CN113048939B - Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment - Google Patents
Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment Download PDFInfo
- Publication number
- CN113048939B CN113048939B CN202110250073.6A CN202110250073A CN113048939B CN 113048939 B CN113048939 B CN 113048939B CN 202110250073 A CN202110250073 A CN 202110250073A CN 113048939 B CN113048939 B CN 113048939B
- Authority
- CN
- China
- Prior art keywords
- information
- aerial vehicle
- unmanned aerial
- tracking
- longitudinal
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
- G01C1/02—Theodolites
-
- 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
Abstract
The application relates to a photoelectric deviation calibration method and device for tracking an unmanned aerial vehicle and computer equipment. The method comprises the following steps: starting a beacon, and tracking the unmanned aerial vehicle to fly according to the air route; the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and calculates angle information and distance information of the tracking unmanned aerial vehicle relative to the ship; according to the angle information, setting the angle information of the shipboard antenna, and locking and tracking the low-light-level television to the unmanned aerial vehicle; when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is recorded and tracked; and calculating the photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television. The method can be used for realizing photoelectric calibration efficiency and accuracy.
Description
Technical Field
The application relates to the technical field of aerospace measurement and control, in particular to a photoelectric deviation calibration method and device for tracking an unmanned aerial vehicle and computer equipment.
Background
In order to realize offshore high-precision angle measurement, the shipborne measurement and control system needs to calibrate equipment before offshore measurement and control each time. For radio equipment, calibration contents are phase calibration and shafting parameter calibration. At present, there are two main methods for calibrating marine shafting parameters: one is to directly obtain the electric axis correction parameter by tracking the transit satellite; the other method is that firstly, the theodolite is taken as a reference, the optical axis correction parameters of the calibration television of each measurement and control antenna are obtained through a synchronous fixed star measurement method, then, the optical axis is taken as a reference, and the photoelectric deviation is calibrated in a ball-releasing mode to obtain the parameters of the electric axis. Although the electric axis parameters can be directly obtained by the first method, the first method is limited by the border star frequency point, and if the frequency point is inconsistent with the current measurement and control frequency point, the difference of the photoelectric parameters among different frequency points needs to be obtained by a ball-releasing mode for equivalent calculation. Therefore, before satellite measurement and control are carried out each time, photoelectric deviation calibration is carried out in a ball-dropping mode, but the photoelectric deviation calibration carried out in the current ball-dropping mode cannot be recovered after the ball flies out, and the calibration cost is high; the attitude of the ball in the air changes greatly, and the stability of a received signal is poor, so that the random error increase of measurement is caused; equipment calibration of only one frequency point can be completed at one time, and the efficiency is low; in the calibration process, a pulse radar or a theodolite is required to synchronously track, a distance value is provided for parallax correction, and the calibration process involves the defects of more post personnel and the like.
Disclosure of Invention
Therefore, in order to solve the technical problem, a photoelectric deviation calibration method, a photoelectric deviation calibration device and a computer device for tracking an unmanned aerial vehicle are provided.
A photoelectric deviation calibration method for tracking an unmanned aerial vehicle, the method comprising:
starting a beacon arranged on the tracking unmanned aerial vehicle, and enabling the unmanned aerial vehicle to fly according to a preset air route;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
according to the angle information, setting the angle information of the shipboard antenna, and locking and tracking the low-light-level television to the unmanned aerial vehicle;
when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is tracked;
and calculating the photoelectric deviation according to the angular error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television.
In one embodiment, the beacon comprises a plurality of frequency point patterns; further comprising: starting a first calibration frequency point of a beacon arranged on a tracking unmanned aerial vehicle; after the photoelectric deviation of the first calibration frequency point is obtained, the frequency point mode of the beacon is switched into a second calibration frequency point through an uplink remote control channel of the tracking unmanned aerial vehicle.
In one embodiment, the tracking unmanned aerial vehicle comprises a meteorological data recorder, and a temperature sensor, a humidity sensor, an air pressure sensor and a GPS module are arranged on the tracking unmanned aerial vehicle; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder; further comprising: when the unmanned aerial vehicle flies according to a preset airway, first position information collected by the GPS module is sent to the ground station through the meteorological data recorder, and the ground station receives and tracks the first position information sent by the unmanned aerial vehicle.
