CN111443723B - Third visual angle view generation and display program of unmanned aerial vehicle - Google Patents
Third visual angle view generation and display program of unmanned aerial vehicle Download PDFInfo
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- CN111443723B CN111443723B CN202010265314.XA CN202010265314A CN111443723B CN 111443723 B CN111443723 B CN 111443723B CN 202010265314 A CN202010265314 A CN 202010265314A CN 111443723 B CN111443723 B CN 111443723B
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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 invention discloses a program for generating and displaying a third visual angle view of an unmanned aerial vehicle, which comprises the following steps: step 1), according to the position information of the unmanned aerial vehicle, a corresponding three-dimensional environment map is called out from a three-dimensional environment map library, and a virtual flight environment three-dimensional map of a third view angle is drawn; and 2) generating an unmanned aerial vehicle model by utilizing flight parameters of the unmanned aerial vehicle and position information of the unmanned aerial vehicle in combination with a simulation technology, and superposing the unmanned aerial vehicle model on a virtual flight environment three-dimensional map in real time to generate a virtual reality scene of a third visual angle of the unmanned aerial vehicle and displaying the virtual reality scene on a display. The unmanned aerial vehicle environment sensing system can greatly improve the unmanned aerial vehicle environment sensing capability, expand the unmanned aerial vehicle flight range, ensure the flight safety, and can be widely applied to the fields of unmanned aerial vehicle control, unmanned aerial vehicle flight training and the like.
Description
Technical Field
The invention belongs to an unmanned aerial vehicle visual generation technology, and relates to a program for presenting the flight attitude and the surrounding environment of an unmanned aerial vehicle in the form of a 'emperor visual angle' (third visual angle) in front of the eyes of an unmanned aerial vehicle operator. The technology can be widely applied to the fields of unmanned aerial vehicle entertainment of a consumer machine, unmanned aerial vehicle operator training, low-visibility scene task execution and the like.
Background
In the unmanned aerial vehicle control process, the vision is an important way of communication between an operator and the unmanned aerial vehicle, and is also a necessary condition for guaranteeing the flight safety of the unmanned aerial vehicle and the completion of tasks.
From the perspective of guaranteeing flight safety, the primary task of the unmanned aerial vehicle vision is to provide a clear flight attitude of the unmanned aerial vehicle during flight so as to ensure stronger perceptibility to the environment and situation around the unmanned aerial vehicle during flight of the unmanned aerial vehicle and avoid collision;
from the perspective of guaranteeing task completion, along with the current unmanned aerial vehicle measurement and control distance's increase by a wide margin, the condition that a large amount of unmanned aerial vehicles are in the visual scope can appear, and the main role of unmanned aerial vehicle vision is to provide the completion of front view image guarantee task this moment.
From current market, unmanned aerial vehicle operation vision is mainly first vision, mainly relies on the operation hand to visually operate, perhaps passes back the form of unmanned aerial vehicle operator through unmanned aerial vehicle's front view camera image to realize, and the range of application of unmanned aerial vehicle has been very big restriction in the control of visual scope, can not satisfy the curiosity that the consumer extended more unknown environment through unmanned aerial vehicle, also is difficult to guarantee flight safety. Unmanned aerial vehicle of first visual angle controls the visual angle singlely, the environmental perception is poor, and the improper operation causes "falling machine" or "losing machine" accident very easily, brings loss of property for the consumer, also constitutes the threat to ground safety. Therefore, it is particularly important to design a view generation and display method capable of improving situation awareness of the unmanned aerial vehicle and guaranteeing safe flight outside the visual range of the unmanned aerial vehicle, and the method has great market demands.
