CN110989645B - 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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- CN110989645B CN110989645B CN201911211945.7A CN201911211945A CN110989645B CN 110989645 B CN110989645 B CN 110989645B CN 201911211945 A CN201911211945 A CN 201911211945A CN 110989645 B CN110989645 B CN 110989645B
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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 posture 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 imitation imaging system; processing image information orthogonally shot by a compound eye imaging system to obtain two groups of image sequences orthogonally shot by each other; acquiring position information of characteristic points and characteristic line pixels of a flying target at different moments from two groups of image sequences which are orthogonally shot; acquiring coordinate information of feature points and feature line pixels of a flying target by combining a 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 posture processing method based on a compound eye imaging principle.
Background
With the development and progress of human society, unmanned aerial vehicles are increasingly widely used, and the unmanned aerial vehicles are widely applied to the aspects of modern movie shooting, disaster relief and emergency, resource exploration, even future express delivery and transportation and the like. However, the unmanned aerial vehicle of the new model tries to fly, and the flying track of the unmanned aerial vehicle is shot by a high-speed camera and analyzed. However, single lens imaging of the type in the past, single position imaging systems have failed to meet the measurement requirements of guided weapon systems.
Existing unmanned aerial vehicle space attitude monitoring is all monitored through setting up monitoring devices on unmanned aerial vehicle and realizing the aerial flight gesture to unmanned aerial vehicle, like an unmanned aerial vehicle flight gesture survey system of chinese invention patent, application number 2017112032120 specifically discloses an unmanned aerial vehicle flight gesture survey system, including unmanned aerial vehicle, and set up measurement module, control module, data processing module and the signal transmission module on the unmanned aerial vehicle, wherein: the measuring module comprises a plurality of laser ranging sensors, wherein the laser ranging sensors are respectively arranged at the opposite angles of the edges of the unmanned aerial vehicle and are perpendicular to the ground; the 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 controls the flying height and the flying direction of the unmanned aerial vehicle; the data processing module comprises a measuring program, the data processing module processes and calculates the data obtained by the measuring module, and the data processing module eliminates systematic errors and random errors through calculation and analysis, and determines whether the unmanned aerial vehicle is inclined forwards, backwards, left and right or not and the degree of unmanned aerial vehicle inclination through the measuring program, so that unmanned aerial vehicle flight attitude information 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 (global positioning system) and RTK (real time kinematic) data to achieve the purpose of calibrating the height of the unmanned aerial vehicle, so that data support is provided for the height adjustment of the unmanned aerial vehicle; the signal transmission module transmits the unmanned aerial vehicle flight attitude information measured by the data processing module to the movable equipment for visual observation of an operator. However, this method of detection provided on a drone is certainly a great burden on the drone, and not all flying units are suitable for providing a flying attitude monitoring device on its structural body. In order to further and obviously reduce the burden of the flying unit, reduce the burden of the flying unit body, ensure the real-time performance and reliability of the field of view, overcome various adverse factors in a complex environment, and have a very necessary requirement for arranging an independent space attitude monitoring system of the aircraft on the ground, no better monitoring device or method exists in the prior art.
Disclosure of Invention
The invention discloses a target space posture processing method based on a compound eye imaging principle.
In order to achieve the above purpose, the specific technical scheme of the invention is that a target space gesture processing method based on compound eye imaging principle comprises the following steps of orthogonally shooting image information of a flying target through a compound eye imaging system;
processing image information orthogonally shot by a compound eye imaging system to obtain two groups of image sequences orthogonally shot by each other;
acquiring position information of characteristic points and characteristic line pixels of a flying target at different moments from two groups of image sequences which are orthogonally shot;
acquiring coordinate information of feature points and feature line pixels of a flying target by combining a scale;
and calculating and acquiring the speed, the relative spatial position and the flight direction of the flight target.
Further, processing the shot image information specifically includes editing a video image, enhancing the video image, stitching the image, compressing an image video, and adjusting the gray level of the image;
editing the video image refers to editing valuable parts of the image and the video, so that the data processing amount of the image video data is reduced in the subsequent processing process;
the enhancement of the video image means that the gray level distribution histogram of the image is adjusted, so that the histogram is more uniform, and the definition of the image is increased;
the image stitching refers to stitching the images of each view field of the image in a plurality of view field ranges so as to enlarge the view field of the image;
the compression of the image video means that the redundancy of the image video is reduced, 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 level is to adjust the brightness of the image by the pointer on the intensity of the light imaged on the object, and the condition of uneven brightness of the image caused by illumination of the flying target in the flying process is overcome, so that the parameter calculation precision of the space flying target is improved.