In one embodiment, the angle information includes: azimuth angle information and pitch angle information, wherein the miss distance comprises transverse miss distance and longitudinal miss distance, and the angle error voltage comprises azimuth angle error voltage and pitch angle error voltage; further comprising: obtaining a transverse voltage correction quantity according to the azimuth angle error voltage and the transverse miss distance;
obtaining a longitudinal voltage correction according to the azimuth angle error voltage and the longitudinal miss distance;
acquiring a first pixel point in the center of an optical axis, a second pixel point which is transversely positively biased, a third pixel point which is longitudinally positively biased, a fourth pixel point at a beacon position and a fifth pixel point at a locking position in image information;
calculating the unit transverse miss distance of the unit pixel according to the abscissa of the second pixel point and the abscissa of the first pixel point;
calculating the unit longitudinal miss distance of the unit pixel according to the vertical coordinates of the third pixel point and the first pixel point;
determining the transverse locking voltage correction according to the transverse voltage correction, the unit transverse miss distance, the abscissa of the fourth pixel point and the abscissa of the fifth pixel point;
determining the longitudinal locking voltage correction according to the longitudinal voltage correction, the unit longitudinal miss distance, the longitudinal and transverse coordinates of the fourth pixel point and the longitudinal coordinate of the fifth pixel point;
obtaining a transverse parallax voltage correction according to the obtained transverse deviation of the electric axis center relative to the low-light-level television center, the transverse locking voltage correction and the distance information;
obtaining longitudinal parallax voltage correction according to the obtained longitudinal deviation of the center of the electric axis relative to the micro-optic television center, the longitudinal locking voltage correction and the distance information;
acquiring a radio refraction correction value and a light refraction correction value when tracking the current position of the unmanned aerial vehicle for signal transmission, and acquiring a longitudinal atmospheric refraction correction value according to the radio refraction correction value, the light refraction correction value and the longitudinal parallax voltage correction value;
obtaining a gravity droop correction quantity according to the pitch angle information, the gravity value and the longitudinal atmospheric refraction correction quantity;
and determining the horizontal parallax voltage correction amount as a horizontal photoelectric deviation, and determining the gravity sag correction amount as a vertical photoelectric deviation.
In one embodiment, the method further comprises the following steps: and measuring the photoelectric deviation at a plurality of sampling moments, and averaging to obtain the final photoelectric deviation of the current calibration frequency point.
In one embodiment, the method further comprises the following steps: and determining whether all the calibration frequency points are calibrated, and if so, controlling the tracking unmanned aerial vehicle to return to the air.
An optoelectronic deviation calibration apparatus for tracking an unmanned aerial vehicle, the apparatus comprising:
tracking an unmanned aerial vehicle, a beacon, an antenna on a ship, a low-light-level television on the ship, a measurement and control system on the ship and a ground station;
the beacon is arranged on the tracking unmanned aerial vehicle, and the unmanned aerial vehicle flies according to a preset air route after the beacon is started;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
the measurement and control system sets angle information of an antenna on the ship according to the angle information and locks and tracks the low-light-level television to the unmanned aerial vehicle; when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is tracked; and calculating the photoelectric deviation according to the angular error voltage, the angular information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television.
In one embodiment, the beacon comprises a plurality of frequency point modes, after a first calibration frequency point of the beacon is started, photoelectric deviation calibration of the first calibration frequency point is performed, and after the photoelectric deviation calibration of the first calibration frequency point, an uplink remote control channel of the unmanned aerial vehicle is tracked to switch the frequency point mode of the beacon into a second calibration frequency point.
In one embodiment, the tracking unmanned aerial vehicle comprises a meteorological data recorder, and a temperature sensor, a humidity sensor, an air pressure sensor and a GPS module are arranged on the tracking unmanned aerial vehicle; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder; the temperature, humidity and air pressure sensor and the GPS module are respectively used for acquiring temperature information, humidity information, air pressure information and first position information; and after receiving the temperature information, the humidity information, the air pressure information and the first position information, the measurement and control system calculates a radio refraction correction value and a light refraction correction value according to the Gaussian layered model.
In one embodiment, the measurement and control system comprises a receiver and a tracking receiver, wherein the receiver is used for setting a receiving frequency point as a calibration frequency point, and the tracking receiver is used for loading the phase and the slope of the receiving frequency point.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor executing the computer program by the steps of:
starting a beacon arranged on the tracking unmanned aerial vehicle, and enabling the tracking unmanned aerial vehicle to fly according to a preset air route;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
according to the angle information, setting the angle information of the shipboard antenna, and locking and tracking the low-light-level television to the unmanned aerial vehicle;
when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is tracked;
and calculating the photoelectric deviation according to the angular error voltage, the angular information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television.
According to the photoelectric deviation calibration method, device and computer equipment for the tracking unmanned aerial vehicle, on one hand, the tracking unmanned aerial vehicle is used for carrying a beacon to send a signal, the antenna tracks the signal, and the micro-optical television locks the unmanned aerial vehicle to perform synchronous tracking so as to calibrate the photoelectric deviation. On the other hand, the distance and the relative angle are calculated by tracking the position information of the unmanned aerial vehicle, and the deviation of the locking position of the low-light level television is utilized to correct the miss distance so as to improve the calibration precision.