Disclosure of Invention
Aiming at the defects of the prior art, the invention aims to provide a third visual angle view generation and display program of an unmanned aerial vehicle, and by combining real-time position information and flight control parameters of the unmanned aerial vehicle through a flight simulation technology, the real-time flight attitude of the unmanned aerial vehicle in a three-dimensional space is simulated; a flight environment in a third view angle of the unmanned aerial vehicle is sketched through a virtual map construction technology; through the 3D virtual view display technology and the head-mounted display, the real-time flight state of the unmanned aerial vehicle is shown, and the operation experience with more immersion feeling is provided. The unmanned aerial vehicle environment sensing capability can be greatly improved, the flight range of the unmanned aerial vehicle is expanded, the flight safety is guaranteed, the unmanned aerial vehicle environment sensing device can be widely applied to the fields of unmanned aerial vehicle control, unmanned aerial vehicle flight training and the like, and can also be used for executing flight tasks with low visualization degree and severe environment such as an explosion site and the like, and the flight safety is guaranteed. The method can be widely applied to the fields of unmanned aerial vehicle visual range out-of-control, unmanned aerial vehicle visual enhancement, immersed unmanned aerial vehicle operation experience, operation feedback of a third visual angle and the like.
The invention aims at realizing the following technical scheme:
a third perspective view generation and display program for an unmanned aerial vehicle, comprising the steps of:
step 1), according to the position information of the unmanned aerial vehicle, a corresponding three-dimensional environment map is called out from a three-dimensional environment map library, and a virtual flight environment three-dimensional map of a third view angle is drawn;
and 2) generating an unmanned aerial vehicle model by utilizing flight parameters of the unmanned aerial vehicle and position information of the unmanned aerial vehicle in combination with a simulation technology, and superposing the unmanned aerial vehicle model on a virtual flight environment three-dimensional map in real time to generate a virtual reality scene of a third visual angle of the unmanned aerial vehicle and displaying the virtual reality scene on a display.
The invention can be widely applied to the operation of various unmanned aerial vehicles, can effectively expand the use scene and the use efficiency of the unmanned aerial vehicle, and has the following four main beneficial effects:
1) Unmanned aerial vehicle visual range out-of-control
At present, the flight scope of civil unmanned aerial vehicle aircraft concentrates in the space of visual scope radius 500 meters high 120 meters, because the image view angle of the first visual angle of on-vehicle camera is too narrow, leads to unmanned aerial vehicle operator unable comprehensive grasp unmanned aerial vehicle's surrounding flight environment, so hardly guarantees the flight safety of unmanned aerial vehicle outside the visual scope.
Through real-time virtual map construction technology, can be through the flight area map of preloaded (be far away from the visual scope) and unmanned aerial vehicle real-time positional information, construct the virtual flight environment three-dimensional map of unmanned aerial vehicle of third visual angle in flight environment, unmanned aerial vehicle's flight state and unmanned aerial vehicle's during flight surrounding environment all can demonstrate in unmanned aerial vehicle operator's eyes directly perceivedly, guarantee unmanned aerial vehicle safety when flying outside the visual scope.
The flight distance of the unmanned aerial vehicle is liberated beyond the visual range, and the application range of the unmanned aerial vehicle can be greatly expanded. For example, when major natural disasters such as earthquake and explosion occur, rescue workers cannot go deep into an accident scene, and the unmanned aerial vehicle can safely fly outside the visual range by utilizing the virtual reality scene of the third visual angle, and can return the image of the accident scene at the first time by combining with the onboard forward-looking camera, so that first hand data is provided for rescue.
2) Unmanned aerial vehicle vision enhancement
At present, video images for unmanned aerial vehicle operators to view are basically photographed by an onboard camera and then transmitted back to the ground in real time through a wireless link, and the image quality is limited by the photographing quality and the service environment of the camera. When the circumstances that the visibility of service environment such as big fog, smoke and dust is lower appear, unmanned aerial vehicle operator will not be able to control unmanned aerial vehicle according to real-time image, has restricted unmanned aerial vehicle's use.
In the project, the flight images of the third visual angle of the unmanned aerial vehicle are virtual views, the surrounding environment is obtained by real-time construction of map data, the flight attitude is obtained by flight simulation, the virtual views are not limited by the flight environment, and the flight safety can be ensured under the condition of lower visibility through a view enhancement technology.
3) "immersive" unmanned aerial vehicle operation experience
When the traditional unmanned aerial vehicle operates, video images are required to be displayed on a mobile phone or a flat panel display in real time, and the video images are easy to be interfered by environmental factors such as strong light in the using process. Meanwhile, the planar video image experience is single, and the unmanned aerial vehicle operator is difficult to have the operation experience of being personally on the scene.
