CN114200396A - Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology - Google Patents
Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology Download PDFInfo
- Publication number
- CN114200396A CN114200396A CN202111282148.5A CN202111282148A CN114200396A CN 114200396 A CN114200396 A CN 114200396A CN 202111282148 A CN202111282148 A CN 202111282148A CN 114200396 A CN114200396 A CN 114200396A
- Authority
- CN
- China
- Prior art keywords
- ground
- solid
- state camera
- airborne
- aerial vehicle
- 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.)
- Pending
Links
Images
Classifications
-
- 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Landscapes
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a photoelectric positioning system of a tethered unmanned aerial vehicle independent of satellite navigation technology, which comprises: the system comprises an airborne optical alignment device deployed on a tethered unmanned aerial vehicle, a ground optical alignment device deployed on a ground control station and a resolving and positioning module; the ground optical alignment device comprises a ground solid-state camera and a ground laser target; the airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain coordinate values of the ground laser target on a target surface of the airborne solid-state camera, and obtaining a distance value of the tethered unmanned aerial vehicle from the ground surface through the distance measuring equipment; the ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera; and the resolving positioning module is used for resolving to obtain the position information of the unmanned aerial vehicle according to the optical geometric relationship, so that positioning is realized.
Description
Technical Field
The invention belongs to the technical field of photoelectricity, and particularly relates to a tethered unmanned aerial vehicle photoelectric positioning system independent of a satellite navigation technology.
Background
Mooring unmanned aerial vehicle system is connected the unmanned aerial vehicle platform with ground control station through mooring cable, by ground control station through mooring cable to mooring unmanned aerial vehicle transmission electric energy and control command etc. mooring unmanned aerial vehicle transmits the state of acquireing, information such as target location through mooring cable to ground control station, thereby realize target indication, functions such as ground weapon system attack guide, have that the dead time is long, unmanned aerial vehicle location precision is high, detection distance is far away, advantages such as detection precision height.
The premise that the mooring unmanned aerial vehicle system can achieve functions such as high-precision target indication is that the mooring unmanned aerial vehicle platform has high positioning precision, the difference satellite navigation technology is mainly adopted for achieving high-precision positioning at present, particularly the RTK satellite navigation technology can achieve positioning precision of the platform in centimeter magnitude, and the mooring unmanned aerial vehicle platform becomes a positioning technology widely adopted by the mooring unmanned aerial vehicle platform.
Although the differential satellite navigation technology has the advantages of wide application range, extremely high positioning accuracy and the like, the differential satellite navigation technology still has more defects which are difficult to overcome in practical use at present, for example, in a dense building area, a GPS signal is easily shielded and reflected by a building, so that a receiving end cannot receive the signal or receives multiple paths of reflected signals, and positioning instantaneity and accuracy are influenced; when the RTK base station has the situations of incapability of searching satellites or data disconnection and the like, the system is converted into a mode of utilizing a common single-point satellite navigation to provide common positioning data, and the positioning precision of the tethered unmanned aerial vehicle cannot be continuously maintained; in addition, once the guard channel technology is interfered, the whole system cannot work. In summary, there is a need to develop a tethered drone system that does not rely on satellite navigation technology to achieve precise navigation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a tethered unmanned aerial vehicle photoelectric positioning system which does not depend on a satellite navigation technology. Coordinate values, heading and pitching of the mooring unmanned aerial vehicle in a mooring platform coordinate system are accurately measured through a photoelectric mutual aiming technology, and the problem that the unmanned aerial vehicle platform in the conventional mooring unmanned aerial vehicle system can only realize high-precision positioning by means of a satellite navigation technology is solved.
In order to achieve the above object, the present invention provides a tethered drone photoelectric positioning system not depending on satellite navigation technology, the system comprising: the system comprises an airborne optical alignment device deployed on a tethered unmanned aerial vehicle, a ground optical alignment device deployed on a ground control station and a resolving and positioning module; the airborne optical alignment device comprises an airborne solid-state camera, an airborne laser target and a distance measuring device, and the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
the airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain coordinate values of the ground laser target on a target surface of the airborne solid-state camera, and is also used for obtaining a distance value of the captive unmanned aerial vehicle from the ground surface through the distance measuring equipment;
the ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
and the resolving and positioning module is used for resolving the coordinate values and the distance values to obtain the position information of the unmanned aerial vehicle according to the optical geometric relationship, so that the positioning is realized.
As an improvement of the above system, the onboard solid-state camera employs a CMOS or CCD sensor, the ground solid-state camera employs a CMOS or CCD sensor, and the distance resolution between the onboard solid-state camera and the ground solid-state camera during normal operation is not less than a preset threshold.
As an improvement of the system, the airborne laser target comprises not less than 2 light sources which are respectively arranged on the left side and the right side of the azimuth axis of the tethered unmanned aerial vehicle and are equidistant from the azimuth axis of the unmanned aerial vehicle, the connecting lines of the 2 light sources penetrate through the geometric center of the tethered unmanned aerial vehicle, and the pointing directions of the light sources are all parallel to the direction of the optical axis of the airborne solid-state camera;
the ground laser target comprises at least 2 light sources, a connecting line between the 2 light sources penetrates through an optical axis of the camera, a perpendicular bisector of the connecting line of the 2 light sources penetrates through the optical axis of the camera, the geometric center of the ground laser target coincides with the position of the optical axis of the ground solid-state camera, and the direction of a reference line of the light sources is parallel to the direction of the optical axis of the ground solid-state camera.