Drawings
Fig. 1 is a schematic flowchart of a photoelectric deviation calibration method for tracking an unmanned aerial vehicle in an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In one embodiment, as shown in fig. 1, there is provided a photoelectric deviation calibration method for tracking a drone, including the following steps:
and 102, starting a beacon arranged on the tracking unmanned aerial vehicle, and enabling the tracking unmanned aerial vehicle to fly according to a preset air route.
Be provided with frequency controller on the beacon, set up the frequency point mode through frequency controller, specifically, frequency controller and trail unmanned aerial vehicle and fly control signal output interface connection.
In addition, the unmanned aerial vehicle is tracked to complete power-on self-test.
After the frequency point mode is set, the measurement and control system is started, the receiver sets the receiving frequency point as a calibration frequency point, and the tracking receiver loads the phase and slope of the corresponding frequency point.
And 104, receiving the first position information and the second position information of the ship sent by the tracking unmanned aerial vehicle by the ground station, and calculating the angle information and the distance information of the tracking unmanned aerial vehicle relative to the ship according to the first position information and the second position information.
The coordinate system can be established by taking the position of the ship as the origin of coordinates, so that the angle information and the distance information of the tracked unmanned aerial vehicle relative to the ship are calculated.
Specifically, the angle information may be azimuth angle information and pitch angle information, and the distance information refers to a linear distance between the ship and the tracking drone.
And step 106, setting angle information of the antenna on the ship according to the angle information, and locking and tracking the low-light-level television to the unmanned aerial vehicle.
The setting of the antenna angle can be manually set, and the setting can be automatically carried out after angle information is input.
And 108, when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording the angular error voltage, the angular information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television when the unmanned aerial vehicle is recorded and tracked.
The preset value is determined according to the antenna frequency and the wavelength of the received signal, and the specific condition is that R is more than or equal to 2D2λ, D is the antenna diameter, λ is the received signal wavelengthAnd R represents distance information.
And step 110, calculating the photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television.
In the photoelectric deviation calibration method for the tracking unmanned aerial vehicle, on one hand, the tracking unmanned aerial vehicle carries a beacon to send a signal, the antenna tracks the electric signal, and the low-light-level television locks the unmanned aerial vehicle to perform synchronous tracking to calibrate the photoelectric deviation. On the other hand, the distance and the relative angle are calculated by tracking the position information of the unmanned aerial vehicle, and the deviation of the locking position of the low-light level television is utilized to correct the miss distance so as to improve the calibration precision.
In one embodiment, the beacon comprises a plurality of frequency point patterns; the turning on a beacon disposed on a tracking drone includes: starting a first calibration frequency point of a beacon arranged on a tracking unmanned aerial vehicle; the method further comprises the following steps: after the photoelectric deviation of the first calibration frequency point is obtained, the frequency point mode of the beacon is switched into a second calibration frequency point through an uplink remote control channel of the tracking unmanned aerial vehicle.
Specifically, when calibration is started, a first calibration frequency point is set to be 1(n is 1), and after calibration of the first calibration frequency point is completed, another n is n +1, and calibration of all frequency points is completed sequentially.
In one embodiment, the tracking unmanned aerial vehicle comprises a meteorological data recorder, and a temperature sensor, a humidity sensor, an air pressure sensor and a GPS module are arranged on the tracking unmanned aerial vehicle; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder; when the unmanned aerial vehicle flies according to a preset airway, first position information collected by the GPS module is sent to the ground station through the meteorological data recorder, and the ground station receives and tracks the first position information sent by the unmanned aerial vehicle.
Specifically, the frequency controller of tracking the airborne beacon of the unmanned aerial vehicle is connected with a flight control signal output interface of the unmanned aerial vehicle, the meteorological data recorder is connected with a temperature module, a humidity module, an air pressure sensor and a GPS module, the time T, the temperature T, the humidity r, the air pressure p, the longitude Lp, the latitude Bp and the height Hp data are recorded in real time after the unmanned aerial vehicle is started, the unmanned aerial vehicle is tracked to complete self-starting, and the position information of the unmanned aerial vehicle is transmitted to a ground station in real time through data transmission.
And starting the measurement and control system, setting a receiving frequency point as a calibration frequency point 1 by the receiver, and loading the phase and the slope of the corresponding frequency point by the tracking receiver.