By using the visual display method designed in the invention, the video image can be displayed in front of the eyes of the unmanned aerial vehicle operator in a 3D mode, thus providing immersed operation experience and enabling the unmanned aerial vehicle operator to have better environment perception capability. Meanwhile, the head-mounted display mode has a more stereoscopic display effect, is not interfered by the environment, and can provide more real operation experience for operators.
4) Operational feedback of "third viewing angle
Because the aerial photographing unmanned aerial vehicle carries expensive photographic equipment, the aerial photographing unmanned aerial vehicle is large in general volume and high in cost, and accidents are easy to occur due to improper operation when flying in complex environments such as cities. According to data statistics, the rate of 'crash' and 'crash' of the aerial photo-level unmanned aerial vehicle during operation reaches 3.4%, and most of the reasons are that an operator cannot correctly judge the relationship between the flight attitude of the unmanned aerial vehicle and the surrounding environment.
In the unmanned aerial vehicle operator training process, a third visual angle is introduced, so that an operator can better sense the surrounding environment of the unmanned aerial vehicle, and avoid obstacles. By combining the third visual angle image of the unmanned aerial vehicle generated by the flight simulation, an operator can better sense the influence of the actions of the operating lever and the throttle lever on the flight attitude of the unmanned aerial vehicle, so that more direct operation feedback can be realized, and the training efficiency of the operator can be improved.
Drawings
Fig. 1 is a schematic flow chart of a third view perspective view generation and display procedure of an unmanned aerial vehicle.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples.
The third view generating and displaying program of the unmanned aerial vehicle in this embodiment is run on the display, and first, a three-dimensional environmental map library of the flight area needs to be loaded in the display in advance, where the three-dimensional environmental map library may be provided by third party software (such as hundred degrees, germany, etc.). After the unmanned aerial vehicle takes off, the position information of the unmanned aerial vehicle is provided through sensors such as GPS or Beidou and the like of the unmanned aerial vehicle, a corresponding three-dimensional environment map is taken out, and a virtual flight environment three-dimensional map of a third visual angle of the unmanned aerial vehicle is constructed in real time. And then combining the flight parameters of the unmanned aerial vehicle and the position information of the unmanned aerial vehicle, and simulating the real-time flight attitude of the unmanned aerial vehicle. And finally, forming a third visual angle virtual reality scene of the unmanned aerial vehicle by utilizing a scene superposition technology, and displaying the third visual angle virtual reality scene on a display. Referring to fig. 1, the method specifically comprises the following steps:
1) And calling out the corresponding three-dimensional environment map from the three-dimensional environment map library according to the position information of the unmanned aerial vehicle, and drawing a virtual flight environment three-dimensional map of a third view angle.
The three-dimensional environment map library is used for constructing a terrain model according to characteristic point elevation and terrain characteristic parameters (such as average elevation, elevation standard deviation and the like) aiming at application scenes of small consumer unmanned aerial vehicles in low altitudes, urban streets, parks and the like; and drawing and measuring the topography and the topography of buildings, greenbelts and water areas of the city and the surrounding environment by adopting a light detection and measurement (LIDAR) tool, carrying out detail modeling on the drawing data by using scene modeling software such as 3DMax, 3D Studio and the like, and finally forming a complete three-dimensional environment map through color and texture processing.
The three-dimensional map of the virtual flight environment at the third view angle can be drawn in real time by only importing the three-dimensional environment map library in the flight boundary of the unmanned aerial vehicle in advance in the display and through the positioning signals of the unmanned aerial vehicle. Meanwhile, in the drawing process, through filtering excessive three-dimensional map details, for example, filtering out information such as rendering, color, and the like of obstacles in an original three-dimensional environment map, the information is processed into information only for keeping outline lines of the obstacles, environment perception required by unmanned aerial vehicle flight is only provided, obstacle avoidance requirements in the unmanned aerial vehicle flight process are guaranteed, and the calculation amount of map construction and view generation can be greatly reduced.
