CN110989645A - Target space attitude processing method based on compound eye imaging principle - Google Patents
Target space attitude processing method based on compound eye imaging principle Download PDFInfo
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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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Abstract
The invention belongs to the technical field of information processing, and particularly relates to a target space attitude processing method based on a compound eye imaging principle. The method specifically comprises the following steps of orthogonally shooting image information of a flying target through a compound eye simulating imaging system; processing image information orthogonally shot by the compound eye simulating imaging system to obtain two groups of image sequences orthogonally shot with each other; collecting position information of characteristic points and characteristic line pixels of a flying target at different time points from two groups of image sequences which are orthogonally shot with each other; acquiring coordinate information of characteristic points and characteristic line pixels of the flying target by combining the proportional scale; and calculating and acquiring the speed, the relative spatial position and the flight direction of the flight target. The calculation amount is smaller, the program is simpler, and the calculation result is more accurate.
Description
Technical Field
The invention belongs to the technical field of information processing, and particularly relates to a target space attitude processing method based on a compound eye imaging principle.
Background
With the development and progress of human society, people use unmanned aerial vehicles more and more widely, and unmanned aerial vehicles are widely applied in the aspects of modern film shooting, disaster relief and emergency, resource exploration, even later express delivery and the like. However, the new model unmanned aerial vehicle tries to fly at present, so that the flight track of the unmanned aerial vehicle is shot by a high-speed camera, and the flight attitude of the unmanned aerial vehicle is analyzed. However, in the past, the single-lens imaging and single-unit imaging system cannot meet the measurement requirements of a guided weapon system.
The existing unmanned aerial vehicle space attitude monitoring realizes monitoring of the air flight attitude of the unmanned aerial vehicle by arranging a monitoring device on the unmanned aerial vehicle, for example, the invention patent of China discloses an unmanned aerial vehicle flight attitude determination system, application number 2017112032120, and specifically discloses an unmanned aerial vehicle flight attitude determination system, which comprises an unmanned aerial vehicle, and a measurement module, a control module, a data processing module and a signal transmission module which are arranged on the unmanned aerial vehicle, wherein: the measuring module comprises a plurality of laser ranging sensors, and the plurality of laser ranging sensors are respectively arranged at the diagonal positions of each edge of the unmanned aerial vehicle and are vertical to the ground; the plurality of laser ranging sensors form an array, and height information of each part of the unmanned aerial vehicle relative to the ground is synchronously measured; the control module comprises a main control board, and the control module controls the flight height and the flight direction of the unmanned aerial vehicle; the data processing module comprises a determination program, the data processing module processes and calculates the data obtained by the measurement module, systematic errors and random errors are eliminated through calculation and analysis, and whether the unmanned aerial vehicle inclines forwards, backwards, leftwards and rightwards or inclines left and right and the inclination degree of the unmanned aerial vehicle are determined through the determination program, so that flight attitude information of the unmanned aerial vehicle is obtained; the data processing module is used for processing and calculating the data obtained by the measuring module to obtain the height of the unmanned aerial vehicle, and comparing GPS data and RTK data to achieve the purpose of calibrating the height of the unmanned aerial vehicle and provide data support for height setting and adjustment of the unmanned aerial vehicle; the signal transmission module transmits the flight attitude information of the unmanned aerial vehicle determined by the data processing module to the movable equipment for visual observation of an operator. However, the detection method provided on the unmanned aerial vehicle is undoubtedly a huge burden on the unmanned aerial vehicle, and not all flight units are suitable for providing the flight attitude monitoring device on the structural body. In order to further reduce the burden of the flight unit, reduce the burden of the body of the flight unit, ensure the real-time performance and the reliability of a visual field and overcome various adverse factors in a complex environment, a separate aircraft space attitude monitoring system is very necessary to be arranged on the ground, but no better monitoring device or method exists in the prior art.
Disclosure of Invention
The invention discloses a target space attitude processing method based on a compound eye imaging principle.
In order to achieve the purpose, the specific technical scheme of the invention is that a target space attitude processing method based on a compound eye imaging principle specifically comprises the following steps of orthogonally shooting image information of a flying target by an imitated compound eye imaging system;
processing image information orthogonally shot by the compound eye simulating imaging system to obtain two groups of image sequences orthogonally shot with each other;
collecting position information of characteristic points and characteristic line pixels of a flying target at different time points from two groups of image sequences which are orthogonally shot with each other;
acquiring coordinate information of characteristic points and characteristic line pixels of the flying target by combining the proportional scale;
and calculating and acquiring the speed, the relative spatial position and the flight direction of the flight target.