As an improvement of the above system, the specific processing procedure of the resolving positioning module is as follows:
establishing a coordinate system with a ground control station as an origin;
abscissa m of 2 light sources of receiver-borne laser target on ground solid-state camera target surfacepAnd np；
Vertical coordinate k of 2 light sources for receiving airborne laser targets on ground solid-state camera target surfacepAnd lp；
Abscissa m of 2 light sources for receiving ground laser targets on airborne solid-state camera target surfacedAnd nd；
Vertical coordinate k of 2 light sources for receiving ground laser target on airborne solid-state camera target surfacedAnd ld；
According to the abscissa mpAnd npAnd ordinate kpAnd lpAnd calculating to obtain the azimuth alpha of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pAnd pitch betad-p；
According to the abscissa mdAnd ndAnd ordinate kdAnd ldAnd calculating the direction alpha of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camerap-dAnd pitch betap-d；
Obtaining an elevation coordinate of the tethered unmanned aerial vehicle according to the distance L from the tethered unmanned aerial vehicle to the ground surface, which is measured by the distance measuring equipment;
and calculating the coordinates, heading and pitching of the tethered unmanned aerial vehicle according to the optical geometric relationship and the azimuth, pitching and elevation coordinates.
As an improvement to the above system, said reference m is based on the abscissapAnd npAnd ordinate kpAnd lpAnd calculating to obtain the azimuth alpha of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pAnd pitch betad-p(ii) a The method specifically comprises the following steps:
according to the abscissa mpAnd npAnd calculating the abscissa x of the geometric center position of the airborne laser target on the target surface of the ground solid-state camera according to the following formula0-pComprises the following steps:
according to the following formula, calculating to obtain the optical axis orientation alpha of the solid-state camera with the geometric center position of the airborne laser target deviating from the groundd-pComprises the following steps:
αd-p＝x0-p·Δθp
wherein, Delta thetapFor the angular resolution of a terrestrial solid-state camera,
fpthe single phase element size of the terrestrial solid-state camera is N for the focal length of the terrestrial solid-state camerap×Np；
According to ordinate kpAnd lpAnd calculating the ordinate y of the geometric center position of the airborne laser target on the target surface of the ground solid-state camera according to the following formula0-pComprises the following steps:
according to the following formula, calculating the pitching beta of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pComprises the following steps:
βd-p＝y0-p·Δθp。
as an improvement to the above system, said reference m is based on the abscissadAnd ndAnd ordinate kdAnd ldAnd calculating the direction alpha of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camerap-dAnd pitch betap-d(ii) a The method specifically comprises the following steps:
according to the abscissa mdAnd ndAnd calculating the abscissa x of the geometric center position of the ground laser target on the target surface of the airborne solid-state camera according to the following formula0-dComprises the following steps:
calculating the deviation of the geometric center position of the ground laser target from the optical axis orientation alpha of the airborne solid-state camera according to the following formulap-dComprises the following steps:
αp-d＝x0-d·Δθd
wherein, Delta thetadFor the angular resolution of the on-board solid-state camera,
fdfor the focal length of the onboard solid-state camera, the size of a single phase element of the onboard solid-state camera is Nd×Nd；
According to ordinate kdAnd ldAnd calculating the ordinate y of the geometric center position of the ground laser target on the target surface of the airborne camera according to the following formula0-dComprises the following steps:
calculating the pitching beta of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camera according to the following formulap-dComprises the following steps:
βp-d＝y0-d·Δθd。
as an improvement of the system, the elevation coordinate of the tethered unmanned aerial vehicle is obtained according to the distance L from the tethered unmanned aerial vehicle to the ground surface, which is measured by the distance measuring equipment; the method specifically comprises the following steps:
according to the distance L of the captive unmanned aerial vehicle measured by the distance measuring equipment from the earth's surface, the roll upsilon of the captive unmanned aerial vehicle output by the airborne inertial navigation equipment is obtained by the following formula that the captive unmanned aerial vehicle is the height D from the earth's surface:
D＝L·cosυ
obtaining an elevation coordinate z of the tethered unmanned aerial vehicle according to the height delta D of the ground relative to the ground control station near the working position of the tethered unmanned aerial vehicledComprises the following steps:
zd＝D+ΔD。
as an improvement of the system, the coordinates, the heading and the pitch of the tethered unmanned aerial vehicle are calculated according to the optical geometric relationship and the azimuth, the pitch and the elevation coordinates; the method specifically comprises the following steps:
from the elevation coordinate z according to the optical geometrydObtaining the coordinate (x) of the captive unmanned aerial vehicle on the xoy planed,yd) Comprises the following steps:
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p')
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p')
wherein alpha is0For the optical axis orientation, beta, of a ground solid-state camera0Pitching the optical axis of a ground solid-state camera, alphad-p' is the orientation, beta, of the geometric center position of the airborne laser target relative to the ground solid-state camerad-pPitching the geometric center position of the airborne laser target away from the optical axis of the ground solid-state camera;
mooring unmanned aerial vehicle heading alpha relative to ground control stationdComprises the following steps:
αd＝360°-αp-d'
wherein, alpha'p-dThe position of the geometric center position of the ground laser target relative to the airborne solid-state camera is determined;
pitch beta of tethered drone relative to ground control stationdComprises the following steps:
βd＝-(-γ0-βp-d)
wherein, γ0The pitching of the airborne solid-state camera from the reference line of the tethered unmanned aerial vehicle is realized by beta of-90 degrees or mored,βp-d,γ0≤90°，βd,βp-d,γ0Are all positive and negative upward and downward from the horizontal plane.