The unmanned aerial vehicle takes off and flies according to a set air route, and the azimuth angle A, the pitch angle E and the distance value R of the aircraft relative to the ship are calculated according to the aircraft positions (Lp, Bp, Hp) received by the ground station and the ship positions (Lc, Bc, Hc); the method specifically comprises the following steps:
converting the aircraft position (Lp, Bp, Hp) into rectangular coordinate system coordinates (X, Y, Z) with the ship position (Lc, Bc, Hc) as an origin, the ship bow direction as an X axis and the vertical direction as a Y axis;
calculating the azimuth angle A, the pitch angle E and the distance value R of the airplane relative to the ship as follows:
E＝arcsin(Y/R)
A＝arctan(Z/X)
wherein R is in meters (m) and E and A are in degrees (°).
And the measurement and control antenna manually controls the antenna to rotate to an azimuth angle A and a pitch angle E according to the relative azimuth angle A and the pitch angle E obtained by calculation, when the tracking receiver receives a signal and outputs an angle error voltage, the hand wheel mode is adopted to finely adjust the angle of the antenna so that the main lobe of the antenna is aligned with a target, and meanwhile, the micro-optic television locks the aircraft target.
In one embodiment, the angle information includes: azimuth angle information and pitch angle information, wherein the miss distance comprises a transverse miss distance and a longitudinal miss distance, and the angle error voltage comprises azimuth angle error voltage and pitch angle error voltage; obtaining a transverse voltage correction according to the azimuth angle error voltage and the transverse miss distance; obtaining a longitudinal voltage correction according to the azimuth angle error voltage and the longitudinal miss distance; acquiring a first pixel point in the center of an optical axis, a second pixel point which is transversely positively biased, a third pixel point which is longitudinally positively biased, a fourth pixel point at a beacon position and a fifth pixel point at a locking position in image information; calculating the unit transverse miss distance of the unit pixel according to the abscissa of the second pixel point and the abscissa of the first pixel point; calculating the unit longitudinal miss distance of the unit pixel according to the vertical coordinates of the third pixel point and the first pixel point; determining the transverse locking voltage correction according to the transverse voltage correction, the unit transverse miss distance, the abscissa of the fourth pixel point and the abscissa of the fifth pixel point; determining the longitudinal locking voltage correction according to the longitudinal voltage correction, the unit longitudinal miss distance, the longitudinal and transverse coordinates of the fourth pixel point and the longitudinal coordinate of the fifth pixel point; obtaining transverse parallax voltage correction according to the obtained transverse deviation of the center of the electric axis relative to the low-light level television center, the transverse locking voltage correction and the distance information; obtaining longitudinal parallax voltage correction according to the obtained longitudinal deviation of the center of the electric axis relative to the low-light level television center, the longitudinal locking voltage correction and the distance information; acquiring a radio refraction correction value and a light refraction correction value when tracking the current position of the unmanned aerial vehicle for signal transmission, and acquiring a longitudinal atmospheric refraction correction value according to the radio refraction correction value, the light refraction correction value and the longitudinal parallax voltage correction value; obtaining a gravity droop correction according to the pitch angle information, the gravity value and the longitudinal atmospheric refraction correction; and determining the horizontal parallax voltage correction amount as a horizontal photoelectric deviation, and determining the gravity sag correction amount as a vertical photoelectric deviation.
Specifically, after the distance value reaches the calibration condition, the antenna tracking mode is switched to be the self-tracking mode, the low-light-level television keeps the target locking state, and the photoelectric deviation value is calculated by utilizing the angular error voltage, the pitching angle E, the distance value R, the miss distance of the low-light-level television locking position and the image information of the low-light-level television in the tracking process.
The distance calibration condition is that R is more than or equal to 2D2And λ, D is the diameter of the antenna, and λ is the wavelength of the received signal.
The angular error voltage includes an azimuth angle error voltage Va and a pitch angle error voltage Ve, in volts (V).
The micro photoelectric deviceThe miss distance of the apparent locking position comprises a transverse miss distance Aw0And longitudinal miss distance Ew0In units of angular seconds (").
The image information of the low-light-level television is an image acquired when the low-light-level television locks a target.
