CN112539732A - Unmanned aerial vehicle cluster state and trajectory data acquisition platform - Google Patents
Unmanned aerial vehicle cluster state and trajectory data acquisition platform Download PDFInfo
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- CN112539732A CN112539732A CN202011405038.9A CN202011405038A CN112539732A CN 112539732 A CN112539732 A CN 112539732A CN 202011405038 A CN202011405038 A CN 202011405038A CN 112539732 A CN112539732 A CN 112539732A
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- 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
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Abstract
The invention discloses an unmanned aerial vehicle cluster state and track data acquisition platform. The invention comprises a ground station, which controls the unmanned aerial vehicle to execute a flight task by sending a control command, wherein the flight state of the unmanned aerial vehicle can be changed along with the change of the control command, and the ground station can simultaneously receive attitude angle, acceleration and battery electric quantity information sent by the unmanned aerial vehicle and store all received data and the sent control command to a PC (personal computer) end. Shooting the flight track of the unmanned aerial vehicle through the placed binocular camera, shooting the flight track video of the unmanned aerial vehicle, performing unmanned aerial vehicle depth ranging and three-dimensional space coordinate reconstruction according to the binocular camera vision ranging principle, and obtaining the three-dimensional space coordinate with the unmanned aerial vehicle flight track point accuracy. The invention completely acquires the unmanned aerial vehicle control instruction and the corresponding unmanned aerial vehicle flight state information including attitude angle, speed, acceleration and the like, and meets the data requirement of researching and accurately controlling the unmanned aerial vehicle.
Description
Technical Field
The invention belongs to the technical field of unmanned aerial vehicle data acquisition platforms, and particularly relates to an unmanned aerial vehicle cluster state and track data acquisition platform.
Background
Unmanned aerial vehicle is because of having stronger load capacity and nimble mobility, and the wide application is in military and civilian field, like road traffic inspection, city survey and drawing aerial photograph, large-scale unmanned aerial vehicle cluster performance etc. under a lot of application scenarios, all need control unmanned aerial vehicle and carry out accuracy and stability flight, how the flight of accurate control unmanned aerial vehicle obtains more and more attention.
At present, the unmanned aerial vehicle is controlled to carry out simple outdoor GPS waypoint tasks at home and abroad, and the accurate and stable flight control of the outdoor unmanned aerial vehicle cannot be completed. The key point of researching how to accurately control the unmanned aerial vehicle is to research the corresponding specific flight state (including attitude angle, speed and acceleration of the unmanned aerial vehicle) after the unmanned aerial vehicle receives the control command. The key of the research of the problems lies in collecting a large amount of data, and the corresponding relation between the flight instruction of the unmanned aerial vehicle and the specific flight state is obtained through the analysis and training of the big data. The difficulty of collecting data lies in obtaining unmanned aerial vehicle speed information, wants to obtain unmanned aerial vehicle speed information, needs to carry out three-dimensional space positioning to unmanned aerial vehicle, and the outdoor positioning technology of present mainstream is GPS, UWB. The position information obtained from the GPS is longitude and latitude information of an object in a geodetic coordinate system WGS-84, complex unit conversion is needed, and the precision of the current mainstream M8N GPS module is 0.5 meter, which cannot meet the precision requirement. The UWB (Ultra-Wide Band) positioning module that unmanned aerial vehicle's ground coordinate system adopted realizes unmanned aerial vehicle's coordinate location, and the coordinate system on ground is invariable all the time for research unmanned aerial vehicle is concrete motion when flying in the air, because the relatively better UWB positioning mode of location also has 10 to 20 cm's error, so several obvious unsatisfied normal position unmanned aerial vehicle error coordinate points can appear in one section continuous flight of unmanned aerial vehicle, lead to calculating the speed information of the unmanned aerial vehicle that obtains to have certain unusual.
Therefore, how to design an acquisition platform capable of acquiring accurate unmanned aerial vehicle cluster state information and trajectory data is a problem to be solved at present.