As an improvement of the system, the ground optical alignment device further comprises a ground reference table for realizing the initial calibration of the optical axis pointing direction of the ground solid-state camera.
Compared with the prior art, the invention has the advantages that:
1. the invention realizes high-precision positioning, heading positioning and pitching of the mooring unmanned aerial vehicle relative to the mooring platform by a photoelectric cross-sight technology without depending on a satellite navigation technology, and avoids the defects that the high-precision positioning, RTK base station signal cutoff, interference on sanitary guiding equipment and the like cannot be realized in the full time by using a satellite navigation technology solution;
2. the influence of environmental factors such as illumination intensity, cloud and fog weather is small, a high-definition solid-state camera is adopted to match with a laser target, accurate positioning, heading and pitching are realized through air-ground mutual aiming, the visibility of the laser target is extremely high, and mutual aiming can be realized under strong illumination in the daytime, at night and under bad weather conditions;
3. the equipment has simple structure and low cost. The key parts are only 2 high-definition solid-state cameras, the laser targets arranged at the outer edges of the camera lenses and the distance measuring equipment, the equipment purchasing cost is low, and the installation, debugging and use are easy.
Drawings
FIG. 1 is a general block diagram of the system of the present invention;
FIG. 2 is a schematic view of an optical alignment apparatus;
fig. 3 is a schematic view of the operating position of the tethered drone system;
FIG. 4 is a schematic illustration of laser target imaging;
FIG. 5 is a schematic diagram illustrating a conversion relationship between the azimuth angle of the target surface of the camera and the real azimuth angle;
FIG. 6 is a schematic view of a system elevation measurement;
FIG. 7 is a tethered drone pitch solution schematic
FIG. 8 is a schematic view of an onboard solid state camera, ranging apparatus installation.
Reference numerals
1. Mooring unmanned aerial vehicle 2 and ground control station
3. Airborne optical alignment device 4 and ground optical alignment device
5. Ground power supply 6 and signal processing equipment
7. Airborne solid-state camera 8 and airborne laser target
9. Distance measuring equipment 10 and ground solid-state camera
11. Ground laser target 12 and ground reference table
13. Mooring cable
Detailed Description
The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and examples.
The invention provides a tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology, which comprises: the system comprises an airborne optical alignment device deployed on a tethered unmanned aerial vehicle, a ground optical alignment device deployed on a ground control station and a resolving and positioning module; the airborne optical alignment device comprises an airborne solid-state camera, an airborne laser target and a distance measuring device, and the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
the airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain coordinate values of the ground laser target on a target surface of the airborne solid-state camera, and is also used for obtaining a distance value of the captive unmanned aerial vehicle from the ground surface through the distance measuring equipment;
the ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
and the resolving and positioning module is used for resolving the coordinate values and the distance values to obtain the position information of the unmanned aerial vehicle according to the optical geometric relationship, so that the positioning is realized.
The system comprises a mooring unmanned aerial vehicle, a mooring platform, a high-definition solid-state camera, a laser target and distance measuring equipment, wherein the high-definition solid-state camera and the laser target are respectively arranged on the mooring unmanned aerial vehicle and the mooring platform; the distance measuring equipment carried by the captive unmanned aerial vehicle measures the distance between the captive unmanned aerial vehicle and the ground surface, the system calculates and outputs the accurate coordinate value of the captive unmanned aerial vehicle in the coordinate system of the captive platform, and finally the accurate position of the captive unmanned aerial vehicle relative to the captive platform is determined.
The present invention will be described in further detail with reference to the following drawings and specific examples.
Examples
As shown in fig. 1, an embodiment of the present invention provides a tethered drone photoelectric positioning system not depending on satellite navigation technology, the apparatus including: the system comprises a mooring unmanned aerial vehicle 1, a ground control station 2, an airborne optical alignment device 3, a ground optical alignment device 4, a ground power supply 5, a signal processing device 6 and a mooring cable 13. The mooring unmanned aerial vehicle 1 is used for carrying an airborne optical alignment device 3, and selecting an unmanned aerial vehicle meeting requirements according to the working requirements of a mooring unmanned aerial vehicle system, such as the type of executed tasks, the load weight and the like; a ground control station 2 as a carrier of a ground device; the ground power supply 5 is used for supplying power to the platform and the load of the mooring unmanned aerial vehicle 1; the signal processing device 6 is used for analyzing data such as angles and distances acquired by the system; mooring cable 13 for connect mooring unmanned aerial vehicle 1 and ground control station 2, information such as transmission control instruction, angle, distance and to mooring unmanned aerial vehicle 1 transmission electric power.
As shown in fig. 2, the on-board optical alignment device 3 includes: an onboard solid-state camera 7, an onboard laser target 8 and a distance measuring device 9. Wherein the airborne solid-state camera 7 is used for aiming at the ground laser target 11 and determining the direction alpha of the central position of the ground laser target 11 deviating from the optical axis direction of the airborne solid-state camera 7p-dAnd pitch betap-d(ii) a The airborne laser target 8 is used for observation by a ground solid-state camera 10; and the distance measuring equipment 9 is used for measuring the distance L from the tethered unmanned aerial vehicle 1 to the ground surface.