Further, the speed calculation method 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, the ratio xOB is theta 1, the ratio yOD is theta 2, the three-dimensional included angle between the velocity vector and the horizontal plane Oxy is theta, the calculation relation between theta and theta 1 and theta 2 is,
calculating the ratio of unit pixels of two orthogonal imaging systems in the simulated compound eye orthogonal imaging system to the actual distance, and then rootCalculating the actual displacement S of the flying object in the x, y and z directions according to the proportional scale x S y S z And is obtained from the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
The beneficial effects are that: through the use of the orthogonal compound eye-like imaging camera, the image information of orthogonal shooting with larger view field, higher definition and longer distance is obtained, so that the position information of the characteristic points and the characteristic line pixels of the 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 the proportional scale, the speed, the relative space position and the flying direction of the flying target are calculated and obtained, the influence on the body of the flying target is small, the monitoring 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 cleaning degree of the image is higher, the image view field is larger, the post-image processing speed is higher, the problem of uneven brightness of the image caused by the influence of illumination on a 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 flight target is calculated through the orthographic projection method, so that the calculation 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 compound eye imaging principles of the present invention.
FIG. 2 is a flow chart of an image acquisition processing method;
fig. 3 is a flow chart of a target spatial pose processing method based on the compound eye imaging principle of the invention.
Fig. 4 is a three-dimensional graph of a calculation of the flying speed of a flying target.
Reference numerals illustrate: 101. an image sequence 1; 102. an image sequence 2; 103. collecting characteristic points and characteristic lines of a flying target; 104. a scale of scale; 105. target feature points and position information of feature occurrence; 106. a speed; 107. a spatial location; 108. the direction of flight.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1 to fig. 4, the target space gesture processing system based on the compound eye imaging principle includes a compound eye simulating imaging system and a data processing system which are orthogonally arranged; the two groups of compound eye simulating imaging systems are arranged outside the monitoring area in an orthogonal mode, each compound eye simulating imaging system is composed of a plurality of high-speed cameras, and the compound eye simulating imaging system is formed by combining a plurality of high-speed cameras through the compound eye simulating principle of insects, so that the compound eye simulating imaging system has high-speed imaging capability with a large field of view. Thereby acquiring the image information of the flying target in the space region through the compound eye imitation imaging system.
The compound eye imitation 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 the 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 imitation imaging system is in communication connection with a receiving antenna on the data processing system through a transmitting antenna. The control transmitting end and the transmitting antenna are arranged on the simulated compound eye imaging system, so that the simulated compound eye imaging system is in wireless communication connection with the data processing system, and an adjusting platform can be fixedly arranged at the bottom of the simulated compound eye imaging system, so that the pitch angle and shooting direction of a lens of the simulated compound eye imaging system, the focal length and focal point of high-speed camera imaging and the adjustment of image triggering acquisition are realized, and the communication transmission distance between the simulated compound eye imaging system and the data processing system is required to be more than 10 km.
The orthogonal simulated compound eye 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 orthogonal compound eye imaging system, processing the image information, calculating the flying speed, the space position and the flying direction of the flying target, 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 stitching module, an image video compression module and an image gray scale adjustment module; one end of the memory module is connected with the remote control and data receiving end and is used for storing the received image information acquired by the compound eye imitation 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 stitching module, the image video compression module and the image gray scale adjustment module. The video image editing module is used for editing valuable parts of the images and the videos, 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; the image stitching module is used for stitching the images of each view field of the images in a plurality of view field ranges so as to enlarge the view field of the images; the image video compression module is used for reducing redundancy of image videos, so that the data volume of the images and the videos is reduced, and the speed of subsequent processing is improved; the image gray scale adjusting module is used for adjusting the brightness of the image according to the intensity of light imaged on the object, and overcoming the uneven brightness of the image caused by illumination of the 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, and the flight speed 106, the spatial position 107 and the flight direction 108 of the flight target are obtained through analysis and calculation of the data analysis processing module, and finally the flight attitude of the flight target is determined.
As shown in fig. 3, a target space gesture processing method based on a compound eye imaging principle specifically includes the following steps that image information of a flying target is orthogonally shot through a compound eye imaging system, then the acquired image information of the flying target is remotely transmitted to a receiving antenna, a remote control and a data receiving end which are arranged on a data processing system through a control transmitting end and a transmitting antenna, and then the received image information of the flying target is stored by a memory module in a data acquisition processing module; then, editing the valuable parts of the image and the video through a video image editing module, so that the data processing amount of the image and the video data is reduced in the subsequent processing process; the gray level distribution histogram of the image is adjusted through the image enhancement module, so that the histogram is more uniform, and the definition of the image is increased; splicing the images of each view field of the images in a plurality of view field ranges by an image splicing module so as to enlarge the view field of the images; redundancy of the image video is reduced through the image video compression module, so that data quantity of the image and the video is reduced, and the subsequent processing speed is improved; 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 that the brightness of the image is uneven due to illumination in the flight process of the flying target is overcome, and the parameter calculation accuracy of the space flying target is improved. The method comprises the steps of obtaining flight target image information shot by two orthogonally arranged compound eye-imitating imaging systems, processing the flight target image information by a data acquisition processing module, obtaining two groups of image sequences shot in an orthogonal mode, marking the two groups of image sequences as an image sequence 1 and an image sequence 2, and finally transmitting the processed flight target image information to a data analysis processing module.