Disclosure of Invention
In order to overcome the defects in the background art, the invention designs an unmanned aerial vehicle cluster state and track data acquisition platform. Because the distance measurement precision of the binocular camera is 5-10cm after the actual operation calibration such as camera calibration, binocular matching and depth information calculation is carried out, the precision requirement is met, the flying track video of the unmanned aerial vehicle is shot through the binocular camera, the unmanned aerial vehicle depth distance measurement and three-dimensional space coordinate reconstruction are carried out according to the binocular camera vision distance measurement principle, and the three-dimensional space coordinate with the accurate flying track point of the unmanned aerial vehicle is obtained. And receiving information such as attitude angles and batteries sent by the unmanned aerial vehicle by combining a ground station, and acquiring all data for researching the corresponding relation between the flight instruction of the unmanned aerial vehicle and the specific flight state.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the utility model provides an unmanned aerial vehicle cluster state and trajectory data's collection platform, includes:
the binocular camera is used for shooting the flight track of the unmanned aerial vehicle and acquiring the three-dimensional space position information of the unmanned aerial vehicle;
the PC computer is used for receiving the acceleration, the attitude angle and the battery information of the unmanned aerial vehicle;
the unmanned aerial vehicle ground station is used for storing information of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly;
and the wireless data transmission module is used for sending and receiving data.
Further to the above, it is preferable that,
the binocular camera can shoot the flight tracks of a plurality of unmanned aerial vehicles at the same time;
videos shot by the binocular camera can be stored in the SD card, so that outdoor operation is facilitated;
binocular camera pixel 1280 800, frame rate 60 frames/second satisfies the clear demand of shooing unmanned aerial vehicle orbit, quick update unmanned aerial vehicle three-dimensional space positional information.
Further to the above, it is preferable that,
the unmanned aerial vehicle ground station receives the unmanned aerial vehicle information transmitted by the wireless data transmission module, stores the unmanned aerial vehicle information to the PC terminal, and can simultaneously receive the information of a plurality of unmanned aerial vehicles;
the ground station of the unmanned aerial vehicle is used for sending control instructions and simultaneously controlling a plurality of unmanned aerial vehicles to carry out flying tasks such as take-off, height setting, landing and the like;
the unmanned aerial vehicle ground station sets up the window that shows and receives the data that come from unmanned aerial vehicle and the window of control unmanned aerial vehicle data.
The unmanned aerial vehicle ground station is provided with a wireless data transmission communication baud rate selection window and a serial port selection window.
Further to the above, it is preferable that,
the air transmission rate of the wireless data transmission module reaches 1 Mbit/s, and the requirement of rapid transmission of a large amount of data between the unmanned aerial vehicle and the ground station is met;
the method has an information transmission detection mechanism, and detects that the information transmission fails, and can reach 15 times of retransmission at most.
Further to the above, it is preferable that,
and the position information acquired by the binocular camera and the acceleration, attitude angle and battery information received by the ground station are combined to obtain complete unmanned aerial vehicle information.
The invention has the beneficial effects that:
1. the binocular camera can shoot the flight tracks of a plurality of unmanned aerial vehicles simultaneously, the shot videos can be stored in the SD card, the ranging precision is 5-10cm after calibration, and the requirements of clearly shooting the flight tracks of the unmanned aerial vehicles and rapidly updating the three-dimensional space position information of the unmanned aerial vehicles are met.
2. The data demand of researching the accurate control unmanned aerial vehicle is met by combining the unmanned aerial vehicle control instruction, the attitude angle and the acceleration stored by the PC end and the speed data obtained by calculating the flight track of the unmanned aerial vehicle.
Drawings
Fig. 1 is a front view of the structure of the present invention.
Fig. 2 is an interface diagram of the ground station of the drone of fig. 1.
Fig. 3 is a flow chart of the binocular camera acquiring speed in fig. 1.
Fig. 4 is a schematic diagram of binocular vision distance measurement.
Detailed Description
In order to make the technical features, objects and effects of the present invention more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples.