The ground optical alignment device 4 comprises: the system comprises a ground solid-state camera 10, a ground laser target 11 and a ground reference table 12. Wherein, the ground solid-state camera 10 is used for aiming the airborne laser target 8 and determining the direction alpha of the central position of the airborne laser target 8 deviating from the optical axis direction of the ground solid-state camera 10d-pAnd pitch betad-p(ii) a The ground laser target 11 is used for observing the airborne solid-state camera 7; and the ground reference table 12 is used for realizing the initial calibration of the optical axis pointing direction of the ground solid-state camera 10.
The onboard solid-state camera 7 is a 1-part high-definition camera, and a camera sensor can beCMOS or CCD is used. The scheme adopted by the embodiment is used for replacing the RTK satellite navigation technology to realize the accurate positioning of the tethered unmanned aerial vehicle 1, so the positioning accuracy of the system is not less than that of the RTK satellite navigation technology, namely, the distance resolution delta d of the airborne solid-state camera 7 and the ground solid-state camera 10 on the slant distance R is required to satisfy delta d ∞RLess than or equal to 0.1m, and in addition, the mutual aiming between the airborne solid-state camera 7 and the ground solid-state camera 10 is convenient to realize, namely, the opposite laser target can easily enter the camera view field, and the view field range of the solid-state camera at the slant distance R is large enough. The resolution of the camera is H multiplied by V, the focal length is f, the size of a single phase element is N multiplied by N, and the angular resolution of the solid-state camera is
Horizontal field angle
θH＝H·Δθ
Vertical field of view
θV＝V·Δθ
Similarly, the angular resolution of the ground solid-state camera can be calculated according to the related parameters of the ground solid-state camera.
The airborne laser target 8 is a device consisting of a plurality of light sources, the light sources can adopt diode lasers, and optical lenses are additionally arranged outside the lasers and used for narrowing divergence angles of the lasers. As shown in fig. 2, the on-board laser target 8 includes not less than 2 light sources, and the present example exemplifies the case of 2 light sources. The 2 light source connecting lines pass through the optical axis of the camera, and the perpendicular bisector of the 2 light source connecting lines passes through the optical axis of the camera, as shown in fig. 2, at this time, the geometric center of the airborne laser target 8 coincides with the position of the optical axis of the airborne solid-state camera 7, and in addition, the direction of the light source reference line should be parallel to the optical axis of the airborne solid-state camera 7. To facilitate the ground solid-state camera 10 to compute the geometric center position of the airborne laser target 8 by capturing the light sources, the 2 light source pitch ρ should be larger than the light source dimension d0A value of at least 1 order of magnitude greater will work well, but is not limited to having to be 1 order of magnitude greater. To ensure that the image of the light source on the target surface of the ground solid-state camera 9 is less than 1 pixel, the size of the light source should satisfy d0≤Δd|RIn order to ensure that the solid-state camera can observe the light source facing the laser target in the field of view, the divergence angle of the light source is required to meet the condition that psi is more than or equal to max (theta)H,θV). In addition, in order to ensure that the ground solid-state camera 9 can observe the light source of the airborne laser target 8 without being damaged due to overlarge received light intensity, the laser target light source should be set with proper power.
The distance measuring device 9 can adopt a laser distance measuring machine, an infrared distance measuring machine and other devices.
The ground solid-state camera 10, referred to as the airborne solid-state camera 7, is mounted and calibrated such that the horizontal axis of the camera target surface is horizontal.
The ground laser target 11 is referred to as the airborne laser target 8.
The method for photoelectric positioning of the tethered unmanned aerial vehicle independent of the satellite navigation technology comprises the following specific steps:
the method comprises the following steps: a coordinate system with the ground control station 2 as the origin is established.
As shown in fig. 3, a coordinate system is established with the position of the ground laser target 11 as an origin, the origin of the coordinate is O, the xOy plane is a horizontal plane, and the y-axis direction is set as the relative true north of the coordinate system.