Further, the processing of the shot image information specifically includes editing of the video image, enhancing of the video image, splicing of the image, compressing of the image video, and adjusting of image gray;
the video image editing refers to editing valuable parts of images and videos, so that the data processing amount of image video data is reduced in the subsequent processing process;
the enhancement of the video image refers to adjusting a gray distribution histogram of the image to make the histogram more uniform and increase the definition of the image;
the image splicing refers to splicing images of all fields of the image in a plurality of field ranges to increase the field of view of the image;
the compression of the image video is to reduce the redundancy of the image video, so that the data volume of the image and the video is reduced, and the subsequent processing speed is improved;
the adjustment of the image gray scale refers to adjusting the brightness of an image according to the intensity of light imaged on an object, and the condition that the brightness of the image is uneven due to illumination of a flying target in the flying process is overcome, so that the accuracy of parameter calculation of the space flying target is improved.
Further, the method for calculating the speed of the flying target specifically includes that in a three-dimensional coordinate system Oxyz, an OC vector is a speed vector of the unmanned aerial vehicle target, and OB and OD are projection vectors of the vector OC on a coordinate plane Oxz and a plane Oyz respectively;
in the orthogonal imaging process, the OB vector and the OD vector are respectively velocity vectors of two imaging systems in two orthogonal directions, ∠ xOB is represented by theta 1, ∠ yOD is represented by theta 2, a solid angle between the velocity vector and a horizontal plane Oxy is represented by theta, and a calculation relation between the theta and the theta 1, the theta 2 is,
calculating the proportion of unit pixels of two orthogonal imaging systems in the compound eye-imitating orthogonal imaging system to the actual distance, and then calculating the actual displacement S of the flying target in the x, y and z directions according to the proportionxSySzAnd is obtained according to the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
Has the advantages that: through the use of the compound eye-imitating imaging camera which is orthogonally arranged, the orthogonally shot image information with a larger view field, higher definition and longer distance is obtained, the position information of characteristic points and characteristic line pixels of a flying target at different moments is extracted from the image information, the coordinate information of the characteristic points and the characteristic line pixels of the flying target is obtained according to a proportional scale, and then the speed, the relative spatial position and the flying direction of the flying target are calculated and obtained, so that the influence on the flying target body is small, the monitoring and processing calculation result is more accurate, the program is simpler, and the adaptability to various flying targets is stronger; through the design of the image processing method, the post-transmission and processing data volume is smaller, the image cleaning degree is higher, the image view field is larger, the post-image processing speed is higher, the problem of uneven image brightness caused by the influence of illumination on the flying target is effectively solved, and the calculation and monitoring of various parameters of the flying target are more accurate; the flight attitude of the flying target is calculated by the orthographic projection method, the calculated amount is smaller, the program is simpler, and the calculation result is more accurate.
Drawings
Fig. 1 is a block diagram of a target spatial pose processing system based on the compound eye imaging principle of the present invention.
FIG. 2 is a flow chart of an image acquisition processing method;
fig. 3 is a flowchart of a target spatial pose processing method based on the compound eye imaging principle of the present invention.
Fig. 4 is a three-dimensional coordinate diagram of the flight speed calculation of the flight target.
Description of reference numerals: 101. a sequence of images 1; 102. a sequence of images 2; 103. collecting characteristic points and characteristic lines of a flying target; 104. proportional scale; 105. target feature points and feature current position information; 106. speed; 107. a spatial position; 108. the direction of flight.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 4, the target space pose processing system based on the compound eye imaging principle includes an orthogonally arranged compound eye imaging system and a data processing system; the two groups of compound eye simulating imaging systems are orthogonally arranged outside the monitoring area, wherein each compound eye simulating imaging system consists of a plurality of high-speed cameras, and the compound eye simulating imaging system formed by combining a plurality of high-speed cameras has high-speed imaging capability in a large view field range by simulating the compound eye principle of insects. Therefore, the image information of the flying target in the space area is acquired through the compound eye simulating imaging system.
