CN114285996B - Ground target coverage shooting method and system - Google Patents
Ground target coverage shooting method and system Download PDFInfo
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Abstract
The invention relates to a ground target coverage shooting method and a ground target coverage shooting system. After the flight reference course angle is determined, the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position is determined by combining the flight velocity, the flight course angle and other parameters of the fixed-wing unmanned aerial vehicle sequentially, the cradle head course angle is determined according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point, the cradle head pitch angle is determined according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and then the control of the flight track and the shooting angle in the ground target coverage shooting process is realized according to the flight reference course angle, the cradle head course angle and the cradle head pitch angle, so that the airborne camera is continuously aligned with the target at the known position, the multi-angle visual coverage is realized, and the target is basically positioned at the center of the visual field.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle track control, in particular to a ground target coverage shooting method and a ground target coverage shooting system.
Background
The unmanned aerial vehicle has important application prospect in the aspects of multi-angle coverage monitoring, investigation and the like on the ground fixed target by utilizing the unmanned aerial vehicle-mounted camera, the rotor unmanned aerial vehicle is relatively simple in realizing the function, but for the fixed wing unmanned aerial vehicle, the unmanned aerial vehicle can not hover, has certain cruising speed, and can realize the purpose that the airborne camera continuously aims at the target at a known position, realize multi-angle visual field coverage, and enable the target to be basically positioned at the central position of the visual field, so that the unmanned aerial vehicle has certain difficulty.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a ground target coverage shooting method and a ground target coverage shooting system.
In order to achieve the above object, the present invention provides the following solutions:
a ground target coverage shooting method is applied to a fixed wing unmanned aerial vehicle provided with a camera and a cradle head; the ground target coverage shooting method comprises the following steps:
determining a flight reference course angle according to the relative position of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle flies; the relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle;
determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle is in flight;
determining a cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point;
determining a cloud deck pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
controlling the flying track of the fixed wing unmanned aerial vehicle when the ground target coverage shooting is carried out according to the course angular velocity of the fixed wing unmanned aerial vehicle at the next position;
and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the cradle head course angle and the cradle head pitch angle.
Preferably, the determining the flight reference course angle according to the relative position of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle flies specifically includes:
according to the azimuth angle of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when flying, adopting a formulaDetermining a flight reference course angle;
wherein, psi is d For the flight reference course angle, phi is the azimuth angle of the ground target point and the fixed wing unmanned aerial vehicle, d is the distance between the ground target point and the fixed wing unmanned aerial vehicle, K p The number is positive constant, the + -number represents the flight direction of the fixed-wing unmanned aerial vehicle, and ρ is the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
Preferably, the determining the heading angle speed of the next position fixed wing unmanned aerial vehicle according to the flight reference heading angle, the flight speed of the current position fixed wing unmanned aerial vehicle, the flight heading angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle flies specifically includes:
adopting a formula according to the flight reference course angle, the flight speed of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when in flightDetermining the course angular velocity of the unmanned aerial vehicle with the fixed wing at the next position;
wherein ω is the navigation of the next position fixed wing unmanned aerial vehicleAngular velocity, ρ is the surrounding radius of the fixed-wing unmanned aerial vehicle during flight, ψ d For the flight reference course angle, ψ is the flight course angle of the current position fixed wing unmanned aerial vehicle, v is the flight speed of the current position fixed wing unmanned aerial vehicle, ψ d For flying reference course angle, K p Is a positive constant.
Preferably, the determining the pan-tilt heading angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position and the heading angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point specifically includes:
according to the flying course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point, adopting a formula psi s ＝ψ los - ψ determining the pan/tilt heading angle when the fixed wing drone flies to the next position;
wherein, psi is s Is the course angle of the cradle head, ψ los The heading angle of the ground target point is pointed by the current position of the fixed-wing unmanned aerial vehicle, and psi is the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position.