Step two: the airborne solid-state camera 7 and the ground solid-state camera 10 are mutually aimed, and the direction and the pitching of the geometric center of the laser target deviating from the optical axis of the opposite camera are calculated by identifying the laser target
The ground solid-state camera 10 captures the light source of the airborne laser target 8, the imaging condition on the target surface of the camera is shown in fig. 4, the abscissa values of the 2 light sources on the target surface of the ground solid-state camera 10 are m and n respectively, and then the abscissa value of the geometric center position of the airborne laser target 8 on the target surface of the ground solid-state camera 10 is
In practical engineering application, in view of reducing error, a method of averaging multiple measurements may be used, and for convenience of description in this example, x is taken0(m + n)/2. From this, the geometry of the airborne laser target 8 can be calculatedOrientation of the center position off the optical axis of the terrestrial solid-state camera 10
αd-p＝x0·Δθ
As shown in fig. 5, point a is a preset working position of the tethered unmanned aerial vehicle (1), point B is an actual position of the tethered unmanned aerial vehicle 1, point a 'and point B' are projections of point a and point B on an xOy plane, and then ═ AOB ═ αd-p，∠AOA′＝∠BOB′＝β0. Let AA ═ BB ═ h and OA ═ OB ═ R, the orientation of the geometric center position of the airborne laser target 8 relative to the ground solid-state camera 9 ═ a' OB ═ αd-p', the coordinate of the point A is (0, h.tan beta.)0H) and the coordinates of the point B are (h.tan beta)0·sinαd-p′,h·tanβ0·cosαd-p', h). From a vector geometric relationship of
Can deduce
Similarly, the ordinate values of the light sources of the airborne laser target 82 on the target surface of the ground solid-state camera 10 are k and l, respectively, and the ordinate of the geometric center of the airborne laser target 8 on the target surface of the ground solid-state camera 10 is
Therefore, the pitching of the airborne laser target 8 with the geometric center position deviating from the optical axis of the ground solid-state camera 10 can be calculated
βd-p＝y0·Δθ
The method for acquiring the azimuth and the elevation of the geometric center position of the ground laser target 11 deviating from the optical axis of the airborne solid-state camera 7 by the airborne solid-state camera 7 is consistent with the method described above, and the azimuth alpha of the geometric center position of the ground laser target 11 deviating from the optical axis of the airborne solid-state camera 7 is measuredp-dPitch betap-d。
In the same way, the geometric center position of the ground laser target (10) is opposite to the position of the mooring unmanned aerial vehicle 1
Step three: height coordinates of mooring unmanned aerial vehicle 1 are measured
The distance L of the tethered unmanned aerial vehicle 1 from the ground surface is measured by the distance measuring equipment 9, the roll upsilon of the tethered unmanned aerial vehicle 1 is output by the airborne inertial navigation equipment, and the height of the tethered unmanned aerial vehicle 1 from the ground surface can be calculated as shown in fig. 6
D＝L·cosυ
In practical engineering application, the height delta D of the ground near the working position of the tethered unmanned aerial vehicle 1 relative to a ground control station, namely an xOy coordinate plane, is measured in advance, height measurement compensation is set in the system, and the height coordinate of the tethered unmanned aerial vehicle 1 obtained by the system
zd＝D+ΔD
Step four: calculating the accurate coordinate, heading and pitching of the mooring unmanned aerial vehicle 1 relative to the ground control station 2 through the acquired angle and elevation coordinate information
Mooring the x-coordinate of the drone 1 by the geometrical relationship shown in figure 3
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p')
Y coordinate of tethered drone 1
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p')
Mooring unmanned aerial vehicle 1 relative to the heading of ground control station 2
αd＝360°-αp-d'
As shown in fig. 7, the pitch of the tethered drone 1 relative to the ground control station 2
βd＝-(-γ0-βp-d)
Wherein gamma is0Mooring unmanned aerial vehicle 1 reference for airborne solid-state camera 7 optical axis deviationThe pitch of the wire.
A system configuration step:
the method comprises the following steps: selecting a mooring unmanned aerial vehicle 1, and presetting relative coordinates of the working position of the mooring unmanned aerial vehicle 1
And selecting a proper unmanned aerial vehicle according to task needs, and presetting the working position of the mooring unmanned aerial vehicle 1. The operating position of the tethered unmanned aerial vehicle 1 is a, the projection point of the point a on the xOy plane is B, in this example, AB is preset to 200m, and for convenience of calculation, OB is set to 200m, then
Step two: determining solid state camera and laser target specifications
A 2-part solid-state camera with a resolution H × V1920 × 1080, a focal length f 135mm, and a single element size N × N4 × 4 μm was selected. Angular resolution of solid-state camera of this type
Horizontal field angle
θH＝H·Δθ＝1920×0.0296mrad≈3.256°
Vertical field of view
θV＝V·Δθ＝1080×0.0296mrad≈1.832°
The distance resolution of the solid-state camera at the slant distance R282.8 m
Δd|R＝282.8m＝R·Δθ＝282.8m×0.0296mrad≈8.37mm
Selecting the light source size d of the laser target05mm, the divergence angle psi of the light source is not less than max (theta)H,θV) 3.256 degrees, and the distance rho between the laser targets 2 and the light sources is 150 mm.
Step three: calibration fixed ground optical alignment device 4
Installing a ground laser target 11 at the outer edge of a lens of a ground solid-state camera 10, installing the ground solid-state camera 10 on a ground reference table 12, calibrating the horizontal axis of the target surface of the ground solid-state camera 10, and adjusting the optical axis of the ground solid-state camera 10 to face upwardAngle beta0When beta is shown in FIG. 30When the angle AOB is adjusted to be 45 degrees, locking the optical axis of the ground solid-state camera 10 for pitching; adjusting the direction of the ground reference table 12 to make the optical axis direction alpha of the ground solid-state camera 100B is pointed, a is pointed0When the azimuth is adjusted to ζ, the ground reference table 12 is locked. At this time, the calibration and fixation of the ground optical alignment device 4 are completed, and the optical axis of the ground solid-state camera 10 points to a.
Step four: calibration installation onboard optical alignment device 3 and distance measuring equipment 9
After the airborne laser target 8 is installed on the outer edge of the lens of the airborne solid-state camera 7, the pitching gamma of the airborne solid-state camera 7, the optical axis of which deviates from the datum line of the tethered unmanned aerial vehicle 1, is determined according to the set working position of the tethered unmanned aerial vehicle 10As shown in FIG. 8, the optical axis orientation of the onboard solid-state camera 7 should be the same as AJ, γ0The direction of an optical axis of the onboard optical alignment device 3 after being fixedly installed is shown as AK in fig. 8, and the light source of the calibration onboard laser target 8 points to be parallel to the AK.