The compound eye simulating imaging system is also provided with a control transmitting end and a transmitting antenna; the data processing system comprises a receiving antenna, a remote control and data receiving end, a data acquisition processing module and a data analysis processing module; the receiving antenna is connected with a remote control and data receiving end, and the remote control and data receiving end is connected with the data analysis processing module through the data acquisition processing module. The compound eye simulating imaging system is in communication connection with a receiving antenna on the data processing system through a transmitting antenna. The compound eye simulating imaging system is provided with the control transmitting end and the transmitting antenna, so that the compound eye simulating imaging system is in wireless communication connection with the data processing system, and the bottom of the compound eye simulating imaging system can be fixedly provided with the adjusting platform, so that the pitch angle and the shooting direction of a lens of the compound eye simulating imaging system, the focal length and the focal point of high-speed camera imaging and the adjustment of image trigger acquisition are realized, and the communication transmission distance between the compound eye simulating imaging system and the data processing system is required to be more than 10 km.
The orthogonally arranged compound eye simulating imaging system is used for shooting orthogonal image information of a flying target and sending the acquired information to the data processing system through the control transmitter and the transmitting antenna; the data processing system is used for receiving orthogonal image information shot by the orthogonally-arranged compound eye-imitating imaging system, calculating the flying speed, the space position and the flying direction of the flying target after processing the image information, and determining the flying attitude of the flying target.
The data acquisition processing module comprises a memory module, a video image editing module, an image enhancement module, an image splicing module, an image video compression module and an image gray level adjusting module; one end of the memory module is connected with the remote control and data receiving end and used for storing received image information collected by the compound eye simulating imaging system, and the other end of the memory module is respectively connected with the video image editing module, the image enhancement module, the image splicing module, the image video compression module and the image gray scale adjusting module. The video image editing module is used for editing the valuable parts of the image and the video so as to reduce the data processing amount of the image video data in the subsequent processing process; the image enhancement module is used for adjusting a gray distribution histogram of the image, so that the histogram is more uniform, and the definition of the image is increased; the image splicing module is used for splicing images of all fields of the images in a plurality of field ranges to increase the fields of the images; the image video compression module is used for reducing the redundancy of the image video and reducing the data volume of the image and the video so as to improve the speed of subsequent processing; the image gray level adjusting module is used for adjusting the brightness of an image according to the intensity of light imaged on an object, and overcoming the condition of uneven brightness of the image caused by illumination of a flying target in the flying process so as to improve the accuracy of parameter calculation of the space flying target.
And finally, the data acquisition processing module sends the processed image information to a data analysis processing module connected with the data acquisition processing module, the flight speed 106, the spatial position 107 and the flight direction 108 of the flight target are obtained through the analysis and calculation of the data analysis processing module, and the flight attitude of the flight target is finally determined.
As shown in fig. 3, a method for processing a spatial attitude of a target based on a compound eye imaging principle specifically includes the following steps of orthogonally shooting image information of a flying target by an artificial compound eye imaging system, remotely transmitting the acquired image information of the flying target to a receiving antenna, a remote control and a data receiving end which are arranged on a data processing system by controlling a transmitting end and a transmitting antenna, and then storing the received image information of the flying target by a memory module in a data acquisition processing module; then, the valuable parts of the image and the video are edited by a video image editing module, so that the data processing amount of the image video data is reduced in the subsequent processing process; the image enhancement module is used for adjusting the gray distribution histogram of the image, so that the histogram is more uniform, and the definition of the image is increased; splicing images of each field of view of the images in a plurality of field of view ranges through an image splicing module to increase the field of view of the images; the redundancy of the image video is reduced through the image video compression module, so that the data volume of the image and the video is reduced, and the subsequent processing speed is improved; and the image gray level adjusting module is used for adjusting the brightness of the image according to the intensity of light imaged on the object, so that the condition of uneven brightness of the image caused by illumination of the flying target in the flying process is overcome, and the parameter calculation precision of the space flying target is improved. Thus, the flight target image information shot by two orthogonally arranged compound eye-imitating imaging systems is obtained, two groups of image sequences shot orthogonally with each other are obtained after the flight target image information is processed by the data acquisition processing module and are recorded as an image sequence 1101 and an image sequence 2102, and finally the processed flight target image information is transmitted to the data analysis processing module.