Preferably, the determining the pan-tilt pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position specifically includes:
according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, adopting a formulaDetermining a cloud deck pitch angle when the fixed wing unmanned aerial vehicle flies to the next position;
wherein θ s And the delta h is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the ground target coverage shooting method applied to the fixed wing unmanned aerial vehicle provided by the invention, after a flight reference course angle is determined based on the relative position of a ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle flies, the course angle of the fixed wing unmanned aerial vehicle at the next position is determined according to the flight reference course angle, the flight speed of the fixed wing unmanned aerial vehicle at the current position, the flight course angle of the fixed wing unmanned aerial vehicle at the current position and the surrounding radius when the fixed wing unmanned aerial vehicle flies, the course angle of the fixed wing unmanned aerial vehicle at the next position is determined according to the flight course angle of the fixed wing unmanned aerial vehicle at the current position and the course angle of the fixed wing unmanned aerial vehicle pointing to the ground target point, and the course angle of the cloud platform course angle when the fixed wing unmanned aerial vehicle flies to the next position is determined according to the height difference between the current position of the fixed wing unmanned aerial vehicle and the ground target point position, and the horizontal distance between the fixed wing unmanned aerial vehicle at the current position is determined, and then, the control of the target course angle of the cloud platform is realized, the control of the ground target coverage is realized, the shooting target is continuously carried out, and the target coverage is realized, and the shooting position is continuously realized.
The invention also provides a ground target coverage shooting system which is applied to the fixed wing unmanned aerial vehicle provided with the camera and the cradle head; the ground target coverage photographing system includes:
the flight reference course angle determining module is used for determining a flight reference course angle according to the relative positions of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle is in flight; the relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle;
the course angular velocity determining module is used for determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle is in flight;
the cradle head course angle determining module is used for determining a cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flying course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point;
the cloud deck pitch angle determining module is used for determining the cloud deck pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
the flight track control module is used for controlling the fixed wing unmanned aerial vehicle to carry out the flight track when the ground target coverage shooting according to the course angular velocity of the fixed wing unmanned aerial vehicle at the next position;
and the shooting angle control module is used for controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the cradle head course angle and the cradle head pitch angle.
The technical effects achieved by the ground target coverage shooting system provided by the invention are the same as those achieved by the ground target coverage shooting method provided by the invention, so that the description is omitted here.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a ground target coverage shooting method provided by the invention;
fig. 2 is a schematic diagram of a circle-around flight of a fixed-wing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 3 is a flight trajectory diagram of a fixed wing unmanned aerial vehicle according to an embodiment of the present invention;
fig. 4 is a video screenshot taken by a camera on the fixed wing unmanned aerial vehicle according to the embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ground target coverage shooting system provided by the invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide a ground target coverage shooting method and a ground target coverage shooting system, which can realize that an onboard camera continuously aims at a target with a known position, realize multi-angle visual field coverage and enable the target to be basically positioned in the center of a visual field.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
The ground target coverage shooting method provided by the invention is applied to a fixed wing unmanned aerial vehicle provided with a camera and a cradle head; as shown in fig. 1, the ground target coverage photographing method includes:
step 100: and determining a flight reference course angle according to the relative position of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle flies. The relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle.
In the specific implementation, the formula can be adoptedPerforming a determination of a reference heading angle of flightAnd (5) setting. Wherein, psi is d For the flight reference course angle, d is the distance between the ground target point and the fixed wing unmanned plane, K p And the p is a positive constant, the phi is the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, the phi is the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle, the unmanned aerial vehicle is 0 DEG in the north of the fixed target, 0 DEG to 360 DEG clockwise, and the phi value is calculated according to the longitude and latitude of the fixed target and the longitude and latitude of the unmanned aerial vehicle. The + -sign is related to the surrounding flight direction, positive corresponding to clockwise flight and negative corresponding to counter-clockwise flight.
Step 101: and determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle flies.
In the specific implementation, the formula can be adoptedAnd determining the course angular speed of the unmanned aerial vehicle with the next position fixed wing. Wherein ω is the heading angular velocity of the next position fixed wing unmanned aerial vehicle, v is the flight velocity of the current position fixed wing unmanned aerial vehicle, ψ is the flight heading angle of the current position fixed wing unmanned aerial vehicle, the heading is 0 ° in the north direction, the clockwise flight acts 0 ° to 360 °, each physical quantity is as shown in fig. 2, and a is the position point of the fixed wing unmanned aerial vehicle in fig. 2.