As shown in fig. 8, the reference line of the distance measuring device 9 is calibrated to be perpendicular to the reference plane of the tethered unmanned aerial vehicle, and then is fixedly installed on the tethered unmanned aerial vehicle 1.
Step five: the mooring unmanned aerial vehicle 1 is lifted off and mutually aimed with the ground control station 2, and the system acquires the relative azimuth, elevation and elevation coordinate information of the air and ground
The mooring unmanned aerial vehicle 1 is electrified to ascend to the air and goes to a preset working position, the heading of the mooring unmanned aerial vehicle 1 is adjusted, and the ground laser target 112 light sources fall into the field range of the airborne solid-state camera 7, so that mutual aiming at the air and the ground is realized.
The ground solid-state camera 10 captures the light source of the airborne laser target 8, the imaging condition on the target surface of the camera is shown in fig. 4, the abscissa values of the 2 light sources on the target surface of the ground solid-state camera 10 are m and n respectively, and then the abscissa value of the geometric center position of the airborne laser target 8 on the target surface of the ground solid-state camera 10 is
Therefore, the direction of the geometric center position of the airborne laser target 8 deviating from the optical axis of the ground solid-state camera 10 can be calculated
The longitudinal coordinate values of the 82 light sources of the airborne laser target on the target surface of the ground solid-state camera 10 are respectively l0And k0The vertical coordinate of the geometric center of the airborne laser target 8 on the target surface of the ground solid-state camera 10
Therefore, the pitching of the airborne laser target 8 with the geometric center position deviating from the optical axis of the ground solid-state camera 10 can be calculated
The method for acquiring the azimuth and the elevation of the geometric center position of the ground laser target 11 deviating from the optical axis of the airborne solid-state camera 7 by the airborne solid-state camera 7 is consistent with the method described above, and the azimuth alpha of the geometric center position of the ground laser target 11 deviating from the optical axis of the airborne solid-state camera 7 is measuredp-d＝φ1In pitch
Distance L (L) of the tethered unmanned aerial vehicle 1 from the ground surface is measured by the distance measuring equipment 90And the airborne inertial navigation equipment outputs roll upsilon of the captive unmanned aerial vehicle 10As shown in fig. 5, the height of the tethered drone 1 from the ground surface can be calculated
D＝L·cosυ＝L0·cosυ0
The height delta D of the ground near the working position of the tethered unmanned aerial vehicle 1 relative to a ground control station, namely an xOy coordinate plane is measured0Height measurement compensation is set in the system, and the height coordinates of the mooring unmanned aerial vehicle 1 obtained by the system
zd＝D+ΔD＝L0 cosυ0+ΔD0
Step six: calculating the accurate coordinate, heading and pitching of the mooring unmanned aerial vehicle 1 relative to the ground control station 2 through the acquired angle and elevation coordinate information
Mooring the x-coordinate of the drone 1 by the geometrical relationship shown in figure 3
Y coordinate of tethered drone 1
Mooring unmanned aerial vehicle 1 relative to the heading of ground control station 2
αd＝360°-αp-d'＝360°-φ1'
As shown in fig. 7, the pitch of the tethered drone 1 relative to the ground control station 2
Feasibility analysis:
the horizontal coverage range of the camera at the slant distance R of 282.8m is not considered by the influence of terrain shading
Vertical coverage
It is believed that the selected solid-state camera has a sufficiently large field of view at R282.8 m, and mutual aiming between the onboard solid-state camera 7 and the ground solid-state camera 10 is facilitated, i.e. the facing laser target should be able to enter the camera field of view relatively easily, and the solution is easy to implement.
The distance measuring precision of distance measuring equipment such as a laser distance measuring machine can reach millimeter level in the range of 200m of fly height h, and the measuring precision I of L is taken in the embodimentLLess than or equal to 10mm, then the positioning precision of the mooring unmanned aerial vehicle 1 relative to the ground control station 2
Therefore, the positioning accuracy of the photoelectric cross-sighting device for measuring the relative position and the relative attitude between the mooring unmanned aerial vehicle and the mooring platform without depending on the satellite navigation technology is superior to that of the RTK satellite navigation technology.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and are not limited. Although the present invention has been described in detail with reference to the embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A tethered drone optoelectronic positioning system independent of satellite navigation technology, the system comprising: the system comprises an airborne optical alignment device deployed on a tethered unmanned aerial vehicle, a ground optical alignment device deployed on a ground control station and a resolving and positioning module; the airborne optical alignment device comprises an airborne solid-state camera, an airborne laser target and a distance measuring device, and the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
the airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain coordinate values of the ground laser target on a target surface of the airborne solid-state camera, and is also used for obtaining a distance value of the captive unmanned aerial vehicle from the ground surface through the distance measuring equipment;
the ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
and the resolving and positioning module is used for resolving the coordinate values and the distance values to obtain the position information of the unmanned aerial vehicle according to the optical geometric relationship, so that the positioning is realized.
2. The system according to claim 1, wherein the onboard solid-state camera is a CMOS or CCD sensor, the ground solid-state camera is a CMOS or CCD sensor, and the distance resolution between the onboard solid-state camera and the ground solid-state camera in normal operation is not less than a preset threshold.