The calculation of the photoelectric deviation value specifically comprises the following steps:
an angular error voltage correction calculation comprising:
and (3) transverse correction calculation: a. thew1＝Aw0-432 Va; longitudinal correction calculation: ew1＝Ew0-432Va；
Performing locking deviation correction calculation according to an image acquired by a low-light level television; the method specifically comprises the following steps:
respectively finding out the coordinates O (x) of pixel points at the center of the optical axis on the cross mark in the calibrated television imageo,yo) Pixel point coordinate Z of transverse positive bias 216 ″a(xa,ya) Pixel point coordinate Z of longitudinal positive bias 216 ″b(xb,yb) And pixel point coordinate Z of position of beacon antennat(xt,yt) And pixel point coordinate Z of low-light level TV locking positions(xs,ys)；
Calculating the miss amount corresponding to the horizontal unit pixel: ka＝216/(xa-xo)；
Calculating the miss distance corresponding to the horizontal unit pixel: ke＝216/(yb-yo)；
Correcting and calculating the locking deviation;
the method comprises the following steps of transverse correction calculation: a. thew2＝Aw1+Ka(xt-xs)；
And (3) longitudinal correction calculation: ew2＝Ew1+Ke(yt-ys)；
Parallax correction calculation;
the method comprises the following steps of transverse correction calculation: a. thew3＝Aw2-3600arcsin(dx/R)；
Wherein dx is the unit of the transverse deviation of the center of the electric axis relative to the center of the low-light level television set in meters (m);
and (3) longitudinal correction calculation: ew3＝Ew2-3600arcsin(dy/R)；
Wherein dy is the longitudinal deviation of the center of the electric axis relative to the center of the low-light level television, and the unit is meter (m);
according to the air pressure, temperature, humidity and height data obtained by the meteorological data recorder, the radio refraction correction value dE is obtained by calculation when the distance is R and the pitch angle is E1Refractive correction value dE of sum light0Wherein dE is1And dE0In units of angular seconds ("), the longitudinal atmospheric refraction correction calculation: ew4＝Ew3+dE1-dE0；
And (3) gravity droop correction calculation: ew5＝Ew4+Egcos(E)；
Calculating the transverse photoelectric deviation of the current nth calibration frequency point and the kth sampling moment according to the final correction result of the miss distance as follows: cs(k,n)＝-Aw3；
The vertical photoelectric deviation is: ce(k,n)＝-Ew5；
In one embodiment, the photoelectric deviation is measured at a plurality of sampling moments, and the average value is taken to obtain the final photoelectric deviation of the current calibration frequency point.
Specifically, repeating for multiple times, and respectively calculating the photoelectric deviation average value C of the nth calibration frequency points(n) and Ce(n)：
Calculating the average value C of the results by multiple timess(n) and CeAnd (n) as the photoelectric deviation calibration result of the nth calibration frequency point, the calculation precision is improved.
In one embodiment, whether all calibration frequency points are calibrated is determined, and if yes, the tracked unmanned aerial vehicle is controlled to return.
In conclusion, the invention provides a photoelectric deviation calibration method for tracking an unmanned aerial vehicle, which utilizes an uplink remote control channel of the unmanned aerial vehicle to switch frequency points, realizes the photoelectric deviation calibration of equipment with multiple frequency points by one-time flight, and improves the calibration efficiency; the distance and the relative angle are calculated by utilizing the position information of the unmanned aerial vehicle and the ship, the guiding angle can be improved without the auxiliary tracking of other equipment, the antenna can conveniently find and finish target capturing and tracking, the parallax error correction is carried out by utilizing the distance value, and the photoelectric deviation calibration involves less post personnel; the image information is used for correcting the locking deviation, so that the calibration precision is improved; the characteristic that the unmanned aerial vehicle can be recycled after being calibrated is utilized, and the cost of calibrating the photoelectric deviation is reduced.
It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
In one embodiment, a photoelectric deviation calibration apparatus for tracking a drone is provided, including: tracking an unmanned aerial vehicle, a beacon, an antenna on a ship, a low-light-level television on the ship, a measurement and control system on the ship and a ground station;
the beacon is arranged on the tracking unmanned aerial vehicle, and the tracking unmanned aerial vehicle flies according to a preset air route after the beacon is started;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
the measurement and control system sets angle information of an antenna on the ship according to the angle information and locks and tracks the low-light-level television to the unmanned aerial vehicle; when the distance information meets a preset value, switching the tracking mode of the antenna to be a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is recorded and tracked; and calculating the photoelectric deviation according to the angular error voltage, the angular information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television.
In one embodiment, the beacon comprises a plurality of frequency point modes, after a first calibration frequency point of the beacon is started, photoelectric deviation calibration of the first calibration frequency point is performed, and after the photoelectric deviation calibration of the first calibration frequency point, an uplink remote control channel of the unmanned aerial vehicle is tracked to switch the frequency point mode of the beacon into a second calibration frequency point.
In one embodiment, the tracking unmanned aerial vehicle comprises a meteorological data recorder, and a temperature sensor, a humidity sensor, an air pressure sensor and a GPS module are arranged on the tracking unmanned aerial vehicle; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder; the temperature, humidity and air pressure sensor and the GPS module are respectively used for acquiring temperature information, humidity information, air pressure information and first position information; and after receiving the temperature information, the humidity information, the air pressure information and the first position information, the measurement and control system calculates a radio refraction correction value and a light refraction correction value according to the Gaussian layered model.
