CN111457895B - Target size calculation and display method for photoelectric load of unmanned aerial vehicle - Google Patents
Target size calculation and display method for photoelectric load of unmanned aerial vehicle Download PDFInfo
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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
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C3/00—Measuring distances in line of sight; Optical rangefinders
Abstract
The invention discloses a target size calculation and display method for photoelectric loads of an unmanned aerial vehicle, which comprises the following steps: receiving real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load; calculating to obtain the horizontal distance between the unmanned aerial vehicle and the detection target at the moment k according to the real-time telemetering data; calculating to obtain the actual height covered by the pitching direction and the actual width covered by the azimuth direction of the photoelectric load image at the moment k; calculating to obtain the actual width and height of each pixel in the photoelectric load image at the moment k; calculating to obtain the actual width and height of the detection target; and superposing and displaying the actual width and height of the detection target on the photoelectric load image. The invention analyzes and processes the real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load to obtain the actual width and height of the detected target, provides the size information of the detected target for ground operators, and assists the operators in classifying, judging and predicting the behavior of the detected target.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle target measurement, and particularly relates to a target size calculation and display method for photoelectric loads of an unmanned aerial vehicle.
Background
In recent years, with the rapid development of unmanned aerial vehicle system technology, the application field of unmanned aerial vehicles is becoming more and more extensive, and from the application of unmanned aerial vehicles, photoelectric loads are the most reliable and effective application loads, and play a vital role in many fields such as target reconnaissance, regional inspection, target striking guidance, striking efficiency evaluation, cable and pipeline inspection, forest fire prevention and the like.
In the task execution process of the unmanned aerial vehicle, the photoelectric load is crucial to the mastering of target information, and the success or failure of a flight task can be influenced. The target size information is inherent state information of the target, and if the size information of the target can be mastered in real time, the method can effectively assist an operator in classifying, identifying and predicting the behavior of the target, and improve the success rate of the flight mission aiming at the target category. Therefore, a target size calculation method which is high in real-time performance and effective is found, and size information of the target is presented to an operator in real time, so that the urgent need of the photoelectric load application of the unmanned aerial vehicle is met.
Disclosure of Invention
The technical problem of the invention is solved: the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle comprises the steps of analyzing and processing real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load to obtain the actual width and height size of a detected target, providing size information of the detected target for ground operators, and assisting the operators in classifying, judging and predicting behaviors of the detected target.
In order to solve the technical problem, the invention discloses a target size calculation and display method of a photoelectric load of an unmanned aerial vehicle, which comprises the following steps:
receiving real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load;
calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and a detection target at the moment k according to the real-time telemetering data;
according to the horizontal distance S (k), calculating to obtain the actual height h (k) covered by the pitching direction of the photoelectric load image at the time k and the actual width w (k) covered by the azimuth direction of the photoelectric load image at the time k;
according to the actual height h (k) and the actual width w (k), calculating to obtain the actual width and height [ w (k) ] of each pixel in the photoelectric load image at the moment kp,hp]；
Obtaining pixel value [ s ] of detected targetpx,spy]According to the actual width and height dimension [ wp,hp]And detecting a pixel value [ s ] of the targetpx,spy]Calculating to obtain the actual width and height dimensions [ s ] of the detected targetx,sy]；
And superposing and displaying the actual width and height of the detection target on the photoelectric load image.
In the above method for calculating and displaying the size of the target of the photoelectric load of the unmanned aerial vehicle, the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k is calculated according to the real-time telemetering data, and the method includes:
judging whether the telemetering data carries laser ranging information or not;
if the telemetering data carries laser ranging information, calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k according to the slant distance between the unmanned aerial vehicle and the detection target;
and if the telemetering data does not carry laser ranging information, calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k according to the ground height of the unmanned aerial vehicle.