3. The photoelectric positioning system of the tethered drone independent of satellite navigation technology of claim 1, wherein the onboard laser target comprises not less than 2 light sources respectively mounted on the left and right sides of the orientation axis of the tethered drone and equidistant from the orientation axis of the drone, the 2 light sources are connected by a line passing through the geometric center of the tethered drone and are all directed parallel to the optical axis direction of the onboard solid-state camera;
the ground laser target comprises at least 2 light sources, a connecting line between the 2 light sources penetrates through an optical axis of the camera, a perpendicular bisector of the connecting line of the 2 light sources penetrates through the optical axis of the camera, the geometric center of the ground laser target coincides with the position of the optical axis of the ground solid-state camera, and the direction of a reference line of the light sources is parallel to the direction of the optical axis of the ground solid-state camera.
4. The system according to claim 3, wherein the specific processing procedure of the positioning resolving module is as follows:
establishing a coordinate system with a ground control station as an origin;
abscissa m of 2 light sources of receiver-borne laser target on ground solid-state camera target surfacepAnd np；
Vertical coordinate k of 2 light sources for receiving airborne laser targets on ground solid-state camera target surfacepAnd lp；
Abscissa m of 2 light sources for receiving ground laser targets on airborne solid-state camera target surfacedAnd nd；
Vertical coordinate k of 2 light sources for receiving ground laser target on airborne solid-state camera target surfacedAnd ld；
According to the abscissa mpAnd npAnd ordinate kpAnd lpAnd calculating to obtain the azimuth alpha of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pAnd pitch betad-p；
According to the abscissa mdAnd ndAnd ordinate kdAnd ldAnd calculating the direction alpha of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camerap-dAnd pitch betap-d；
Obtaining an elevation coordinate of the tethered unmanned aerial vehicle according to the distance L from the tethered unmanned aerial vehicle to the ground surface, which is measured by the distance measuring equipment;
and calculating the coordinates, heading and pitching of the tethered unmanned aerial vehicle according to the optical geometric relationship and the azimuth, pitching and elevation coordinates.
5. A tethered drone photoelectric positioning system independent of satellite navigation technology according to claim 4, characterised in that said system is characterized by m abscissapAnd npAnd ordinate kpAnd lpAnd calculating to obtain the azimuth alpha of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pAnd pitch betad-p(ii) a The method specifically comprises the following steps:
according to the abscissa mpAnd npAnd calculating the abscissa x of the geometric center position of the airborne laser target on the target surface of the ground solid-state camera according to the following formula0-pComprises the following steps:
calculating to obtain the airborne laser target according to the following formulaIs offset from the optical axis orientation alpha of the terrestrial solid-state camerad-pComprises the following steps:
αd-p＝x0-p·Δθp
wherein, Delta thetapFor the angular resolution of a terrestrial solid-state camera,
fpthe single phase element size of the terrestrial solid-state camera is N for the focal length of the terrestrial solid-state camerap×Np；
According to ordinate kpAnd lpAnd calculating the ordinate y of the geometric center position of the airborne laser target on the target surface of the ground solid-state camera according to the following formula0-pComprises the following steps:
according to the following formula, calculating the pitching beta of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camerad-pComprises the following steps:
βd-p＝y0-p·Δθp。
6. a tethered drone photoelectric positioning system independent of satellite navigation technology according to claim 5, characterised in that said system is characterized by m abscissadAnd ndAnd ordinate kdAnd ldAnd calculating the direction alpha of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camerap-dAnd pitch betap-d(ii) a The method specifically comprises the following steps:
according to the abscissa mdAnd ndAnd calculating the abscissa x of the geometric center position of the ground laser target on the target surface of the airborne solid-state camera according to the following formula0-dComprises the following steps:
calculating the deviation of the geometric center position of the ground laser target from the optical axis orientation alpha of the airborne solid-state camera according to the following formulap-dComprises the following steps:
αp-d＝x0-d·Δθd
wherein, Delta thetadFor the angular resolution of the on-board solid-state camera,
fdfor the focal length of the onboard solid-state camera, the size of a single phase element of the onboard solid-state camera is Nd×Nd；
According to ordinate kdAnd ldAnd calculating the ordinate y of the geometric center position of the ground laser target on the target surface of the airborne camera according to the following formula0-dComprises the following steps:
calculating the pitching beta of the geometric center position of the ground laser target deviating from the optical axis of the airborne solid-state camera according to the following formulap-dComprises the following steps:
βp-d＝y0-d·Δθd。
7. the photoelectric positioning system of the tethered unmanned aerial vehicle independent of satellite navigation technology as claimed in claim 6, wherein the elevation coordinates of the tethered unmanned aerial vehicle are obtained from the distance L of the tethered unmanned aerial vehicle from the earth's surface measured by the ranging device; the method specifically comprises the following steps:
according to the distance L from the ground surface of the tethered unmanned aerial vehicle measured by the distance measuring equipment and the roll of the tethered unmanned aerial vehicle output by the airborne inertial navigation equipment
The height D of the mooring unmanned aerial vehicle from the ground surface is obtained by the following formula:
D＝L·cosυ
basis systemThe height delta D of the ground relative to the ground control station near the working position of the mooring unmanned aerial vehicle is obtained by the following formuladComprises the following steps:
zd＝D+ΔD。
8. the optoelectronic positioning system of a tethered drone independent of satellite navigation technology as claimed in claim 7, wherein the coordinates, heading and pitch of the tethered drone are calculated from the azimuth, pitch and elevation coordinates according to the optical geometry; the method specifically comprises the following steps:
from the elevation coordinate z according to the optical geometrydObtaining the coordinate (x) of the captive unmanned aerial vehicle on the xoy planed，yd) Comprises the following steps:
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p′)
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p′)
wherein alpha is0For the optical axis orientation, beta, of a ground solid-state camera0Pitching the optical axis of a ground solid-state camera, alphad-p' is the orientation, beta, of the geometric center position of the airborne laser target relative to the ground solid-state camerad-pPitching the geometric center position of the airborne laser target away from the optical axis of the ground solid-state camera;
mooring unmanned aerial vehicle heading alpha relative to ground control stationdComprises the following steps:
αd＝360°-αp-d′
wherein, alpha'p-dThe position of the geometric center position of the ground laser target relative to the airborne solid-state camera is determined;
pitch beta of tethered drone relative to ground control stationdComprises the following steps:
βd＝-(-γ0-βp-d)
wherein, γ0The pitching of the airborne solid-state camera from the reference line of the tethered unmanned aerial vehicle is realized by beta of-90 degrees or mored，βp-d，γ0≤90°，βd，βp-d，γ0Are all positive and negative upward and downward from the horizontal plane.