In one embodiment, the measurement and control system comprises a receiver and a tracking receiver, wherein the receiver is used for setting a receiving frequency point as a calibration frequency point, and the tracking receiver is used for loading the phase and the slope of the receiving frequency point.
For specific limitations of the photoelectric deviation calibration apparatus for tracking the drone, reference may be made to the above limitations of the photoelectric deviation calibration method for tracking the drone, and details are not repeated here. All modules in the photoelectric deviation calibration device for tracking the unmanned aerial vehicle can be completely or partially realized through software, hardware and a combination of the software and the hardware. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In an embodiment, a computer device is provided, comprising a memory storing a computer program and a processor implementing the steps of the method in the above embodiments when the processor executes the computer program.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent application shall be subject to the appended claims.
Claims (9)
1. A photoelectric deviation calibration method for tracking an unmanned aerial vehicle is characterized by comprising the following steps:
starting a beacon arranged on the tracking unmanned aerial vehicle, and enabling the tracking unmanned aerial vehicle to fly according to a preset air route;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
according to the angle information, setting the angle information of the shipboard antenna, and locking and tracking the low-light-level television to the unmanned aerial vehicle;
when the distance information meets a preset value, switching the tracking mode of the antenna to be a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is recorded and tracked;
calculating photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television;
the angle information includes: azimuth angle information and pitch angle information, wherein the miss distance comprises a transverse miss distance and a longitudinal miss distance, and the angle error voltage comprises azimuth angle error voltage and pitch angle error voltage;
the calculating the photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television comprises the following steps:
obtaining a transverse voltage correction quantity according to the azimuth angle error voltage and the transverse miss distance;
obtaining a longitudinal voltage correction according to the azimuth angle error voltage and the longitudinal miss distance;
acquiring a first pixel point at the center of an optical axis, a second pixel point with transverse positive bias, a third pixel point with longitudinal positive bias, a fourth pixel point at a beacon position and a fifth pixel point at a locking position in image information;
calculating the unit transverse miss distance of the unit pixel according to the abscissa of the second pixel point and the abscissa of the first pixel point;
calculating the unit longitudinal miss distance of the unit pixel according to the vertical coordinates of the third pixel point and the first pixel point;
determining the transverse locking voltage correction according to the transverse voltage correction, the unit transverse miss distance, the abscissa of the fourth pixel point and the abscissa of the fifth pixel point;
determining the longitudinal locking voltage correction according to the longitudinal voltage correction, the unit longitudinal miss distance, the longitudinal and transverse coordinates of the fourth pixel point and the longitudinal coordinate of the fifth pixel point;
obtaining transverse parallax voltage correction according to the obtained transverse deviation of the center of the electric axis relative to the low-light level television center, the transverse locking voltage correction and the distance information;
obtaining longitudinal parallax voltage correction according to the obtained longitudinal deviation of the center of the electric axis relative to the micro-optic television center, the longitudinal locking voltage correction and the distance information;
acquiring a radio refraction correction value and a light refraction correction value when tracking the current position of the unmanned aerial vehicle for signal transmission, and acquiring a longitudinal atmospheric refraction correction value according to the radio refraction correction value, the light refraction correction value and the longitudinal parallax voltage correction value;
obtaining a gravity droop correction quantity according to the pitch angle information, the gravity value and the longitudinal atmospheric refraction correction quantity;
and determining the horizontal parallax voltage correction amount as a horizontal photoelectric deviation, and determining the gravity sag correction amount as a vertical photoelectric deviation.
2. The method of claim 1, wherein the beacon comprises a plurality of frequency bin patterns;
the turning on a beacon disposed on a tracking drone includes:
starting a first calibration frequency point of a beacon arranged on a tracking unmanned aerial vehicle;
the method further comprises the following steps:
after the photoelectric deviation of the first calibration frequency point is obtained, the frequency point mode of the beacon is switched into a second calibration frequency point through an uplink remote control channel of the tracking unmanned aerial vehicle.
3. The method of claim 1, wherein the tracking drone includes a meteorological data recorder, and wherein temperature, humidity, barometric pressure sensors and a GPS module are provided on the tracking drone; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder;
the ground station receives and tracks first position information that unmanned aerial vehicle sent, includes:
when the unmanned aerial vehicle flies according to a preset airway, first position information collected by the GPS module is sent to the ground station through the meteorological data recorder, and the ground station receives and tracks the first position information sent by the unmanned aerial vehicle.
4. The method of claim 1, further comprising:
and measuring the photoelectric deviation at a plurality of sampling moments, and averaging to obtain the final photoelectric deviation of the current calibration frequency point.