Step 102: and determining the cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point.
In the implementation process, the camera is arranged on the cradle head, and the heading and pitching angle of the cradle head are changed to drive the camera to change the direction. Cradle head course angle passing formula psi s ＝ψ los - ψ, determined. Wherein, psi is s Is the course angle of the cradle head. Psi phi type los The course angle of the current position of the fixed wing unmanned aerial vehicle pointing to the ground target point can be calculated by the longitude and latitude high coordinates of the ground fixed target and the longitude and latitude high coordinates of the unmanned aerial vehicle. Psi is current position fixed wing unmanned aerial vehicleIs a flying heading angle of (a). If, psi s < 0, then ψ s ＝ψ s +360。
Step 103: and determining a cloud deck pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position.
In the specific implementation process, the pitch angle of the cradle head passes through the formulaAnd determining to obtain the product. Wherein θ s Is the pitch angle of the cradle head, theta s When negative, the angle is shown downward. Δh is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and can be obtained by the longitude and latitude high coordinates of the ground fixed target and the longitude and latitude high coordinates of the unmanned aerial vehicle.
Step 104: and controlling the flying track of the fixed wing unmanned aerial vehicle when the ground target coverage shooting is carried out according to the course angular velocity of the fixed wing unmanned aerial vehicle at the next position.
Step 105: and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the cradle head course angle and the cradle head pitch angle.
According to the ground target coverage shooting method provided by the invention, the flight and video acquisition experiment of the fixed-wing unmanned aerial vehicle is carried out, wherein K is the same as K in the experiment ψ 0.5, K p Taking 2, performing a flight experiment on a sea highway in a mu flat area in the tobacco table city, wherein the ground fixed targets comprise digital prisms and vehicles stopped at two sides of the road. Fig. 3 shows a flight path (gray curve in the figure) of the unmanned aerial vehicle, and the approximate circle part is the flight path of the unmanned aerial vehicle obtained based on the course angular velocity control of the unmanned aerial vehicle with the next position fixed wing.
The airborne camera is installed in the downside of the unmanned aerial vehicle through the cloud deck, records the ground condition in flight, and the cloud deck adopts cloud deck course angle and cloud deck pitch angle to control, and the video screenshot is as shown in fig. 4, and fig. 4 comprises 4 video shots, and 4 shots correspond to different positions of a ground target.
The invention also provides a ground target coverage shooting system which is applied to the fixed wing unmanned aerial vehicle provided with the camera and the cradle head. As shown in fig. 5, the ground target coverage photographing system includes: the device comprises a flight reference course angle determining module 1, a course angular velocity determining module 2, a cradle head course angle determining module 3, a cradle head pitch angle determining module 4, a flight track control module 5 and a shooting angle control module 6.
The flight reference course angle determining module 1 is used for determining a flight reference course angle according to the relative positions of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle is in flight. The relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle.
The course angular velocity determining module 2 is used for determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle flies.
The cradle head course angle determining module 3 is used for determining a cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flying course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle pointing to the ground target point at the current position.
The pan-tilt pitch angle determining module 4 is used for determining the pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position.
The flight track control module 5 is used for controlling the flight track of the fixed-wing unmanned aerial vehicle when the ground target coverage shooting is carried out according to the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position.
The shooting angle control module 6 is used for controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the pan-tilt heading angle and the pan-tilt pitch angle.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present invention and the core ideas thereof; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. The ground target coverage shooting method is characterized by being applied to a fixed wing unmanned aerial vehicle provided with a camera and a cradle head; the ground target coverage shooting method comprises the following steps:
determining a flight reference course angle according to the relative position of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle flies; the relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle;
determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle is in flight;
determining a cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point;
determining a cloud deck pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
controlling the flying track of the fixed wing unmanned aerial vehicle when the ground target coverage shooting is carried out according to the course angular velocity of the fixed wing unmanned aerial vehicle at the next position;
and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the cradle head course angle and the cradle head pitch angle.
