CN113194257A - Method for correcting PTZ camera attitude by utilizing GNSS coordinates - Google Patents

Method for correcting PTZ camera attitude by utilizing GNSS coordinates Download PDF

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CN113194257A
CN113194257A CN202110476027.8A CN202110476027A CN113194257A CN 113194257 A CN113194257 A CN 113194257A CN 202110476027 A CN202110476027 A CN 202110476027A CN 113194257 A CN113194257 A CN 113194257A
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camera
correcting
ptz camera
attitude
correction value
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陈志强
张腾腾
杨华明
江盛欣
刘双广
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Gosuncn Technology Group Co Ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N17/00—Diagnosis, testing or measuring for television systems or their details
    • H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras

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Abstract

The invention belongs to the field of video security monitoring, and particularly relates to a method for correcting the attitude of a PTZ camera by utilizing GNSS coordinates, which is a method for correcting the self attitude (the relationship between the vertical direction, the vertical degree, the horizontal angle 0 degree and the north, the relationship between the pitch angle 0 degree and the ground level) and the position (the relationship between the longitude and the latitude and the height) of the camera by utilizing the GPS coordinates, calculating the relationship between the coordinate system of the PTZ camera and the real geography and the self attitude coefficient, and calculating 7 quantities eJ, eW, eP, eH, eY, ePN and eT associated with the coordinate system of the camera and the geodetic coordinate system. The invention can solve the problems that the orientation of the PTZ camera deviates from the true geographical north pole direction, GPS acquisition deviates and the posture of the camera is not correct. By the method, the relation between the PTZ camera coordinate system and the real geography and the self attitude coefficient can be calculated, and the short board applied by the PTZ camera is solved.

Description

Method for correcting PTZ camera attitude by utilizing GNSS coordinates
Technical Field
The invention belongs to the field of video security monitoring, and particularly relates to a method for correcting the attitude of a PTZ camera by utilizing GNSS coordinates.
Background
A zoom pan-tilt camera (PTZ camera for short) is a camera that can monitor different directions by rotating a pan-tilt or zooming. The device has a coordinate system of the device, can sense the position state of the device, but cannot sense the real geographic direction. In practical application scenarios, most users want the camera to sense the orientation and position of the real geography. The following methods are generally adopted to sense the current orientation and position of the camera and correct the problem that the optical center of the camera is inconsistent with the rotation axis of the camera:
(1) a magnetic sensor. The current orientation of the camera can be perceived to be related to the true geographical north by sensing the terrestrial magnetism.
(2) A GPS sensor. The current position and altitude information of the camera are sensed through the GPS sensor, and different sensors have different errors.
(3) And (5) image calibration. The image calibration solves the problem that the PTZ camera rotating shaft is not coincident with the optical center, and the deviation information of each rotating shaft can be obtained through the image calibration.
In the prior art, a PTZ camera integrates a magnetic sensor, a GPS sensor and a horizontal or vertical rotating shaft position sensing sensor to sense the relation between the current camera orientation and the true geographic north pole, the current GPS position information and the self horizontal azimuth angle. By means of the image calibration method, the deviation of the optical center of the camera with the horizontal rotating shaft and the vertical rotating shaft can be calculated. The prior art scheme is that a camera senses the orientation relation with the true geographical north pole through a magnetic sensor. However, the magnetic sensor is greatly influenced by the environment, the precision of the magnetic sensor cannot be guaranteed under the circumstance of strong electromagnetic environment around the magnetic sensor, and the magnetic pole and the real north pole are also deviated, so that the azimuth angle of the orientation of the camera and the real geographical north pole is deviated from the real azimuth angle. The cameras provided with the GPS sensors can sense GPS position information, but the precision of the GPS sensors can be influenced if tall buildings or other barrier plates are shielded around the cameras, and some cameras are not provided with the GPS sensors for saving cost. So that the GPS information of the camera itself is inaccurate. The deviation parameter of the optical center and the rotating shaft of the camera can be calculated by an image calibration method, but the image calibration method cannot sense the azimuth relation with the true geographical north pole. The application of the camera in a real scene needs to know the relation with the true geographical north, and the solutions cannot meet the requirement that the camera senses the relation with the true geographical north, so that the application of some scenes is limited.
Disclosure of Invention
In view of the above disadvantages, the present invention provides a method for correcting the attitude of a PTZ camera using GNSS coordinates, which can solve the problems of deviation of the orientation of the camera from the true geographic north position, deviation of GPS acquisition, and incorrect attitude of the camera.
The invention is realized by the following technical scheme:
a method for correcting a PTZ camera pose using GNSS coordinates, said method comprising the steps of:
firstly, after the camera is installed and fixed, the position coordinate A of the camera is obtained0The coordinate A0A (A) at the intersection point of the vertical geocentric and the ground planej,Aw,0)；
Secondly, selecting points, namely uniformly selecting points in the visible range of the camera, and under the ideal condition, selecting any n calibration points B (B) without coinciding with the point Aj,Bw,Bh) The ith calibration point is recorded as
Figure BDA0003047130330000021
The horizontal angle corresponding to the calibration point is piAnd a pitch angle tiWherein i is 1,2 … n;
thirdly, longitude correction value eJ, latitude correction eW and horizontal angle correction value eP are calculated;
fourthly, calculating an elevation correction value eH, a vertical direction eY, a vertical degree ePn and a pitch angle correction value eT;
fifthly, calculating the actual position A ' (A ') of the camera based on the longitude correction value eJ, the latitude correction value eW and the altitude correction value eH 'j,A′w,A′h)；
Further, in the third step, the calculating of the longitude correction value eJ, the latitude correction value eW, and the horizontal angle correction value eP specifically includes:
finding out the range of the eJ, the eW and the eP by adopting a step-by-step search method so as to obtain the minimum eJ, the eW and the eP in the following equations:
Figure BDA0003047130330000031
Figure BDA0003047130330000032
Figure BDA0003047130330000033
α＝(∠NAB1-P1-eP)2+(∠NAB2-P2-eP)2+…+(∠NABn-Pn-eP)2(4)
wherein c is an intermediate variable and angle NABiIs ABiThe angle between AN and AB is called ABiN is the geographical arctic point position, angle NBiA is ABiAnd BiAnd N is included angle.
Further, in the fourth step, the calculating of the altitude correction value eH, the vertical direction eY, the sag ePn, and the pitch angle correction value eT specifically includes:
finding the range of eH, eY, ePn, eT by using a stepwise search method to minimize β in the following formula:
Figure BDA0003047130330000034
Figure BDA0003047130330000035
β＝(t1-Ttmp1-eT)2+(t2-Ttmp2-eT)2+…+(tn-Ttmpn-eT)2 (7)
wherein TtmpiIs an intermediate variable.
Further, in the fifth step, the actual position a ' (a ') of the camera is calculated based on the longitude correction value eJ, the latitude correction value eW, and the altitude correction value eH 'j,A′w,A′h) The method specifically comprises the following steps: coordinate A0To the longitude, latitude and altitude coordinate values of (A ') to obtain an actual position A ' (A 'j,A′w,A′h)。
Preferably, n >3 and n < 20.
Preferably, the method can be used for PTZ cameras and non-PTZ cameras without GPS sensor modules.
Preferably, the step size of eJ is 0.00001, and the search time K iseJ200 parts of a total weight; step size of eW is 0.00001, and search frequency KeW200 parts of a total weight; the step length of eP is 0.1, and the search times KeP＝3600。
Preferably, the step length of the eH is 0.1 m, and the search times K areeH400; eY step size of 0.1, number of searches KeY3600; ePn step size is 0.1, number of lookups KePn100; step length of eT is 0.1, and search times KeT＝300。
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for correcting the pose of a PTZ camera using GNSS coordinates.
A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of a method for correcting a PTZ camera pose using GNSS coordinates.
The invention provides a method for correcting the attitude of a PTZ camera by utilizing GNSS coordinates, which can enable a camera coordinate system to be related and connected with a real geographic coordinate system, improve the application value of the camera and develop application scenes in the industry. The key points of the invention are as follows:
1. and (3) correcting the self attitude (vertical direction, sag, 0 degree of horizontal angle and due north relation, 0 degree of pitch angle and ground level relation) and position (longitude and latitude and height) of the camera by using the GPS coordinates.
2. And (3) a process and a technology for calculating the relation between the PTZ camera coordinate system and the real geography and the self attitude coefficient.
3. The camera coordinate system is associated with the geodetic coordinate system using 7 quantities (eJ, eW, eP, eH, eY, ePn, eT).
Compared with the prior art, the invention has at least the following beneficial effects or advantages:
1. and the horizontal angle of the camera system is associated with the true north of the geodetic coordinate system, and the self longitude and latitude, height and offset attitude information of the camera is corrected. The method can be used for PTZ cameras or fixed gunplanes, and the service application level is improved;
2. the calibration points are convenient to select, and a special GPS tool can be used for selecting points on site or a satellite map, so that the operation is convenient.
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The present invention will be described in further detail with reference to the accompanying drawings;
FIG. 1 is a geodetic coordinate system schematic and a camera coordinate system schematic of the present invention;
FIG. 2 is a schematic diagram of the algorithm flow for finding the optimal eJ, eW, eP according to the present invention;
FIG. 3 is a schematic diagram of the algorithm flow for finding the optimal eH, eY, ePN, eT according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In order to solve the problems that the orientation of the PTZ camera deviates from the true geographical north position, GPS acquisition deviates and the camera attitude is not correct, the invention provides a method for correcting the attitude of the PTZ camera by utilizing GNSS coordinates, which can solve the problems that the orientation of the PTZ camera deviates from the true geographical north position, GPS acquisition deviates and the camera attitude is not correct. By the method, the relation between the PTZ camera coordinate system and the real geography and the self attitude coefficient can be calculated, and the short board applied by the PTZ camera is solved.
The design scheme is as follows:
the idea is as follows: assume that the geographic north-pole position is N and the camera is located at A '(A'j,A′w,A′h) The point A' is at the intersection of the vertical center of the earth and the ground plane as the position A (A)j,Aw0), ideally, any point B (B) is selected not to coincide with the point Aj,Bw,Bh) The included angle between AB and AN is called the azimuth angle of AB. For the camera coordinate system, P is the horizontal angle of point B in the camera coordinate system. Since the camera coordinate system is affected by its own sensors and installation location, the start 0 point position of the horizontal angle is uncertain with respect to the north pole. Therefore &nbadiffers from P by a fixed value eP, referred to as the horizontal angle correction value. When the camera is fixed, eP is a fixed value. Fig. 1 is a schematic diagram of a geodetic coordinate system and a schematic diagram of a camera coordinate system.
In the first step, after the camera is fixed, because there is a longitude, latitude and altitude deviation from the actual position of a 'due to the accuracy problem of the camera GPS sensor or the manual input without the GPS sensor, eJ (longitude correction value), eW (latitude correction value) and eH (altitude correction value) need to be added respectively to be the actual coordinates of a'. The camera is not perpendicular to the rotating shaft in the vertical direction of the camera due to the fact that the movement is not installed, and the vertical direction caused or shown in the installation process is not parallel to the earth center, namely the direction to which the camera equipment inclines is the inclined angle, and the proposals are respectively called as the vertical direction (eY) and the vertical degree (ePn). The camera device is not true vertical 0 degree when the sensor is 0 degree due to sensor installation in the vertical direction when the camera device leaves the factory, and the difference value of the sensor and the actual value is just a fixed value, and the fixed value difference value is called a pitch angle correction value eT.
And secondly, selecting points. Uniformly selecting points in a map or a special GPS measuring tool in the visible range of a camera, wherein the number of the selected points is generally 5, and the number of the selected points is variableThe more, the higher the accuracy of the calculation, but the longer the calculation time, the more complex the point selection increases. Setting up the proposal to select n (n)>3 and n<20) Calibration points, the selected points being BnSequentially finding selected point positions in the video of the camera and recording corresponding horizontal angles pnAngle of pitch tn，pn、tnFed back by the camera sensor as a known quantity. Longitude of calibration point OJnLatitude OWnHigh OHnWherein the height is positive, negative, top and bottom relative to the ground plane on which the camera device is located.
Thirdly, calculating a longitude correction value, a latitude correction value and a horizon angle correction value, assuming that the longitude correction value eJ and the latitude correction value eW are within +/-0.001 and the horizon angle correction value eP is within +/-180, finding the longitude correction value eJ, the horizon angle correction value eW and the horizon angle correction value eP in the range of eJ, eW and eP by adopting step-by-step search, wherein the step length of eJ is 0.00001, and the search times K areeJ200 parts of a total weight; step size of eW is 0.00001, and search frequency KeW200 parts of a total weight; the step length of eP is 0.1, and the search times KeP3600. The step size can be changed, and the finer the precision is, the longer the search time is. Looking up eJ in the range of eJ, eW, ePk、eWj、ePl(0<k<200,0<j<200,0<l<3600) So that α is minimized in the following equation.
Figure BDA0003047130330000071
Figure BDA0003047130330000072
Figure BDA0003047130330000073
α＝(∠NAB1-P1-ePl)2+(∠NAB2-P2-ePl)2+…+(∠NABn-Pn-ePl2 (4)
Where c is an intermediate variable, the algorithm flow chart is shown in fig. 2.
And fourthly, calculating an elevation correction value, a vertical direction, a sag and a pitch angle correction value. Assuming that an altitude correction value eH is within +/-20 meters, a sag ePn is within 10 degrees, a vertical eY is within 0-360 degrees, and a pitch angle correction value eT is within +/-15 degrees, the elevation angle correction value eH is found within the range of eH, eY, ePN and eT by stepwise searching, the step length of the eH is 0.1 meter, and the searching times K are KeH400; eY step size of 0.1, number of searches KeY3600; ePn step size is 0.1, number of lookups KePn100; step length of eT is 0.1, and search times KeT300. The step size is variable, the finer the step size, the higher the precision, but the longer the search time. Searching for eH in the range of eH, eY, ePN and eTk、eYj、ePnl、eTt(0<k<400,0<j<3600,0<l<100,0<t<300) So that β is minimized in the following equation.
Figure BDA0003047130330000081
Figure BDA0003047130330000082
β＝(t1-Ttmp1-eTt)2+(t2-Ttmp2-eTt)2+…+(tn-Ttmpn-eTt)2 (7)
Wherein TtmpnIs an intermediate variable, and n is more than or equal to 3, the flow chart of the algorithm is shown in figure 3.
The present invention also provides a computer readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, performs the steps of a method for correcting a pose of a PTZ camera using GNSS coordinates.
The invention also provides a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the method for correcting the pose of a PTZ camera by the cloud using GNSS coordinates.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the invention are also within the protection scope of the invention.