5. The method according to any one of claims 1 to 4, further comprising:
and determining whether all the calibration frequency points are calibrated, and if so, controlling the tracking unmanned aerial vehicle to return to the air.
6. A photoelectric deviation calibration device for tracking an unmanned aerial vehicle, the device comprising:
tracking an unmanned aerial vehicle, a beacon, an antenna on a ship, a low-light-level television on the ship, a measurement and control system on the ship and a ground station;
the beacon is arranged on the tracking unmanned aerial vehicle, and the tracking unmanned aerial vehicle flies according to a preset air route after the beacon is started;
the ground station receives first position information and second position information of a ship sent by the tracking unmanned aerial vehicle, and angle information and distance information of the tracking unmanned aerial vehicle relative to the ship are calculated according to the first position information and the second position information;
the measurement and control system sets angle information of an antenna on the ship according to the angle information and locks and tracks the low-light-level television to the unmanned aerial vehicle; when the distance information meets a preset value, switching the tracking mode of the antenna into a self-tracking mode, and recording angle error voltage, angle information, distance information, miss distance of a locking position of the low-light-level television and output image information of the low-light-level television when the unmanned aerial vehicle is tracked; calculating photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television;
the angle information includes: azimuth angle information and pitch angle information, wherein the miss distance comprises a transverse miss distance and a longitudinal miss distance, and the angle error voltage comprises azimuth angle error voltage and pitch angle error voltage;
the calculating the photoelectric deviation according to the angle error voltage, the angle information, the distance information, the miss distance of the locking position of the low-light-level television and the output image information of the low-light-level television comprises the following steps:
obtaining a transverse voltage correction quantity according to the azimuth angle error voltage and the transverse miss distance;
obtaining a longitudinal voltage correction according to the azimuth angle error voltage and the longitudinal miss distance;
acquiring a first pixel point at the center of an optical axis, a second pixel point with transverse positive bias, a third pixel point with longitudinal positive bias, a fourth pixel point at a beacon position and a fifth pixel point at a locking position in image information;
calculating the unit transverse miss distance of the unit pixel according to the abscissa of the second pixel point and the abscissa of the first pixel point;
calculating the unit longitudinal miss distance of the unit pixel according to the vertical coordinates of the third pixel point and the first pixel point;
determining the transverse locking voltage correction according to the transverse voltage correction, the unit transverse miss distance, the abscissa of the fourth pixel point and the abscissa of the fifth pixel point;
determining the longitudinal locking voltage correction according to the longitudinal voltage correction, the unit longitudinal miss distance, the longitudinal and transverse coordinates of the fourth pixel point and the longitudinal coordinate of the fifth pixel point;
obtaining a transverse parallax voltage correction according to the obtained transverse deviation of the electric axis center relative to the low-light-level television center, the transverse locking voltage correction and the distance information;
obtaining longitudinal parallax voltage correction according to the obtained longitudinal deviation of the center of the electric axis relative to the micro-optic television center, the longitudinal locking voltage correction and the distance information;
acquiring a radio refraction correction value and a light refraction correction value when tracking the current position of the unmanned aerial vehicle for signal transmission, and acquiring a longitudinal atmospheric refraction correction value according to the radio refraction correction value, the light refraction correction value and the longitudinal parallax voltage correction value;
obtaining a gravity droop correction quantity according to the pitch angle information, the gravity value and the longitudinal atmospheric refraction correction quantity;
and determining the horizontal parallax voltage correction amount as a horizontal photoelectric deviation, and determining the gravity sag correction amount as a vertical photoelectric deviation.
7. The device for calibrating photoelectric deviation according to claim 6, wherein the beacon includes a plurality of frequency point modes, the photoelectric deviation calibration of the first calibration frequency point is performed after the first calibration frequency point of the beacon is turned on, and the uplink remote control channel of the unmanned aerial vehicle is tracked to switch the frequency point mode of the beacon to the second calibration frequency point after the photoelectric deviation calibration of the first calibration frequency point.
8. The optoelectronic deviation calibration device of claim 6, wherein the tracking unmanned aerial vehicle comprises a meteorological data recorder, and a temperature sensor, a humidity sensor, an air pressure sensor and a GPS module are arranged on the tracking unmanned aerial vehicle; the temperature, humidity and air pressure sensor and the GPS module are connected with the meteorological data recorder;
the temperature, humidity and air pressure sensor and the GPS module are respectively used for acquiring temperature information, humidity information, air pressure information and first position information;
and after receiving the temperature information, the humidity information, the air pressure information and the first position information, the measurement and control system calculates a radio refraction correction value and a light refraction correction value according to a Gaussian layered model.