The data analysis processing module acquires position information of pixels of feature points and feature lines 103 of a flying target at different moments by analyzing the image sequence 1 and the image sequence 2 which are shot in mutually orthogonal mode; and then combining the preset scale 104, so that the position information of the characteristic points and the characteristic line pixels of the flying target, namely the coordinate information of the characteristic points and the characteristic line pixels of the flying target, is obtained according to the proportional relation between the image information and the scale.
After knowing the coordinate information of the feature points and the feature line pixels of the flying object, calculating the speed 106 of the flying object according to the coordinate information of the feature points and the feature line pixels of the flying object, as shown in fig. 4, in the three-dimensional coordinate system Oxyz, the OC vector is the speed vector of the unmanned aerial vehicle object, and OB and OD are projection vectors of the vector OC on the coordinate plane Oxz and the 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, the ratio xOB is theta 1, the ratio yOD is theta 2, the three-dimensional included angle between the velocity vector and the horizontal plane Oxy is theta, the calculation relation between theta and theta 1 and theta 2 is,
thereby calculating the three-dimensional included angle between the velocity vector and the horizontal plane Oxy according to the relation and marking the three-dimensional included angle as theta, then calculating the ratio of unit pixels of image information of the flying object acquired by two orthogonal imaging systems in the simulated compound eye 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 object in the x, y and z directions according to the scale x、 S y、 S z And is obtained from the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
Wherein v x Velocity in x direction, v y For velocity in the y direction, v z Is the velocity in the z direction.
And then the space position and the flight direction can be calculated according to the relation between the speed time and the solid included angle theta.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (2)
1. A target space attitude processing method based on a compound eye imaging principle is characterized by comprising the following steps of: the method specifically comprises the following steps of orthogonally shooting image information of a flying target through a compound eye imitation imaging system;
processing image information orthogonally shot by a compound eye imaging system to obtain two groups of image sequences orthogonally shot by each other;
acquiring position information of characteristic points and characteristic line pixels of a flying target at different moments from two groups of image sequences which are orthogonally shot;
acquiring coordinate information of feature points and feature line pixels of a flying target by combining a scale;
after knowing the coordinate information of the feature points and the feature line pixels of the flying object, calculating the speed of the flying object according to the coordinate information of the feature points and the feature line pixels of the flying object, wherein in a three-dimensional coordinate system Oxyz, the OC vector is the speed vector of the unmanned plane object, 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, the ratio xOB is theta 1, the ratio yOD is theta 2, the three-dimensional included angle between the velocity vector and the horizontal plane Oxy is theta, the calculation relation between theta and theta 1 and theta 2 is,
thereby calculating the three-dimensional included angle between the velocity vector and the horizontal plane Oxy according to the relation and marking the three-dimensional included angle as theta, then calculating the ratio of unit pixels of image information of the flying object acquired by two orthogonal imaging systems in the simulated compound eye 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 object in the x, y and z directions according to the scale x 、S y 、S z And is obtained from the time interval t of two images formed by two orthogonal imaging systems,
the actual flying speed of the flying target is
Wherein v x Velocity in x direction v y Velocity in the y direction, v z Is the velocity in the z direction;
and then the space position and the flight direction can be calculated according to the relation between the speed time and the solid included angle theta.
2. The method for processing the target space posture based on the compound eye imaging principle according to claim 1, wherein the method is characterized by comprising the following steps of:
the processing of the shot image information comprises the steps of editing a video image, enhancing the video image, splicing the image, compressing the image video and adjusting the gray level of the image;
editing the video image refers to editing valuable parts of the image and the video, so that the data processing amount of the image video data is reduced in the subsequent processing process;
the enhancement of the video image means that the gray level distribution histogram of the image is adjusted, so that the histogram is more uniform, and the definition of the image is increased;
the image stitching refers to stitching the images of each view field of the image in a plurality of view field ranges so as to enlarge the view field of the image;
the compression of the image video means that the redundancy of the image video is reduced, 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 level is to adjust the brightness of the image by the pointer on the intensity of the light imaged on the object, and the condition of uneven brightness of the image caused by illumination of the flying target in the flying process is overcome, so that the parameter calculation precision of the space flying target is improved.
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