehicle, and H' is the instantaneous relative altitude.
4. The method of claim 3, wherein tracking the target according to the target longitude and latitude information comprises:
acquiring real-time navigation data of the unmanned aerial vehicle;
obtaining a real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information;
and tracking the target according to the real-time attitude angle.
5. The method of claim 4,
the real-time navigation data comprises real-time longitude and latitude information and real-time relative height;
the obtaining of the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information comprises the following steps:
and obtaining the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height.
6. The method of claim 5,
the real-time attitude angle comprises a real-time course angle and a real-time pitching angle;
the real-time longitude and latitude information comprises real-time longitude and real-time latitude;
obtaining the real-time attitude angle by the following equation:
tanψ＝Δx/Δy＝Rweft yarn(xtarget-xplane)/(RGround(ytarget-yplane))
Where ψ is the real-time heading angle, θ is the real-time pitch angle, xplaneIs said real-time longitude, yplaneAs the real-time latitude, xtargetIs the target longitude, ytargetFor the target latitude, RGroundIs the radius of the earth, RWeft yarnAnd H is the real-time relative altitude.
7. An object tracking device, comprising:
the instantaneous data acquisition module is used for acquiring instantaneous navigation data of the unmanned aerial vehicle and an instantaneous target attitude angle of the holder;
the target longitude and latitude information acquisition module is used for acquiring target longitude and latitude information according to the instant navigation data and the instant target attitude angle;
and the target tracking module is used for tracking the target according to the latitude and longitude information of the target.
8. The device of claim 7, wherein the target tracking module comprises a real-time navigation data acquisition unit, a real-time attitude angle calculation unit and a target tracking unit;
the real-time navigation data acquisition unit is used for acquiring real-time navigation data of the unmanned aerial vehicle;
the real-time attitude angle calculation unit is used for obtaining the real-time attitude angle of the holder according to the real-time navigation data and the target longitude and latitude information;
and the target tracking unit is used for tracking a target according to the real-time attitude angle.
9. The apparatus of claim 8, wherein the real-time navigation data includes real-time latitude and longitude information and real-time relative altitude;
the real-time attitude angle calculation unit is specifically used for obtaining the real-time attitude angle according to the real-time longitude and latitude information, the target longitude and latitude information and the real-time relative height.
10. An unmanned aerial vehicle, comprising:
a body;
the machine arm is connected with the machine body;
the power device is arranged on the horn and used for providing flying power for the unmanned aerial vehicle;
a flight control module; and
a memory communicatively coupled to the flight control module; wherein the memory stores instructions executable by the flight control module to enable the flight control module to perform the target tracking method of any one of claims 1 to 6.
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| PCT/CN2020/124049 WO2021098453A1 (en) | 2019-11-20 | 2020-10-27 | Target tracking method and unmanned aerial vehicle |
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| CN110716579B (en) | 2022-07-29 |
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