In the above method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle, according to the slant distance between the unmanned aerial vehicle and the detection target, the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k is obtained by calculation, and the method includes:
the telemetering data is analyzed to obtain the laser ranging information at the moment k, the pitch angle beta (k) of the unmanned aerial vehicle at the moment k and the pitch angle of the photoelectric load at the moment k
Determining the slant distance L (k) between the unmanned aerial vehicle and the detection target at the moment k according to the laser ranging information at the moment k; calculating to obtain the distance S (k) between the unmanned aerial vehicle and the detection target at the moment k through a trigonometric relation:
in the above method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle, according to the ground height of the unmanned aerial vehicle, calculating the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k, including:
the telemetering data is analyzed to obtain the altitude H of the unmanned aerial vehicle at the moment ka(k) K moment unmanned aerial vehicle takeoff field altitude Hg(k) Pitching angle beta (k) of unmanned aerial vehicle at moment k and pitching angle of photoelectric load at moment k
Calculating to obtain the distance S (k) between the unmanned aerial vehicle and the detection target at the moment k through a trigonometric relation:
in the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle, the actual height h (k) covered by the photoelectric load image in the pitching direction at the moment k is as follows:
where τ (k) represents the angle of view of the photoelectric load in the pitch direction at time k.
In the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle, the actual width w (k) covered by the photoelectric load image at the moment k in the azimuth direction is as follows:
where σ (k) represents the azimuthal angle of view of the photoelectric load at time k.
In the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle, the actual width and height [ w ] of each pixel in the photoelectric load image at the moment kp,hp]Comprises the following steps:
wherein [ wr,hr]Representing a fixed resolution of the photovoltaic charge image.
In the method for calculating and displaying the size of the target of the photoelectric load of the unmanned aerial vehicle, the actual width and height sizes s of the target are detectedx,sy]Comprises the following steps:
[sx,sy]＝[spx,spy][wp,hp]T。
in the above-mentioned target size of unmanned aerial vehicle photoelectric load calculates and shows the method, judge whether carry laser range finding information in the telemetering measurement data, include:
obtaining a distance measurement value irradiated by laser from the telemetering data;
if the distance measurement value is larger than 300, determining that laser distance measurement information is carried in the telemetering data and the telemetering data is in a laser distance measurement information state;
and if the ranging value is 0 or negative, determining that the ranging value is invalid, and determining that the telemetry data does not carry laser ranging information and is in a laser ranging information-free state.
In the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle,
[wr,hr]＝[1920,1080]。
the invention has the following advantages:
(1) the invention discloses a target size calculation and display method of an unmanned aerial vehicle photoelectric load, which is characterized in that real-time telemetering data transmitted by an unmanned aerial vehicle and the photoelectric load are analyzed and processed to obtain the actual width and height sizes of a detected target, the size information of the detected target is provided for ground operators, the operators are assisted to classify, judge and predict the detected target, and the success rate of flight tasks aiming at the target category is improved.
(2) The invention discloses a target size calculation and display method for a photoelectric load of an unmanned aerial vehicle, which can provide real-time target size information for a photoelectric load operator through software algorithm calculation and display without adding any hardware equipment, and has the advantages of simple operation and low cost.
Drawings
Fig. 1 is a flowchart illustrating steps of a method for calculating and displaying a target size of a photoelectric load of an unmanned aerial vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the actual height covered by the photoelectric load image at the moment k in the pitching direction in the embodiment of the invention;
fig. 3 is a schematic diagram of the actual width covered by the photoelectric load image azimuth at time k in the embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in the embodiment of the present invention, a method for calculating and displaying a target size of a photoelectric load of an unmanned aerial vehicle includes:
and step 101, receiving real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load.
In this embodiment, real-time telemetry data of the drone and the photovoltaic load is received through the drone link system.
And step 102, calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k according to the real-time telemetering data.
In the embodiment, for the photoelectric load with the laser source, the laser ranging information state and the non-laser ranging information state are divided; for photoelectric loads without laser sources, there is only a laser ranging information-free state. The horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k can be calculated by selecting different methods through judging whether the telemetering data carries laser ranging information or not.