The virtual flying environment three-dimensional map replaces abstract map symbols with visual three-dimensional topography and ground objects. The map exceeds the traditional state of geographic information symbolization, spatial information leveling, solidification and stationing of map content, and enters the stages of exploring a geographic space cognition mode of simulating a person through a multi-sensory channel and performing various spatial geographic analyses under the conditions of dynamic, space-time transformation and multi-dimensional interactable map. In accordance therewith, mapping is transformed from traditional selection, creation, organization coordination and drawing of map symbols to three-dimensional terrain, construction of ground features, generation of multiple sensations, and creation of analytical application models.
2) And generating an unmanned aerial vehicle model by combining the flight parameters of the unmanned aerial vehicle and the position information of the unmanned aerial vehicle with a simulation technology, and generating a virtual reality scene of a third visual angle of the unmanned aerial vehicle by superposing the model of the unmanned aerial vehicle on a virtual flight environment three-dimensional map in real time.
The unmanned aerial vehicle third visual angle virtual reality scene generation technology is that according to the real pose information of an unmanned aerial vehicle, a model of the unmanned aerial vehicle is overlapped in real time in a virtual reality map generated by a real map by utilizing a virtual reality technology, and the eye point position of the third visual angle can be freely adjusted, so that an operator can see the relationship between the unmanned aerial vehicle and the surrounding environment from various visual angles in real time, and especially when the sight of the operator is blocked or the unmanned aerial vehicle flies away from a visual range, the unmanned aerial vehicle flight condition can still be provided for the operator in a clear, accurate and real-time mode, and the operation of the operator is assisted. The virtual drone flight image may be displayed on a head-mounted display or a common display device along with a forward-looking video image captured by the drone.
3) Head-mounted virtual 3D display technology
In part of cinema, the 3D hall uses linear polarization 3D technology, for example, in IMAX cinema, more than 2 projectors are used to realize 3D projection, so that progressive full-high-definition 3D pictures can be projected, and a single household projector can only realize full-high-definition 3D display by accelerating the flicker speed. In order to better reduce the volume, power consumption and weight of the head-mounted display, the effect of 3D display of the image is achieved through two OLED screens in the head-mounted display.
Based on the technology, the generation and display of the third vision of the unmanned aerial vehicle can be realized by relying on a mature 3D display hardware platform in the current market.
Claims (2)
1. A third perspective view generation and display program for an unmanned aerial vehicle, comprising the steps of:
step 1), according to the position information of the unmanned aerial vehicle, a corresponding three-dimensional environment map is called out from a three-dimensional environment map library, and a virtual flight environment three-dimensional map of a third view angle is drawn; the three-dimensional environment map library is aimed at an application scene of the small-sized consumer unmanned aerial vehicle, and a terrain model is built according to characteristic point elevation and terrain characteristic parameters; drawing and measuring topography and topography of buildings, greenbelts and water areas in urban and urban surrounding environments by adopting a light detection and measurement tool, carrying out detail modeling on the drawing data by using scene modeling software, and finally forming a complete three-dimensional environment map through color and texture processing; when a virtual flying environment three-dimensional map is drawn, filtering details of obstacles in the three-dimensional environment map, and only keeping outline lines of the obstacles;
and 2) generating an unmanned aerial vehicle model by utilizing flight parameters of the unmanned aerial vehicle and position information of the unmanned aerial vehicle in combination with a simulation technology, and superposing the flight gesture provided by the unmanned aerial vehicle model on a virtual flight environment three-dimensional map in real time according to the eye point position of the third visual angle to generate a virtual reality scene of the unmanned aerial vehicle at the third visual angle and displaying the virtual reality scene on a display.
2. A third perspective view generation and display procedure for a drone according to claim 1, wherein the display is a head-mounted display.
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| CN113485392B (en) * | 2021-06-17 | 2022-04-08 | 广东工业大学 | Virtual reality interaction method based on digital twins |
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| CN114815903A (en) * | 2022-06-29 | 2022-07-29 | 沃飞长空科技(成都)有限公司 | Flight route visual display method and device, aircraft and storage medium |
| CN115544673B (en) * | 2022-11-28 | 2023-03-31 | 四川腾盾科技有限公司 | Method for assisting in taking off and landing of large unmanned aerial vehicle |
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