The invention comprises a ground station, which controls an unmanned aerial vehicle to execute a series of flight tasks such as flying, fixed-height flight, fixed-point flight, landing and the like by sending a control command, wherein the flight state (attitude angle, speed and acceleration) of the unmanned aerial vehicle can be changed along with the change of the control command, and the ground station can receive the attitude angle, the acceleration and the battery electric quantity information sent by the unmanned aerial vehicle and store all the received data and the sent control command to a PC terminal.
When unmanned aerial vehicle flies in the air, the unmanned aerial vehicle flight track is shot through the binocular camera placed, the unmanned aerial vehicle flight track video is shot, unmanned aerial vehicle depth ranging and three-dimensional space coordinate reconstruction are carried out according to the binocular camera vision ranging principle, the three-dimensional space coordinate with the unmanned aerial vehicle flight track point accuracy is obtained, and unmanned aerial vehicle speed information is calculated through coordinate information.
Fig. 1 is a schematic diagram of an unmanned aerial vehicle cluster state and trajectory data acquisition platform, which includes a PC 1.1 and a binocular camera shooting flight trajectory module 1.2. Firstly, a multithreading unmanned aerial vehicle data acquisition interface ground station as shown in fig. 2 is built by using Visual Studio, and then a wireless data transmission module is used for connecting a PC end and the unmanned aerial vehicle, so that data transmission between the two is ensured. The position of binocular camera is adjusted, guarantees to shoot all regions of unmanned aerial vehicle flight range. And finally, controlling the unmanned aerial vehicle to fly by utilizing the ground station, starting the camera to start shooting the flight track, and storing all data sent by the unmanned aerial vehicle to the PC (personal computer) end by the ground station.
As shown in fig. 2, a Visual Studio is used to open a ground station control interface, and under the situation that data of one unmanned aerial vehicle needs to be collected (multiple unmanned aerial vehicles have similar steps), serial port numbers and baud rates of two wireless data transmission modules (one is used for receiving information such as attitude angles and battery power sent by the unmanned aerial vehicle, and the other is used for sending ground station control instruction data) are configured. And then clicking a data receiving button, starting a data receiving thread, starting to receive data from the unmanned aerial vehicle, clicking a command sending button, and starting to send a control command to the unmanned aerial vehicle. The transmitted command is displayed in the command transmitting window, and the received data is not displayed in the receiving window due to the long length of the received data.
And when the ground station receives 26 bytes from the serial port buffer, triggering a protocol analysis function, analyzing whether the data is complete according to the communication protocol, and after verification is completed, storing the data to the PC (personal computer) end. For example, after receiving data [ a1 a 2882B 0015062700C 600 a 200 a 40001 EB 311082 CE BA 01 FF CE 49], it will check whether the frame header is correct according to the communication protocol, and then convert it into a specific value according to the meaning of the parameter corresponding to each byte.
The unmanned aerial vehicle sends data information once every 20ms, in order to reduce the dynamic error of data, 10 groups of data are accumulated and collected, and the average value of 10 groups of data is calculated and stored in the PC terminal as the actual data for later analysis and training.
Giving an unmanned aerial vehicle control instruction such as [ 17001500165015001500150015001500 ] according to an unmanned aerial vehicle flight overall strategy, converting the instruction numerical value from decimal into 16-system byte codes, transmitting the byte codes to the data transmission module through a serial port, sending the byte codes to the unmanned aerial vehicle by the data transmission module, and processing and controlling the motor to rotate after the byte codes are received by the unmanned aerial vehicle to realize the overall flight strategy. The data that unmanned aerial vehicle sent the ground station has been saved the PC end through above-mentioned process, has obtained attitude angle, battery power and unmanned aerial vehicle acceleration data, and velocity information needs to obtain through the tracings that the binocular camera was shot.
As shown in fig. 3, for a captured unmanned aerial vehicle trajectory video, the captured unmanned aerial vehicle trajectory video is first decomposed into a plurality of pictures according to a frame rate, each picture is cut, and a part of each picture captured by a left camera and a right camera is cut into two pictures with the same size. And processing pictures shot by the left camera and the right camera according to a three-dimensional reconstruction principle.