Preferably, for the case that the telemetry data carries laser ranging information, the slant distance between the unmanned aerial vehicle and the detection target is directly given through the laser ranging information, that is, the laser return value, and then the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k can be obtained by resolving according to the slant distance between the unmanned aerial vehicle and the detection target: the telemetering data is analyzed to obtain the laser ranging information at the moment k, the pitch angle beta (k) of the unmanned aerial vehicle at the moment k and the pitch angle of the photoelectric load at the moment k
Determining the slant distance L (k) between the unmanned aerial vehicle and the detection target at the moment k according to the laser ranging information at the moment k; calculating to obtain the distance S (k) between the unmanned aerial vehicle and the detection target at the moment k through a trigonometric relation:
preferably, for the case that the telemetry data does not carry laser ranging information, the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k is obtained by calculation according to the ground altitude of the unmanned aerial vehicle: the telemetering data is analyzed to obtain the altitude H of the unmanned aerial vehicle at the moment ka(k) K moment unmanned aerial vehicle takeoff field altitude Hg(k) Pitching angle beta (k) of unmanned aerial vehicle at moment k and pitching angle of photoelectric load at moment k
Calculating to obtain the distance S (k) between the unmanned aerial vehicle and the detection target at the moment k through a trigonometric relation:
it should be noted that, when the horizontal distance is performed according to the ground height of the unmanned aerial vehicle, it needs to first determine whether the detection target is located at the center of the field of view of the photoelectric load, and if the detection target is not located at the center of the field of view of the photoelectric load, the center of the field of view of the photoelectric load needs to be adjusted to the detection target.
Preferably, whether the telemetry data carries the laser ranging information may be determined as follows:
extracting a distance measurement value irradiated by laser from the telemetering data; if the distance measurement value is larger than 300, determining that laser distance measurement information is carried in the telemetering data and the telemetering data is in a state with the laser distance measurement information, and directly using the distance measurement value as an inclined distance between the unmanned aerial vehicle and a detection target; and if the ranging value is 0 or negative, determining that the ranging value is invalid, and the telemetering data does not carry laser ranging information and is in a laser ranging information-free state.
And 103, calculating the actual height h (k) covered by the pitching direction of the photoelectric load image at the time k and the actual width w (k) covered by the azimuth direction of the photoelectric load image at the time k according to the horizontal distance S (k).
In this embodiment, the photovoltaic loads have different field angles at different focal lengths:
as shown in fig. 2, when the elevation angle of the photoelectric load at time k is τ (k), the elevation angle corresponding to the lowermost edge of the photoelectric load image at time k is τ (k)
The pitch angle corresponding to the uppermost edge of the photoelectric load image at the moment k is
The actual height h (k) covered by the pitching direction of the photoelectric load image at the moment k is:
as shown in fig. 3, when the azimuthal viewing angle of the photoelectric load at time k is σ (k), the actual width w (k) covered by the azimuthal viewing angle of the photoelectric load image at time k is:
104, calculating to obtain the actual width and height [ w (k) ] of each pixel in the photoelectric load image at the moment k according to the actual height h (k) and the actual width w (k)p,hp]。
In this embodiment, the photoelectric payload image typically has a fixed resolution wr,hr]Then the actual width and height dimension [ w ] of each pixel in the photoelectric load image at time kp,hp]Comprises the following steps:
step 105, obtaining the pixel value [ s ] of the detection targetpx,spy]According to the actual width and height dimension [ wp,hp]And detecting a pixel value [ s ] of the targetpx,spy]Calculating to obtain the actual width and height dimensions [ s ] of the detected targetx,sy]。
In this embodiment, for a detected target with obvious image characteristics (especially for a detected target with a load capable of being tracked for a long time), the target recognition algorithm can automatically calculate the pixel value [ s ] of the detected targetpx,spy]. For the detection target with less obvious target image characteristics or special target shape and size, the pixel value [ s ] of the detection target can be obtained in a manual selection modepx,spy]。
According to the actual width and height dimension [ w ]p,hp]And detecting a pixel value [ s ] of the targetpx,spy]Then, the actual width and height [ s ] of the detected target can be calculatedx,sy]：
[sx,sy]＝[spx,spy][wp,hp]T
For example, when the resolution of the photovoltaic charge image is fixed [ w ]r,hr]＝[1920,1080]In time, there are:
namely:
and 106, superposing and displaying the actual width and height of the detection target on the photoelectric load image.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.