9. A tethered drone optoelectronic positioning system independent of satellite navigation technology as in claim 1, wherein the ground optical alignment means further comprises a ground reference station for initial calibration of the ground solid state camera optical axis pointing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111282148.5A CN114200396A (en) | 2021-11-01 | 2021-11-01 | Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111282148.5A CN114200396A (en) | 2021-11-01 | 2021-11-01 | Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114200396A true CN114200396A (en) | 2022-03-18 |
Family
ID=80646655
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111282148.5A Pending CN114200396A (en) | 2021-11-01 | 2021-11-01 | Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114200396A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114689030A (en) * | 2022-06-01 | 2022-07-01 | 中国兵器装备集团自动化研究所有限公司 | Unmanned aerial vehicle auxiliary positioning method and system based on airborne vision |
| CN115014278A (en) * | 2022-08-05 | 2022-09-06 | 湖南科天健光电技术有限公司 | Calibration method and device, method and system for measuring target to be measured and aircraft |
-
2021
- 2021-11-01 CN CN202111282148.5A patent/CN114200396A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114689030A (en) * | 2022-06-01 | 2022-07-01 | 中国兵器装备集团自动化研究所有限公司 | Unmanned aerial vehicle auxiliary positioning method and system based on airborne vision |
| CN115014278A (en) * | 2022-08-05 | 2022-09-06 | 湖南科天健光电技术有限公司 | Calibration method and device, method and system for measuring target to be measured and aircraft |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114200396A (en) | Tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology | |
| CN105335733B (en) | Unmanned aerial vehicle autonomous landing visual positioning method and system | |
| CN108387206B (en) | Carrier three-dimensional attitude acquisition method based on horizon and polarized light | |
| CN102928861B (en) | Target positioning method and device for airborne equipment | |
| CN103234555B (en) | Photoelectric stable platform installs Zero positioning method | |
| CN109573088B (en) | Carrier-borne unmanned aerial vehicle photoelectric guidance carrier landing system and carrier landing method | |
| US6653650B2 (en) | Streamlined method and apparatus for aligning a sensor to an aircraft | |
| CN113358135B (en) | Method for correcting aircraft position by photoelectric measurement data | |
| CN110542407A (en) | Method for acquiring positioning information of any pixel point of aerial image | |
| CN112269202A (en) | Motion carrier assisted space reference transmission system and method | |
| Bleier et al. | SCOUT3D–An underwater laser scanning system for mobile mapping | |
| CN115876197A (en) | Mooring lifting photoelectric imaging target positioning method | |
| KR100986505B1 (en) | Touchless positioning system using ccd camera | |
| CN109146936B (en) | Image matching method, device, positioning method and system | |
| CN113340272B (en) | Ground target real-time positioning method based on micro-group of unmanned aerial vehicle | |
| CN107806854B (en) | Flat antenna angle measurement method based on unmanned aerial vehicle photographing and GPS information | |
| CN114200397A (en) | Mooring unmanned aerial vehicle photoelectric positioning system independent of satellite navigation and distance measuring equipment | |
| CN109631841B (en) | Method and device for measuring cross section of expressway based on laser projection | |
| CN215767057U (en) | Dynamic adjusting device for improving precision of rock mass of complex slope investigated by unmanned aerial vehicle | |
| CN114166202A (en) | Tethered unmanned aerial vehicle optical positioning system based on annular laser target and solid-state camera | |
| CN113109829B (en) | Calibration method of synchronous scanning intersection measurement sensor | |
| CN110017833A (en) | Based on pixel class the full frame picture point geographical coordinate localization method of model | |
| CN206193240U (en) | Solid state laser radar | |
| CN113777569A (en) | Radar-linked photoelectric automatic dynamic calibration method and system | |
| CN115359048B (en) | Real-time dynamic alignment measurement method based on closed-loop tracking and aiming and tracking and aiming device |
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 |