The binocular camera vision ranging principle, as shown in fig. 4, can obtain formula 1 according to the law of similarity of triangles:
solving the above equation to perform three-dimensional reconstruction to obtain the expression of three-dimensional coordinates x, y, z, as formula 2:
according to the derivation, the focal length f of the camera, the left and right camera baselines b (obtained by calibrating the camera), and the parallax are required to be known for solving the three-dimensional coordinates: d ═ xl-xrI.e. left camera pixel (x)l，yl) And the right phaseCorresponding point in machine (x)r，yr) The relationship (2) of (c).
And calculating the parallax of pixel points of the unmanned aerial vehicle in the left and right pictures by using the SGBM algorithm of opencv, and obtaining the three-dimensional coordinate of the unmanned aerial vehicle according to the formula. And obtaining a three-dimensional coordinate, namely calculating the instantaneous speed of each track point of the unmanned aerial vehicle in the flight process.
So far, the specific flow of data acquisition by the platform has been described completely.
Claims (5)
1. The utility model provides an unmanned aerial vehicle cluster state and trajectory data's collection platform which characterized in that includes:
the binocular camera is used for shooting the flight track of the unmanned aerial vehicle and acquiring the three-dimensional space position information of the unmanned aerial vehicle;
the PC computer is used for receiving the acceleration, the attitude angle and the battery information of the unmanned aerial vehicle;
the unmanned aerial vehicle ground station is used for storing information of the unmanned aerial vehicle and controlling the unmanned aerial vehicle to fly;
and the wireless data transmission module is used for sending and receiving data.
2. The acquisition platform of claim 1, wherein:
the binocular cameras are used for shooting the flight tracks of the multiple unmanned aerial vehicles at the same time;
storing the video shot by the binocular camera to the SD card;
the pixels of the binocular camera are 1280 × 800, and the frame rate is 60 frames/second.
3. The acquisition platform of claim 1, wherein:
the unmanned aerial vehicle ground station receives the unmanned aerial vehicle information transmitted by the wireless data transmission module, stores the unmanned aerial vehicle information to the PC terminal, and can simultaneously receive the information of a plurality of unmanned aerial vehicles;
the ground station of the unmanned aerial vehicle is used for sending control instructions and simultaneously controlling a plurality of unmanned aerial vehicles to take off, set high or land;
the unmanned aerial vehicle ground station is provided with a window for displaying data received from the unmanned aerial vehicle and a window for controlling the data of the unmanned aerial vehicle;
the unmanned aerial vehicle ground station is provided with a wireless data transmission communication baud rate selection window and a serial port selection window.
4. The acquisition platform of claim 1, wherein:
the air transmission rate of the wireless data transmission module reaches 1M bit/s; the method has an information transmission detection mechanism, and detects that the information transmission fails, and can reach 15 times of retransmission at most.
5. The acquisition platform according to claim 2 or 3, characterized in that:
and the position information acquired by the binocular camera and the acceleration, attitude angle and battery information received by the ground station are combined to obtain complete unmanned aerial vehicle information.
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| CN107943068A (en) * | 2017-10-24 | 2018-04-20 | 浙江大学 | A kind of unmanned plane vision by Pisces eye is autologous to perceive group system and its control method |
| CN109407697A (en) * | 2018-09-20 | 2019-03-01 | 北京机械设备研究所 | A kind of unmanned plane pursuit movement goal systems and method based on binocular distance measurement |
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Patent Citations (4)
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| CN102791015A (en) * | 2011-05-20 | 2012-11-21 | 鸿富锦精密工业（深圳）有限公司 | Base station device, wireless communication system and method |
| CN107943068A (en) * | 2017-10-24 | 2018-04-20 | 浙江大学 | A kind of unmanned plane vision by Pisces eye is autologous to perceive group system and its control method |
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Application publication date: 20210323 |