Claims (8)
1. A target size calculation and display method for photoelectric loads of an unmanned aerial vehicle is characterized by comprising the following steps:
receiving real-time telemetering data transmitted by the unmanned aerial vehicle and the photoelectric load;
calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and a detection target at the moment k according to the real-time telemetering data;
according to the horizontal distance S (k), calculating to obtain the actual height h (k) covered by the pitching direction of the photoelectric load image at the time k and the actual width w (k) covered by the azimuth direction of the photoelectric load image at the time k;
according to the actual height h (k) and the actual width w (k), calculating to obtain the actual width and height [ w (k) ] of each pixel in the photoelectric load image at the moment kp,hp]：
Wherein [ wr,hr]A fixed resolution representing an image of the photoelectric load;
obtaining pixel value [ s ] of detected targetpx,spy]According to the actual width and height dimension [ wp,hp]And detecting a pixel value [ s ] of the targetpx,spy]Calculating to obtain the actual width and height dimensions [ s ] of the detected targetx,sy]；
And superposing and displaying the actual width and height of the detection target on the photoelectric load image.
2. The method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 1, wherein the step of calculating the horizontal distance s (k) between the unmanned aerial vehicle and the detected target at the time k according to the real-time telemetry data comprises the following steps:
judging whether the telemetering data carries laser ranging information or not;
if the telemetering data carries laser ranging information, calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k according to the slant distance between the unmanned aerial vehicle and the detection target;
and if the telemetering data does not carry laser ranging information, calculating to obtain a horizontal distance S (k) between the unmanned aerial vehicle and the detection target at the moment k according to the ground height of the unmanned aerial vehicle.
3. The method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 2, wherein the step of calculating the horizontal distance s (k) between the unmanned aerial vehicle and the detection target at the time k according to the slant distance between the unmanned aerial vehicle and the detection target comprises:
the telemetering data is analyzed to obtain the laser ranging information at the moment k, the pitch angle beta (k) of the unmanned aerial vehicle at the moment k and the pitch angle of the photoelectric load at the moment k
Determining the slant distance L (k) between the unmanned aerial vehicle and the detection target at the moment k according to the laser ranging information at the moment k;
by trigonometric relationship, one obtains s (k):
4. the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 2, wherein the step of calculating the horizontal distance s (k) between the unmanned aerial vehicle and the detected target at the time k according to the ground height of the unmanned aerial vehicle comprises:
the telemetering data is analyzed to obtain the altitude H of the unmanned aerial vehicle at the moment ka(k) K moment unmanned aerial vehicle takeoff field altitude Hg(k) Pitching angle beta (k) of unmanned aerial vehicle at moment k and pitching angle of photoelectric load at moment k
By trigonometric relationship, one obtains s (k):
5. the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 3 or 4, wherein the actual height h (k) covered by the pitching direction of the photoelectric load image at the time k is:
where τ (k) represents the angle of view of the photoelectric load in the pitch direction at time k.
6. The method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 5, wherein the actual width w (k) covered by the photoelectric load image azimuth at the time k is:
where σ (k) represents the azimuthal angle of view of the photoelectric load at time k.
7. The method of claim 6, wherein the actual width and height of the target [ s ] is detectedx,sy]Comprises the following steps:
[sx,sy]＝[spx,spy][wp,hp]T。
8. the method for calculating and displaying the target size of the photoelectric load of the unmanned aerial vehicle according to claim 1,
[wr,hr]＝[1920,1080]。
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