CN111343390A - Unmanned aerial vehicle data image synchronous control system and control method thereof - Google Patents
Unmanned aerial vehicle data image synchronous control system and control method thereof Download PDFInfo
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- CN111343390A CN111343390A CN202010212899.9A CN202010212899A CN111343390A CN 111343390 A CN111343390 A CN 111343390A CN 202010212899 A CN202010212899 A CN 202010212899A CN 111343390 A CN111343390 A CN 111343390A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
Abstract
The invention discloses an unmanned aerial vehicle data image synchronous control system and a control method thereof, wherein the system comprises an ARM core processor, a multispectral camera interface, a control instruction input interface, a GPS module, an attitude and heading instrument module, a data processing module, a data storage module, a communication module and a power supply module, and the ARM core processor is respectively connected with the multispectral camera interface, the control instruction input interface, the GPS module, the attitude and heading instrument module, the data processing module, the data storage module, the communication module and the power supply module. According to the invention, an ARM is adopted as a core control processor, synchronous control of data images of the unmanned aerial vehicle during hard connection is designed, the flight data of the unmanned aerial vehicle, including three-axis postures, three-dimensional positions and the like, are synchronously recorded while exposure of the multispectral camera is controlled, strict correspondence between the images and the data is realized, and basic data is provided for accurate processing and identification of multispectral images in the later period.
Description
Technical Field
The invention relates to the field of image processing, in particular to an unmanned aerial vehicle data image synchronous control system and a control method thereof.
Background
When the unmanned aerial vehicle carries the multispectral camera to carry out remote sensing detection, the CMOS photosurface of the multispectral camera is required to be parallel to the ground, so that the coordinates of the central point of the acquired multispectral image are consistent with the coordinates of the CMOS photosurface of the camera. But receive unmanned aerial vehicle inner space restriction or cost restriction, the installation adopts the flight image that the camera can't directly obtain the orthographic when the hard connection mode. Meanwhile, because the position of the unmanned aerial vehicle and the installation position of the attitude sensor are far away from the camera, and angle deviation exists during installation, the actual position and attitude of the multispectral camera during exposure cannot be accurately reflected by POS data directly given by the flight control computer, and the multispectral image processing and recognition in the later period are influenced.
Therefore, the problem of synchronization of the flight data and the multispectral image of the unmanned aerial vehicle needs to be solved, six kinds of external orientation (POS) data of the unmanned aerial vehicle, including three-axis postures, three-dimensional positions and the like, are synchronously acquired while the camera exposure is controlled, strict correspondence between the images and the data is realized, and basic data is provided for correction, fusion, splicing and other processing of the multispectral image.
Disclosure of Invention
The invention aims to provide an unmanned aerial vehicle data image synchronous control system and a control method thereof, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
an unmanned aerial vehicle data image synchronous control system comprises an ARM core processor, a multispectral camera interface, a control instruction input interface, a GPS module, an attitude and heading instrument module, a data processing module, a data storage module, a communication module and a power module, wherein the ARM core processor is respectively connected with the multispectral camera interface, the control instruction input interface, the GPS module, the attitude and heading instrument module, the data processing module, the data storage module, the communication module and the power module.
As a still further preferable scheme of the present invention, the ARM core processor employs an STR711 microcontroller.
As a further preferable scheme of the invention, the command input interface is connected to an unmanned aerial vehicle autopilot, receives and identifies a command of the unmanned aerial vehicle, and judges whether to start shooting or stop shooting.
As a further preferable scheme of the present invention, the multispectral camera interface is connected to a shutter control line interface of the camera, and outputs a PWM signal to the aerial camera to perform or stop photographing according to a set photographing time interval; and simultaneously, the exposure time interval of the aerial camera is preset and controlled according to the specific flying speed and the specific flying height before flying.
As a further preferable scheme of the invention, the attitude heading instrument module and the GPS module are used for measuring the three-dimensional position longitude, latitude, altitude, speed, pitch angle, roll angle, and course angle of the aerial camera and the working time parameters and transmitting the measured data to the data processing module through a serial port.
As a still further preferable aspect of the present invention, the power supply module provides a stable power supply for each module of the system.
As a further preferable embodiment of the present invention, the system controls the exposure time and the exposure interval parameter through the communication module, and outputs various POS parameters of the camera exposure.
As a further preferred scheme of the present invention, the ARM core processor uses macro definition to replace the calling of the subprogram, and uses a data interrupt processing mode, after the system initialization, the system enters a low power consumption state, and the power saving state is not ended until triggered by an external interrupt signal, and the system starts to process the interrupt event, and enters the sleep again after the task is ended.