9. A computer device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250073.6A CN113048939B (en) | 2021-03-08 | 2021-03-08 | Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110250073.6A CN113048939B (en) | 2021-03-08 | 2021-03-08 | Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113048939A CN113048939A (en) | 2021-06-29 |
| CN113048939B true CN113048939B (en) | 2022-07-08 |
Family
ID=76510623
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110250073.6A Active CN113048939B (en) | 2021-03-08 | 2021-03-08 | Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113048939B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113608186B (en) * | 2021-09-13 | 2023-10-20 | 中国工程物理研究院应用电子学研究所 | Calibration method of radar system and photoelectric imaging system |
| CN114066988B (en) * | 2022-01-18 | 2022-04-08 | 中国人民解放军63921部队 | Automatic calibration method of photoelectric measurement and control equipment and photoelectric measurement and control equipment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104459646A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Moon tracking photoelectricity deviation detecting method |
| JP2016170030A (en) * | 2015-03-12 | 2016-09-23 | 国立大学法人室蘭工業大学 | Tracking antenna system, flying object, and tracking antenna device |
| WO2018127452A1 (en) * | 2017-01-05 | 2018-07-12 | Novelty Aps | Surveillance method, drone, mobile device, surveillance system, data carrier |
| CN111354016A (en) * | 2020-02-28 | 2020-06-30 | 珠海大横琴科技发展有限公司 | Unmanned aerial vehicle ship tracking method and system based on deep learning and difference value hashing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20180143321A1 (en) * | 2016-11-22 | 2018-05-24 | 4Sense, Inc. | Modulated-Light-Based Passive Tracking System |
-
2021
- 2021-03-08 CN CN202110250073.6A patent/CN113048939B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104459646A (en) * | 2014-11-14 | 2015-03-25 | 中国人民解放军63680部队 | Moon tracking photoelectricity deviation detecting method |
| JP2016170030A (en) * | 2015-03-12 | 2016-09-23 | 国立大学法人室蘭工業大学 | Tracking antenna system, flying object, and tracking antenna device |
| WO2018127452A1 (en) * | 2017-01-05 | 2018-07-12 | Novelty Aps | Surveillance method, drone, mobile device, surveillance system, data carrier |
| CN111354016A (en) * | 2020-02-28 | 2020-06-30 | 珠海大横琴科技发展有限公司 | Unmanned aerial vehicle ship tracking method and system based on deep learning and difference value hashing |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113048939A (en) | 2021-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113048939B (en) | Photoelectric deviation calibration method and device for tracking unmanned aerial vehicle and computer equipment | |
| US7667645B2 (en) | GPS gyro calibration | |
| CN107924196B (en) | Method for automatically assisting an aircraft landing | |
| CN105184776A (en) | Target tracking method | |
| US7499803B2 (en) | System and method for calibrating on-board aviation equipment | |
| CN108562279B (en) | Unmanned aerial vehicle surveying and mapping method | |
| US8604966B1 (en) | Correction of radar beam refraction using electro-optical measurements | |
| CN106595668A (en) | Passive location algorithm for electro-optical pod | |
| US10642284B1 (en) | Location determination using ground structures | |
| CN104360362A (en) | Method and system for positioning observed object via aircraft | |
| CN110989670B (en) | Unmanned aerial vehicle system for environmental water conservation monitoring of power transmission and transformation project and aerial photography method thereof | |
| CN114964209B (en) | Autonomous navigation method and system for long-endurance unmanned aerial vehicle based on infrared array imaging | |
| CN106654531A (en) | Shipborne VSAT antenna system satellite capturing method | |
| Labowski et al. | Motion compensation for unmanned aerial vehicle's synthetic aperture radar | |
| CN110579744B (en) | Scene modeling simulation method based on DOM satellite film | |
| CN109146936B (en) | Image matching method, device, positioning method and system | |
| KR102442261B1 (en) | Apparatus and method of hybrid type azimuth measurements for drone | |
| Ishii et al. | Autonomous UAV flight using the Total Station Navigation System in Non-GNSS Environments | |
| CN113551671B (en) | Real-time high-precision measurement method for attitude and position of unmanned aerial vehicle | |
| US20240019588A1 (en) | Onboard geolocation for images | |
| CN108489483A (en) | A kind of boat-carrying Stellar orientation instrument list star suboptimum correction algorithm | |
| CN115200563B (en) | Reference zero calibration method, system, equipment and medium for carrier-based follow-up device | |
| RU2722599C1 (en) | Method for correcting strapdown inertial navigation system of unmanned aerial vehicle of short range using intelligent system of geospatial information | |
| KR102216611B1 (en) | Method and system for obtaining position of mms vehicle | |
| RU2818996C1 (en) | Method and system of antenna measurements using an unmanned tethered balloon |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |