CN113819889B - Relative ranging and attitude measuring method based on aircraft rotor wing light source detection - Google Patents

Relative ranging and attitude measuring method based on aircraft rotor wing light source detection Download PDF

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Publication number
CN113819889B
CN113819889B CN202111055831.5A CN202111055831A CN113819889B CN 113819889 B CN113819889 B CN 113819889B CN 202111055831 A CN202111055831 A CN 202111055831A CN 113819889 B CN113819889 B CN 113819889B
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light source
aircraft
relative
visual
imaging
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CN113819889A (en
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何成龙
蔚保国
易卿武
郝菁
刘天豪
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CETC 54 Research Institute
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C1/00—Measuring angles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C3/00—Measuring distances in line of sight; Optical rangefinders

Abstract

The invention discloses a relative ranging and attitude measurement method based on aircraft rotor wing light source detection, and belongs to the technical field of navigation and positioning. The method comprises the steps that a light source is arranged on a rotor wing of an aircraft A; mounting a vision camera on other aircraft or equipment; imaging an ellipse or an arc generated by a rotor wing light source of the aircraft A under a rotation condition by using a visual camera; obtaining the relative distance, azimuth angle and pitch angle between the visual camera imaging parameters and the central position of the rotating plane of the light source A of the aircraft; obtaining the relative attitude with the plane of rotation of the aircraft A light source; and further obtains the relative distance and relative posture of other aircrafts or equipment and the aircraft A body structure. The method is simple and easy to implement, and has important significance for guaranteeing the control of the aircraft, the formation flight and other applications under the condition of not depending on radio and inertia devices.

Description

Relative ranging and attitude measuring method based on aircraft rotor wing light source detection
Technical Field
The invention belongs to the technical field of navigation and positioning, and particularly relates to a relative ranging and attitude measurement method based on aircraft rotor wing light source detection.
Background
The accurate acquisition of the distance information and the attitude information of the aircraft is the basis for guaranteeing stable control and multi-machine formation. At present, relative ranging and attitude measurement among machines, aircrafts and other devices are realized by adopting a mode of combining various technologies in remote control telemetry, a data chain, airborne satellite navigation and an inertial device, but because errors of the inertial device diverge with time and wireless ranging are at risk of electromagnetic interference, a ranging attitude measurement method with high autonomous characteristics is required to be used as a backup guarantee means in an application scene with high reliability requirements.
Disclosure of Invention
The invention aims to provide a relative ranging gesture measuring method based on aircraft rotor wing light source detection. The method can be applied to the application scenes of aircraft control, formation flight and the like, particularly the application of the aircraft in night and low-illumination environments, and the relative ranging and attitude measurement information among the aircraft, the aircraft and other equipment can be obtained without depending on radio and inertia devices.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a relative ranging attitude measurement method based on aircraft rotor wing light source detection comprises the following steps:
(1) Mounting illuminable light sources on one or more rotors of aircraft a, thereby determining the visual range of the light sources during flight; the method comprises the steps of accurately measuring and calibrating the distance L of a light source relative to a rotor rotation shaft of an aircraft A under the flight condition;
(2) Installing a visual camera on other aircrafts or equipment, setting the exposure time of the camera to be not lower than the period of one circle of rotation of an aircraft A rotor wing at the minimum rotation speed, and obtaining imaging characteristic functions of objects with different angles and different lengths in the visual field range of the visual camera through calibration; in the flight process of the aircraft A, an ellipse or an arc generated by a rotor wing light source of the aircraft A under the rotation condition is imaged by utilizing a visual camera, and the position [ x, y, z ] of the center of the ellipse is detected in an imaging view field]Vectors of long axis length and relative field of viewVector of short axis length and relative field of view +.>If the imaging is an arc, acquiring the parameters according to an ellipse corresponding to the arc;
(3) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to the imaging characteristics, and performing imaging according to the imaging characteristicsLength, center of [ x, y, z ]]Obtaining the relative distance, azimuth angle and pitch angle of the visual camera and the center position of the rotating plane of the light source A of the aircraft;
(4) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to vectorsDirection, vector in imaging>And vector->The relative gesture of the visual camera and the rotating plane of the light source of the aircraft A is obtained according to the ratio of the visual camera to the rotating plane of the light source of the aircraft A;
(5) And according to the relative spatial relationship between the rotating plane of the light source of the aircraft A and the machine body structure and the relative spatial relationship between the vision camera and the machine body structure of other aircrafts or equipment, obtaining the relative distance and the relative posture between the other aircrafts or equipment and the machine body structure of the aircraft A based on the relative distance, azimuth angle and pitch angle between the vision camera and the center position of the rotating plane of the light source of the aircraft A and the relative posture between the vision camera and the rotating plane of the light source of the aircraft A.
Further, the specific mode of the step (4) is as follows:
(401) According to vectorsDirection, vector in imaging>And vector->Obtaining two solutions of the three-axis direction vector included angle between the rotation plane of the light source of the aircraft A and the visual camera field of view, and the distance information of the visual camera and the aircraft A;
(402) When the light source installation features enable the light source to be observed only through the upward view or the overlook light source rotation plane, eliminating the corresponding overlook or upward view solution in the relative posture solution to obtain the relative posture;
(403) When the light source can be observed by the light source installation features on two sides of the light source rotation plane, the light source installation features comprise the spatial relationship among the rotary wings, the difference of the positions and the number of the light sources installed on each rotary wing and the difference of the colors of the light sources, the spatial logic relationship of the rotary wings in the imaging of the video camera is detected, and the solution which does not accord with the spatial logic relationship of the rotary wings is eliminated, so that the relative gesture is obtained.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention can complete the relative distance and gesture measurement process through the existing vision cameras on the aircrafts without depending on the wireless links and inertial information interaction process between the aircrafts, and is suitable for application occasions with high requirement on autonomy or limitation on load.
(2) Compared with a relative ranging gesture detection method based on target image visual detection, the visual detection algorithm provided by the invention has low complexity and can be applied to weak illumination and no illumination conditions.
In a word, the invention can realize the relative ranging and attitude measurement capability of the aircraft without depending on radio and inertia technology, and the light source is arranged on the rotor wing of the aircraft, so that other aircrafts or equipment can identify the ellipse or circular arc formed by the light source on the rotor wing through the visual sensor, and the relative distance and attitude can be obtained by utilizing the position, the size, the flat rate and other parameters of the ellipse or circular arc in the visual image.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention.
FIG. 2 is a schematic representation of the relative spatial relationship of the plane of rotation of the aircraft rotor light source to the visual camera field of view vector in an embodiment of the present invention.
Detailed Description
The invention is further described below with reference to the drawings and detailed description.
A relative ranging attitude measurement method based on aircraft rotor wing light source detection comprises the following steps:
(1) Arranging luminous light sources on one or more rotors of the aircraft A, wherein the installation positions can be selected on a wing tip, a single side or two sides of the rotors, so that the visible range of the light sources in the flying process is determined; the method comprises the steps of accurately measuring and calibrating the distance between a light source and a rotor wing rotating shaft of an aircraft A under the flying condition in advance, and taking the distance as L;
(2) Installing a visual camera on other aircrafts or equipment, setting the exposure time of the camera to be not lower than the period of one circle of rotation of an aircraft A rotor wing at the minimum rotation speed, and obtaining imaging characteristic functions of objects with different angles and different lengths in the visual field range of the visual camera through calibration; in the flight process of the aircraft A, an ellipse or an arc generated by a rotor wing light source of the aircraft A under the rotation condition is imaged by utilizing a visual camera, and the position [ x, y, z ] of the center of the ellipse is detected in an imaging view field]Vectors of long axis length and relative field of viewVector of short axis length and relative field of view +.>If the imaging is an arc, acquiring the parameters according to an ellipse corresponding to the arc;
(3) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to the imaging characteristics, and performing imaging according to the imaging characteristicsLength, center of [ x, y, z ]]Obtaining the relative distance, azimuth angle and pitch angle between the aircraft A light source rotation plane center position;
(4) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to vectorsDirection, vector in imaging>Vector->The relative attitude of the light source rotating plane of the aircraft A is obtained by the ratio of the light source rotating plane of the aircraft A and the distance information of the aircraft A; the method specifically comprises the following steps:
(401) According to vectorsDirection, vector in imaging>Vector->Obtaining two solutions of the three-axis direction vector included angle between the light source rotation plane of the aircraft A and the visual camera field of view by the ratio of the light source rotation plane of the aircraft A and the distance information of the aircraft A;
(402) When the light source installation features enable the light source to be observed only through the upward view or the overlook light source rotation plane, eliminating the overlook or upward view solution corresponding to the relative posture solution, and obtaining the relative posture;
(403) When the light source can be observed by the light source installation features on two sides of the light source rotation plane, the light source installation features comprise the spatial relationship among the rotary wings, the difference of the positions and the number of the light sources installed on each rotary wing and the difference of the colors of the light sources, the spatial logic relationship of the rotary wings in the imaging of the video camera is detected, and the solution which does not accord with the spatial logic relationship of the rotary wings is eliminated, so that the relative gesture is obtained.
(5) Based on the relative spatial relationship between the rotating plane of the light source A of the aircraft and the machine body structure and the relative spatial relationship between the vision cameras installed on other aircrafts or equipment and the structure thereof, the relative distance, azimuth angle and pitch angle between the vision cameras and the center position of the rotating plane of the light source A of the aircraft and the relative posture between the vision cameras and the rotating plane of the light source A of the aircraft are obtained, and the relative distance and the relative posture between the other aircrafts or equipment and the machine body structure of the aircraft A are further obtained.
Further, the aircraft refers to an aircraft with a rotor or a propeller, and comprises a multi-rotor unmanned plane, a helicopter, a fixed-wing aircraft propelled by the propeller, and the like.
FIG. 1 is a flow chart of a relative ranging gesture detection method based on aircraft rotor light source detection. The method can be applied to the application scenes of aircraft control, formation flight and the like, particularly the application of the aircraft in night and low-illumination environments, and the relative ranging and attitude measurement information among the aircraft, the aircraft and other equipment can be obtained without depending on radio and inertia devices. The implementation steps are described in detail in the case of implementing formation flying behavior of the multi-rotor unmanned aerial vehicle in an indoor or underground scene:
(1) Arranging luminous light sources on one or more rotors of the unmanned aerial vehicle A, wherein the installation positions can be selected on a wing tip, a single side or two sides of the rotors, so that the visible range of the light sources in the flying process is determined; the method comprises the steps of accurately measuring and calibrating the distance between a light source of an unmanned aerial vehicle A and a rotary wing rotating shaft under the flying condition in advance, and taking the distance as L;
(2) Installing a visual camera on the unmanned aerial vehicle B, setting the exposure time of the camera to be not lower than the period of one circle of rotation of a rotor wing of the unmanned aerial vehicle A at the minimum rotation speed, and obtaining imaging characteristic functions of objects with different angles and different lengths in the visual field range of the visual camera through calibration; in the formation flight process of unmanned aerial vehicle A and unmanned aerial vehicle B, unmanned aerial vehicle B utilizes the vision camera to be at rotatory condition to unmanned aerial vehicle A rotor light sourceThe ellipse or circular arc generated under the imaging is carried out, and the position [ x, y, z ] of the center of the ellipse is detected in the imaging field of view]Vectors of long axis length and relative field of viewVector of short axis length and relative field of view +.>If the imaging is an arc, acquiring the parameters according to an ellipse corresponding to the arc;
(3) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to the imaging characteristics, and performing imaging according to the imaging characteristicsLength, center of [ x, y, z ]]Obtaining the relative distance, azimuth angle and pitch angle of the visual camera of the unmanned aerial vehicle B and the center position of the rotation plane of the light source of the unmanned aerial vehicle A;
(4) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to vectorsDirection, vector in imaging>Vector->The relative attitude of the unmanned aerial vehicle A and the rotation plane of the light source of the unmanned aerial vehicle A is obtained by the ratio of the unmanned aerial vehicle A to the unmanned aerial vehicle A and the distance information; the method specifically comprises the following steps:
(401) According to vectorsDirection, vector in imaging>Vector->Obtaining two solutions of the three-axis direction vector included angle between the rotation plane of the light source of the unmanned aerial vehicle A and the visual camera field of view by the ratio of the light source of the unmanned aerial vehicle A and the distance information of the unmanned aerial vehicle A;
(402) When the light source installation features enable the light source to be observed only through the upward view or the overlook light source rotation plane, eliminating the overlook or upward view solution corresponding to the relative posture solution, and obtaining the relative posture;
(403) When the light source can be observed by the light source installation features on two sides of the light source rotation plane, the light source installation features comprise the spatial relationship among the rotary wings, the difference of the positions and the number of the light sources installed on each rotary wing and the difference of the colors of the light sources, the spatial logic relationship of the rotary wings in the imaging of the video camera is detected, and the solution which does not accord with the spatial logic relationship of the rotary wings is eliminated, so that the relative gesture is obtained.
(5) Based on the relative spatial relationship between the rotation plane of the unmanned aerial vehicle A light source and the machine body structure and the relative spatial relationship between the visual camera installed on the unmanned aerial vehicle B and the structure thereof, the relative distance, azimuth angle and pitch angle between the visual camera and the center position of the rotation plane of the unmanned aerial vehicle A light source and the relative gesture between the visual camera and the rotation plane of the unmanned aerial vehicle A light source are obtained, and the relative distance and the relative gesture between the visual camera and the machine body structure of the unmanned aerial vehicle A and the machine body structure of the unmanned aerial vehicle B are further obtained.
In a word, the invention does not depend on the wireless link and inertial information interaction process between aircrafts, has low complexity of the visual detection algorithm, can be applied to weak illumination and no illumination conditions, and is suitable for application occasions with high requirement on autonomy or limitation on load.
The method can be applied to application scenes such as aircraft control, formation flight and the like, particularly to aircraft application in night and low-illumination environments, and relative ranging and attitude measurement information among aircraft, aircrafts and other equipment can be obtained without depending on radio and inertial devices.

Claims (1)

1. The relative ranging and attitude measuring method based on the aircraft rotor wing light source detection is characterized by comprising the following steps of:
(1) Mounting illuminable light sources on a plurality of rotors of aircraft a, thereby determining a visual range of the light sources during flight; the method comprises the steps of accurately measuring and calibrating the distance L of a light source relative to a rotor rotation shaft of an aircraft A under the flight condition;
(2) Installing a visual camera on other aircrafts or equipment, setting the exposure time of the camera to be not lower than the period of one circle of rotation of an aircraft A rotor wing at the minimum rotation speed, and obtaining imaging characteristic functions of objects with different angles and different lengths in the visual field range of the visual camera through calibration; during the flight of the aircraft A, an ellipse or an elliptical arc generated by a rotor wing light source of the aircraft A under a rotation condition is imaged by utilizing a visual camera, and the position [ x, y, z ] of the center of the ellipse is detected in an imaging view field]Vectors of long axis length and relative field of viewVector of short axis length and relative field of view +.>If the imaging is an elliptic arc, acquiring the parameters according to an ellipse corresponding to the elliptic arc;
(3) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to the imaging characteristics, and performing imaging according to the imaging characteristicsLength, center of [ x, y, z ]]Obtaining the relative distance, azimuth angle and pitch angle of the visual camera and the center position of the rotating plane of the light source A of the aircraft;
(4) Taking a circle with the radius L as a visual detection target, imaging characteristic functions of objects with different angles and different lengths in the visual field range of a visual camera according to vectorsDirection, vector in imaging>And vector->The relative gesture of the visual camera and the rotating plane of the light source of the aircraft A is obtained according to the ratio of the visual camera to the rotating plane of the light source of the aircraft A; the specific method is as follows:
(401) According to vectorsDirection, vector in imaging>And vector->Obtaining two solutions of the three-axis direction vector included angle between the rotation plane of the light source of the aircraft A and the visual camera field of view, and the distance information of the visual camera and the aircraft A;
(402) When the light source installation features enable the light source to be observed only through the upward view or the overlook light source rotation plane, eliminating the corresponding overlook or upward view solution in the relative posture solution to obtain the relative posture;
(403) When the light source installation features enable the two sides of the light source rotation plane to observe the light source, the light source installation features of the plurality of rotary wings are adopted, wherein the light source installation features comprise the spatial relationship among the plurality of rotary wings, the difference of the positions and the number of the light sources installed on each rotary wing and the difference of the colors of the light sources, the spatial logic relationship of the plurality of rotary wings in the imaging of the video camera is detected, and the solution which does not accord with the spatial logic relationship of the plurality of rotary wings is eliminated, so that the relative gesture is obtained;
(5) And according to the relative spatial relationship between the rotating plane of the light source of the aircraft A and the machine body structure and the relative spatial relationship between the vision camera and the machine body structure of other aircrafts or equipment, obtaining the relative distance and the relative posture between the other aircrafts or equipment and the machine body structure of the aircraft A based on the relative distance, azimuth angle and pitch angle between the vision camera and the center position of the rotating plane of the light source of the aircraft A and the relative posture between the vision camera and the rotating plane of the light source of the aircraft A.
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Citations (6)

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CN105573341A (en) * 2016-01-22 2016-05-11 深圳泰山体育科技股份有限公司 Aerial vehicle optical control method and aerial vehicle optical control system
CN106885573A (en) * 2017-02-15 2017-06-23 南京航空航天大学 Towards the motion capture system Real-time Determination of Attitude method of quadrotor
CN108052110A (en) * 2017-09-25 2018-05-18 南京航空航天大学 UAV Formation Flight method and system based on binocular vision
CN108122255A (en) * 2017-12-20 2018-06-05 哈尔滨工业大学 It is a kind of based on trapezoidal with circular combination terrestrial reference UAV position and orientation method of estimation
CN112308900A (en) * 2020-10-22 2021-02-02 大连理工大学 Four-rotor unmanned aerial vehicle relative pose estimation method based on LED (light emitting diode) ring detection
JP2021109618A (en) * 2020-01-15 2021-08-02 住友重機械工業株式会社 Flying body, three-dimensional position and attitude measurement device, and three-dimensional position and attitude measurement method

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105573341A (en) * 2016-01-22 2016-05-11 深圳泰山体育科技股份有限公司 Aerial vehicle optical control method and aerial vehicle optical control system
CN106885573A (en) * 2017-02-15 2017-06-23 南京航空航天大学 Towards the motion capture system Real-time Determination of Attitude method of quadrotor
CN108052110A (en) * 2017-09-25 2018-05-18 南京航空航天大学 UAV Formation Flight method and system based on binocular vision
CN108122255A (en) * 2017-12-20 2018-06-05 哈尔滨工业大学 It is a kind of based on trapezoidal with circular combination terrestrial reference UAV position and orientation method of estimation
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CN112308900A (en) * 2020-10-22 2021-02-02 大连理工大学 Four-rotor unmanned aerial vehicle relative pose estimation method based on LED (light emitting diode) ring detection

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