Claims (10)

1. A method for correcting the attitude of a PTZ camera using GNSS coordinates, said method comprising the steps of:
firstly, after the camera is installed and fixed, the position coordinate A of the camera is obtained0The coordinate A0A (A) at the intersection point of the vertical geocentric and the ground planej,Aw,0)；
Secondly, selecting points, namely uniformly selecting points in the visible range of the camera, and under the ideal condition, selecting any n calibration points B (B) without coinciding with the point Aj,Bw,Bh) The ith calibration point is recorded as
Figure FDA0003047130320000011
The horizontal angle corresponding to the calibration point is piAnd a pitch angle tiWherein i is 1,2 … n;
thirdly, longitude correction value eJ, latitude correction eW and horizontal angle correction value eP are calculated;
fourthly, calculating an elevation correction value eH, a vertical direction eY, a vertical degree ePn and a pitch angle correction value eT;
fifthly, calculating the actual position A ' (A ') of the camera based on the longitude correction value eJ, the latitude correction value eW and the altitude correction value eH 'j,A′w,A′h)。
2. The method for correcting the attitude of a PTZ camera using GNSS coordinates according to claim 1, characterized in that in the third step, said calculation of the correction values of longitude eJ, latitude eW, and horizontal angle eP specifically comprises:
finding out the range of the eJ, the eW and the eP by adopting a step-by-step search method so as to obtain the minimum eJ, the eW and the eP in the following equations:
Figure FDA0003047130320000012
Figure FDA0003047130320000013
Figure FDA0003047130320000014
α＝(∠NAB1-P1-eP)2+(∠NAB2-P2-eP)2+…+(∠NABn-Pn-eP)2 (4)
wherein c is an intermediate variable and angle NABiIs ABiThe angle between AN and AB is called ABiN is the geographical arctic point position, angle NBiA is ABiAnd BiAnd N is included angle.
3. The method for correcting the attitude of a PTZ camera using GNSS coordinates according to claim 2, characterized in that in the fourth step, said calculation of elevation correction eH, vertical eY, sag ePn, pitch correction eT, comprises in particular:
finding the range of eH, eY, ePn, eT by using a stepwise search method to minimize β in the following formula:
Figure FDA0003047130320000021
Figure FDA0003047130320000022
β＝(t1-Ttmp1-eT)2+(t2-Ttmp2-eT)2+…+(tn-Ttmpn-eT)2 (7)
wherein TtmpiIs an intermediate variable.
4. Method for correcting the attitude of a PTZ camera using GNSS coordinates as claimed in claim 3, wherein in the fifth step, the actual position A ' (A ') of the camera is calculated based on the longitude correction eJ, the latitude correction eW and the altitude correction eH 'j,A′w,A′h) The method specifically comprises the following steps: coordinate A0To the longitude, latitude and altitude coordinate values of (A ') to obtain an actual position A ' (A 'j,A′w,A′h)。
5. The method for correcting PTZ camera pose with GNSS coordinates according to claim 1, wherein n >3 and n < 20.
6. The method for correcting the attitude of a PTZ camera using GNSS coordinates as claimed in claim 1, wherein the method can be used for both PTZ camera and non-PTZ camera without GPS sensor module.
7. Method for correcting the attitude of a PTZ camera using GNSS coordinates, as claimed in claim 2, characterized in that said eJ step size is 0.00001, number of searches KeJ200 parts of a total weight; step size of eW is 0.00001, and search frequency KeW200 parts of a total weight; the step length of eP is 0.1, and the search times KeP＝3600。
8. Method for correcting the attitude of a PTZ camera using GNSS coordinates as claimed in claim 3, characterized in that the step length of eH is 0.1 m and the number of searches KeH400; eY step size of 0.1, number of searches KeY3600; ePn step size is 0.1, number of lookups KePn100; step length of eTIs 0.1, the number of search times KeT＝300。
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method for correcting the pose of a PTZ camera using GNSS coordinates of any one of claims 1 to 8.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program performs the steps of the method for correcting a pose of a PTZ camera using GNSS coordinates according to any of claims 1 to 8.
CN202110476027.8A 2021-04-29 2021-04-29 Method for correcting PTZ camera attitude by utilizing GNSS coordinates Withdrawn CN113194257A (en)

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US20130162838A1 (en) * 2011-12-22 2013-06-27 Pelco, Inc. Transformation between Image and Map Coordinates
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CN110009571A (en) * 2019-03-08 2019-07-12 重庆广睿达科技有限公司 Calculation of longitude & latitude method, system and the storage medium of position are detected in camera image
CN111770270A (en) * 2020-06-24 2020-10-13 杭州海康威视数字技术股份有限公司 Camera posture correction method and camera

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20090265407A1 (en) * 2008-04-22 2009-10-22 Honeywell International Inc. Method and System For Determining Altitude, Longitude, and Lattitude From Earth Orthogonal Coordinate System
US20130162838A1 (en) * 2011-12-22 2013-06-27 Pelco, Inc. Transformation between Image and Map Coordinates
CN109345599A (en) * 2018-11-16 2019-02-15 厦门博聪信息技术有限公司 A kind of coordinate transformation method and system of ground coordinate and Pan/Tilt/Zoom camera
CN110009571A (en) * 2019-03-08 2019-07-12 重庆广睿达科技有限公司 Calculation of longitude & latitude method, system and the storage medium of position are detected in camera image
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Application publication date: 20210730