The unmanned aerial vehicle data image synchronous control method adopting any scheme is characterized in that the system is initialized after being powered on, and after the initialization is completed, the data processing module acquires data of a GPS module and an attitude and heading reference instrument module; when the aerial photography instruction input interface receives an instruction and confirms that the instruction is an aerial photography camera exposure instruction, acquiring exposure time interval setting, outputting the exposure instruction to an aerial photography camera shutter through a multispectral camera interface, controlling the camera shutter to expose according to a set interval, simultaneously recording exposure sequence, time, position, speed and posture external orientation data, and writing the exposure sequence, time, position, speed and posture external orientation data into a data storage module for storage; and when receiving the exposure stopping instruction, stopping the exposure of the camera, and ending the program.
As still further preferable aspect of the present invention, the initializing includes: the system initialization, the SD card file system initialization of the data storage module, and the GPS module and the attitude and heading reference module initialization.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, an ARM is adopted as a core control processor, synchronous control of data images of the unmanned aerial vehicle during hard connection is designed, the flight data of the unmanned aerial vehicle, including three-axis postures, three-dimensional positions and the like, are synchronously recorded while exposure of the multispectral camera is controlled, strict correspondence between the images and the data is realized, and basic data is provided for accurate processing and identification of multispectral images in the later period.
Drawings
FIG. 1 is a schematic block diagram of the system of the present invention.
FIG. 2 is a flow chart of the method of the present invention.
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, in an embodiment of the present invention, an unmanned aerial vehicle data image synchronization control system includes an ARM core processor, a multispectral camera interface, a control instruction input interface, a GPS module, an attitude and heading reference module, a data processing module, a data storage module, a communication module, and a power supply module, where the ARM core processor is respectively connected to the multispectral camera interface, the control instruction input interface, the GPS module, the attitude and heading reference module, the data processing module, the data storage module, the communication module, and the power supply module.
The core processor takes an STR711 microcontroller as a core, based on a high-performance industrial standard ARM7TDMI simplified instruction and kernel design, a high-speed single-voltage Flash memory and a high-speed RAM memory are integrated on an STR711 chip, and the STR71x is compatible with all ARM tools and software due to the embedded ARM kernel, so that the application requirements of the multispectral camera control device can be met; the system is powered by +5V and +12V, the +5V is connected with the GPS module, the +12V is connected with the aviation connector to supply power for the camera outside the case, and the system simultaneously supplies power for the command control module, the attitude/position sensor module, the data storage and transmission module, the lens module and other external devices of the CMOS image sensor. In actual transformation, a camera power supply, 2 USB ports and a GPS module are combined on one card, uniformly inserted into one PCI slot and fixed in input and output, and the mode has good effects of reducing electrical crosstalk, improving shielding and enhancing a dynamic range.
The basic working flow is as follows: the command input interface is connected to the unmanned aerial vehicle automatic pilot, receives and identifies the unmanned aerial vehicle command, and judges whether to start shooting or stop shooting; the multispectral camera interface is connected to a shutter control line interface of the camera and outputs a PWM signal to the aerial camera to shoot or stop shooting according to a set shooting time interval; the exposure time interval of the aerial camera can be preset and controlled according to the specific flying speed and the specific flying height before flying; the attitude heading instrument module and the GPS module measure parameters such as longitude, latitude, altitude, speed, pitch angle, roll angle, course angle, working time and the like of a three-dimensional position of the aerial camera and transmit measured data to the data processing module through a serial port; the power supply module provides a stable power supply for each module of the system; the system can control parameters such as exposure time, exposure interval and the like through the communication module, and can also output various POS parameters of camera exposure.
In the aspect of software design, a macro definition is used for replacing the calling of a subprogram, a data interrupt processing mode is applied, the system enters a low power consumption state after being initialized, the power saving state is ended until being triggered by an external interrupt signal, the interrupt event is processed, and the system enters the dormancy again after the task is ended, so that the power consumption can be reduced to the maximum extent. The software of the control device adopts methods such as software filtering, encryption transmission, program management, data record storage and the like to ensure the reliable execution of the program, and the software flow is shown in figure 2.
The unmanned aerial vehicle data image synchronous control method adopting any scheme is characterized in that the system is initialized after being powered on, and after the initialization is completed, the data processing module acquires data of a GPS module and an attitude and heading reference instrument module; when the aerial photography instruction input interface receives an instruction and confirms that the instruction is an aerial photography camera exposure instruction, acquiring exposure time interval setting, outputting the exposure instruction to an aerial photography camera shutter through a multispectral camera interface, controlling the camera shutter to expose according to a set interval, simultaneously recording exposure sequence, time, position, speed and posture external orientation data, and writing the exposure sequence, time, position, speed and posture external orientation data into a data storage module for storage; and when receiving the exposure stopping instruction, stopping the exposure of the camera, and ending the program.
As still further preferable aspect of the present invention, the initializing includes: the system initialization, the SD card file system initialization of the data storage module, and the GPS module and the attitude and heading reference module initialization.
In order to improve the development efficiency of a software system, the design adopts an RF5 architecture of TI company, and the design has the following characteristics:
① provide for scalable channel management;
② have task-based thread processing;
③ have efficient inter-task messaging;
④ have independent process control;
⑤ modularization of hardware driven loading;
⑥ is simple to debug.
According to the actual requirements of the system, the software design is divided into a hardware driving layer, a system layer and an application software layer: the hardware driving layer mainly comprises an ARM chip and a driving code of an external chip; the system layer is the core code of the RF5, and the management of the thread, the hardware device driver and the interrupt service of the application software layer is realized through the code; the application software layer is divided into a main thread, a control thread, a spectral image processing thread and the like, and all the threads are managed through the main thread. These characteristics can satisfy the real-time requirement of the system.
In summary, the main functions of the system of the present invention are as follows:
① the camera is controlled by the autopilot using a ground station by connecting the autopilot to a switch channel.
② controls the multispectral camera to take aerial photography according to the setting, and sets the aerial photography time interval according to the specific flying speed and altitude.
③ the ARM core processor is connected with the multispectral camera through a shutter connecting line.
④ may provide navigation sequences, time of capture, longitude, latitude, altitude, pitch, roll, heading, etc.
⑤ the remote sensing data can be stored by onboard data storage module SDRAM card, or transmitted to ground station directly by serial port.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. The unmanned aerial vehicle data image synchronous control system is characterized by comprising an ARM core processor, a multispectral camera interface, a control instruction input interface, a GPS module, an attitude navigation instrument module, a data processing module, a data storage module, a communication module and a power supply module, wherein the ARM core processor is respectively connected with the multispectral camera interface, the control instruction input interface, the GPS module, the attitude navigation instrument module, the data processing module, the data storage module, the communication module and the power supply module.
2. The unmanned aerial vehicle data image synchronization control system of claim 1, wherein the ARM core processor employs an STR711 microcontroller.
3. The unmanned aerial vehicle data image synchronization control system of claim 2, wherein the command input interface is connected to an unmanned aerial vehicle autopilot, receives unmanned aerial vehicle commands, recognizes the commands, and determines whether to start shooting or stop shooting.
4. The unmanned aerial vehicle data image synchronous control system of claim 3, wherein the multispectral camera interface is connected to a shutter control line interface of the camera, and outputs a PWM signal to the aerial camera to shoot or stop shooting according to a set shooting time interval; and simultaneously, the exposure time interval of the aerial camera is preset and controlled according to the specific flying speed and the specific flying height before flying.
5. The unmanned aerial vehicle data image synchronization control system of claim 4, wherein the attitude heading instrument module and the GPS module are used for measuring longitude, latitude, altitude, speed, pitch angle, roll angle and course angle of three-dimensional position of the aerial camera and working time parameters and transmitting the measured data to the data processing module through a serial port.
6. The unmanned aerial vehicle data image synchronization control system of claim 5, wherein the power module provides a stable power supply for each module of the system.
7. The unmanned aerial vehicle data image synchronization control system of claim 6, wherein the system controls exposure time and exposure interval parameters through the communication module, and outputs various POS parameters of camera exposure.
8. The unmanned aerial vehicle data image synchronization control system of claim 7, wherein the ARM core processor replaces calling of the subprogram with macro definition, and by means of data interrupt processing, the system enters a low power consumption state after initialization, and does not end the power saving state until triggered by an external interrupt signal, starts processing an interrupt event, and enters the sleep state again after the task is ended.
9. The unmanned aerial vehicle data image synchronous control method adopting any one of claims 1-8, characterized in that the system is initialized after being powered on, and after the initialization is completed, the data processing module acquires data of a GPS module and an attitude and heading reference instrument module; when the aerial photography instruction input interface receives an instruction and confirms that the instruction is an aerial photography camera exposure instruction, acquiring exposure time interval setting, outputting the exposure instruction to an aerial photography camera shutter through a multispectral camera interface, controlling the camera shutter to expose according to a set interval, simultaneously recording exposure sequence, time, position, speed and posture external orientation data, and writing the exposure sequence, time, position, speed and posture external orientation data into a data storage module for storage; and when receiving the exposure stopping instruction, stopping the exposure of the camera.
10. The unmanned aerial vehicle data image synchronization control method of claim 9, wherein the initializing comprises: the system initialization, the SD card file system initialization of the data storage module, and the GPS module and the attitude and heading reference module initialization.
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