2. The ground target coverage shooting method according to claim 1, wherein the determining the flight reference course angle according to the relative position of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle is in flight specifically comprises:
according to the azimuth angle of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when flying, adopting a formulaDetermining a flight reference course angle;
wherein, psi is d For the flight reference course angle, phi is the azimuth angle of the ground target point and the fixed wing unmanned aerial vehicle, d is the distance between the ground target point and the fixed wing unmanned aerial vehicle, K p The number is positive constant, the + -number represents the flight direction of the fixed-wing unmanned aerial vehicle, and ρ is the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
3. The ground target coverage shooting method according to claim 1, wherein the determining the heading angle speed of the next fixed-wing unmanned aerial vehicle according to the flight reference heading angle, the flight speed of the current fixed-wing unmanned aerial vehicle, the flight heading angle of the current fixed-wing unmanned aerial vehicle and the surrounding radius when the fixed-wing unmanned aerial vehicle is in flight specifically includes:
according to the flying reference course angle, the flying speed of the current position fixed wing unmanned aerial vehicle and the current position fixed wing unmanned aerial vehicleThe flying course angle and the surrounding radius of the fixed wing unmanned aerial vehicle when in flying adopt formulasDetermining the course angular velocity of the unmanned aerial vehicle with the fixed wing at the next position;
wherein ω is the heading angular velocity of the next-position fixed-wing unmanned aerial vehicle, ρ is the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, ψ d For the flight reference course angle, ψ is the flight course angle of the current position fixed wing unmanned aerial vehicle, v is the flight speed of the current position fixed wing unmanned aerial vehicle, ψ d For flying reference course angle, K p Is a positive constant.
4. The ground target coverage shooting method according to claim 1, wherein the determining a pan-tilt heading angle when the fixed-wing unmanned aerial vehicle flies to a next position according to the flying heading angle of the fixed-wing unmanned aerial vehicle at the current position and the heading angle when the current position of the fixed-wing unmanned aerial vehicle points to a ground target point specifically comprises:
according to the flying course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point, adopting a formula psi s ＝ψ los - ψ determining the pan/tilt heading angle when the fixed wing drone flies to the next position;
wherein, psi is s Is the course angle of the cradle head, ψ los The heading angle of the ground target point is pointed by the current position of the fixed-wing unmanned aerial vehicle, and psi is the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position.
5. The ground target coverage shooting method according to claim 1, wherein the determining the pan-tilt angle of the fixed-wing unmanned aerial vehicle when flying to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position specifically comprises:
according to the position between the current position of the fixed wing unmanned plane and the ground target pointThe level difference and the horizontal distance between the current position of the fixed wing unmanned aerial vehicle and the ground target point position adopt formulasDetermining a cloud deck pitch angle when the fixed wing unmanned aerial vehicle flies to the next position;
wherein θ s And the delta h is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position.
6. The ground target coverage shooting system is characterized by being applied to a fixed wing unmanned aerial vehicle provided with a camera and a cradle head; the ground target coverage photographing system includes:
the flight reference course angle determining module is used for determining a flight reference course angle according to the relative positions of the ground target point and the fixed wing unmanned aerial vehicle and the surrounding radius of the fixed wing unmanned aerial vehicle when the fixed wing unmanned aerial vehicle is in flight; the relative positions of the ground target point and the fixed wing unmanned aerial vehicle comprise: azimuth angle between the ground target point and the fixed wing unmanned aerial vehicle and distance between the ground target point and the fixed wing unmanned aerial vehicle;
the course angular velocity determining module is used for determining the course angular velocity of the next position fixed wing unmanned aerial vehicle according to the flight reference course angle, the flight velocity of the current position fixed wing unmanned aerial vehicle, the flight course angle of the current position fixed wing unmanned aerial vehicle and the surrounding radius when the fixed wing unmanned aerial vehicle is in flight;
the cradle head course angle determining module is used for determining a cradle head course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flying course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point;
the cloud deck pitch angle determining module is used for determining the cloud deck pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
the flight track control module is used for controlling the fixed wing unmanned aerial vehicle to carry out the flight track when the ground target coverage shooting according to the course angular velocity of the fixed wing unmanned aerial vehicle at the next position;
and the shooting angle control module is used for controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle performs ground target coverage shooting according to the cradle head course angle and the cradle head pitch angle.
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