The data analysis processing module acquires the position information of the characteristic points and the characteristic lines 103 of the flying target at different time points by analyzing the image sequence 1101 and the image sequence 2102 which are shot in an orthogonal mode; and then combining the scale 104 set in advance, so as to obtain the position information of the characteristic points and the characteristic line pixels of the flying target according to the proportional relation between the image information and the scale, namely the coordinate information of the characteristic points and the characteristic line pixels of the flying target.
Then, after coordinate information of the feature points and the feature line pixels of the flying target is obtained, calculating the speed 106 of the flying target according to the coordinate information of the feature points and the feature line pixels of the flying target, as shown in fig. 4, in a three-dimensional coordinate system Oxyz, an OC vector is a speed vector of the unmanned aerial vehicle target, and OB and OD are projection vectors of a vector OC on a coordinate plane Oxz and a plane Oyz respectively;
in the orthogonal imaging process, the OB vector and the OD vector are respectively velocity vectors of two imaging systems in two orthogonal directions, ∠ xOB is represented by theta 1, ∠ yOD is represented by theta 2, a solid angle between the velocity vector and a horizontal plane Oxy is represented by theta, and a calculation relation between the theta and the theta 1, the theta 2 is,
calculating a three-dimensional included angle between the velocity vector and the horizontal plane Oxy according to the relation and recording the three-dimensional included angle as theta, then calculating the proportion of unit pixels of image information of the flying target acquired by two orthogonal imaging systems in the compound eye-imitating orthogonal imaging system to the actual distance according to the three-dimensional included angle theta, and then calculating the actual displacement S of the flying target in the x, y and z directions according to the proportion scalex、Sy、SzAnd is obtained according to the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
Wherein vxVelocity in the x direction, vyIs the velocity in the y direction, vzIs the velocity in the z direction.
The spatial position and the flight direction can then be calculated according to the speed time and the stereo angle theta relationship.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
1. A target space attitude processing method based on a compound eye imaging principle is characterized by comprising the following steps: the method specifically comprises the following steps of orthogonally shooting image information of a flying target through a compound eye simulating imaging system;
processing image information orthogonally shot by the compound eye simulating imaging system to obtain two groups of image sequences orthogonally shot with each other;
collecting position information of characteristic points and characteristic line pixels of a flying target at different time points from two groups of image sequences which are orthogonally shot with each other;
acquiring coordinate information of characteristic points and characteristic line pixels of the flying target by combining the proportional scale;
and calculating and acquiring the speed, the relative spatial position and the flight direction of the flight target.
2. The compound eye imaging principle-based target spatial pose processing method according to claim 1, wherein:
the processing of the shot image information specifically comprises editing of a video image, enhancing of the video image, splicing of the image, compressing of the image video and adjusting of image gray;
the video image editing refers to editing valuable parts of images and videos, so that the data processing amount of image video data is reduced in the subsequent processing process;
the enhancement of the video image refers to adjusting a gray distribution histogram of the image to make the histogram more uniform and increase the definition of the image;
the image splicing refers to splicing images of all fields of the image in a plurality of field ranges to increase the field of view of the image;
the compression of the image video is to reduce the redundancy of the image video, so that the data volume of the image and the video is reduced, and the subsequent processing speed is improved;
the adjustment of the image gray scale refers to adjusting the brightness of an image according to the intensity of light imaged on an object, and the condition that the brightness of the image is uneven due to illumination of a flying target in the flying process is overcome, so that the accuracy of parameter calculation of the space flying target is improved.
3. The compound eye imaging principle-based target spatial pose processing method according to claim 1, wherein: the method for calculating the speed of the flying target comprises the following steps that in a three-dimensional coordinate system Oxyz, an OC vector is a speed vector of the unmanned aerial vehicle target, and OB and OD are projection vectors of the vector OC on a coordinate plane Oxz and a plane Oyz respectively;
in the orthogonal imaging process, the OB vector and the OD vector are respectively velocity vectors of two imaging systems in two orthogonal directions, ∠ xOB is represented by theta 1, ∠ yOD is represented by theta 2, a solid angle between the velocity vector and a horizontal plane Oxy is represented by theta, and a calculation relation between the theta and the theta 1, the theta 2 is,
calculating the proportion of unit pixels of two orthogonal imaging systems in the compound eye-imitating orthogonal imaging system to the actual distance, and then calculating the actual displacement S of the flying target in the x, y and z directions according to the proportionxSySzAnd is obtained according to the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
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