CN114322940B - Method and system for measuring center of idle explosion position by air-ground integrated multi-purpose intersection - Google Patents
Method and system for measuring center of idle explosion position by air-ground integrated multi-purpose intersection Download PDFInfo
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Abstract
The invention discloses a method for measuring the center of an idle explosion position by air-ground integrated multi-view intersection, which comprises the following steps: arranging an idle measurement control field according to a preset idle position, acquiring position parameters of control points in the measurement field, arranging a plurality of idle-to-ground integrated multi-view cameras around the preset idle position, solving external parameters of the multi-view cameras arranged in the air by adopting a space rear intersection algorithm according to the position parameters of the control points, networking the plurality of idle-to-ground integrated multi-view cameras, establishing a space measurement coordinate system, synchronously shooting idle process image data by utilizing the plurality of idle-to-ground integrated multi-view cameras, acquiring an idle target area diagram by adopting an edge contour recognition algorithm according to the idle process image data, and acquiring the position of an idle center by adopting a forward intersection algorithm and a gray weighted gravity center algorithm according to the space measurement coordinate system. The method can collect data quickly, accurately and automatically with low cost, reduces the problem of rough difference in artificial measurement, and has visibility and traceability.
Description
Technical Field
The invention relates to the technical field of weapon equipment development and identification, in particular to a method and a system for measuring an idle explosion position center by air-ground integrated multi-purpose intersection.
Background
The air explosion body has the advantages of large explosion coverage, small volume, portability and the like, and is widely applied. Based on the explosion coordinates and design equivalent of the explosion body, the damage efficiency of the explosion body can be accurately estimated, and the accurate striking of the target object is completed. In the warhead flight test, there are two conventional approaches: (1) using two electro-optic theodolites for aerial intersection; and (2) an air explosion point three-matrix acoustic positioning technology. The electro-optic theodolite in the means (1) has high price, accurate calibration is needed before use, and the measurement accuracy is greatly influenced by weather; in the mean (2), when no wind exists, the azimuth angle error of the single matrix is smaller than 1 degree, the pitch angle error is smaller than 2 degrees, the measurement error is larger, and the maturity of the prior art is lower.
Disclosure of Invention
The embodiment of the invention provides a method for measuring the center of an idle explosion position by air-ground integrated multi-view intersection, which comprises the following steps:
arranging an idle measurement control field according to a preset idle position;
acquiring position parameters of control points in a measuring field;
arranging a plurality of space-ground integrated multi-camera around a preset space explosion position;
calculating the external parameter coefficients of the multi-camera arranged in the air by adopting a space rear convergence algorithm according to the position parameters of the control points;
networking a plurality of air-ground integrated multi-camera units and establishing a space measurement coordinate system;
synchronously shooting the image data of the air explosion process by utilizing a plurality of air-ground integrated multi-camera;
an edge contour recognition algorithm is adopted to obtain an empty explosion target area diagram;
and according to the space measurement coordinate system and the empty target area diagram, adopting a forward intersection algorithm and a gray weighted gravity center algorithm to obtain the three-dimensional coordinate of the central position of the empty target.
Further, laying an idle measurement control field according to a predetermined idle position, including:
and laying at least 8 control points right below the theoretical explosion point.
Further, a plurality of space-integrated multi-camera, comprising:
the ground camera is arranged right below the preset idle explosion point, the optical axis of the ground camera is vertical to the ground horizontal plane, and the ground camera is used for shooting an idle explosion process image and a ground control point;
and the aerial camera is mounted on the two multi-rotor unmanned aerial vehicle and positioned at the safe position of the aerial explosion and is used for synchronously shooting an aerial explosion process image with the aerial camera.
Further, the spatial rear convergence algorithm includes:
and (3) taking a single photo as a unit, and resolving an off-photo azimuth element according to the mathematical relation between three known control points and corresponding image points of the single photo.
Further, the external orientation element of the photo in the initial coordinate system is solved by adopting a collinearity equation, and the collinearity equation expression comprises:
wherein i=1, 2,3, x S 、Y S And Z S A is the translation amount of the external azimuth element of the photo i 、b i And c i (i=1, 2, 3) is the element of the rotation matrix, X, y is the theoretical position of the image point, X0, y0, f is the internal azimuth element of the image, X' i ，Y' i ，Z' i The space coordinates of the object points are deltax and deltay, and the deviation of each image point relative to the theoretical positions x and y on the image plane is shown.
Further, when the number of control points is more than 3, the external azimuth elements are solved according to the least square adjustment, redundant control points can be used as redundant observation, and the optimal solution of the external azimuth elements is solved by utilizing the beam method adjustment.
Further, the edge contour recognition algorithm includes:
and performing quasi-binary processing on the image, namely distinguishing the empty foreground imaging from the background, performing quasi-binary gray processing, and obtaining a higher gray gradient difference value.
And the image capturing process adopts the Blob process based on a visual algorithm for separating the air explosion outline.
Further, the calculation formula of the gray weighted gravity center method includes:
wherein x is i Representing the coordinates of row i, x j Representing the coordinates of the j-th row, f (i, j) representing the pixel value of the j-th column of the i-th row, x 0 ，y 0 Representing the center of the target.
The invention also provides a system for measuring the center of the idle explosion position by air-ground integrated multi-view intersection, which comprises:
the unmanned plane platform is used for loading the cradle head and the camera and providing stable hovering in the air;
the cradle head is arranged on the unmanned plane platform and is used for accurately adjusting the posture of the camera;
the ground RTK base station is used for providing accurate positioning for the unmanned aerial vehicle;
the air-ground integrated multi-camera is used for networking and establishing a space measurement coordinate system, and comprises an air camera and a ground camera, wherein the air camera is used for shooting an air explosion process image and a ground control point, and the ground camera is used for synchronously shooting the air explosion process image with the air camera;
the cooperative target is arranged under the preset idle explosion position and in the shooting range of the aerial camera and is used for resolving the external parameters of the aerial camera;
the data processing platform is used for obtaining an empty target area diagram according to an edge contour recognition algorithm, and obtaining a three-dimensional coordinate of a center position of an empty target by adopting a forward intersection algorithm and a gray weighted gravity center algorithm according to a space measurement coordinate system and the empty target area diagram;
the air explosion measurement control field is distributed according to a preset air explosion position;
the position parameters of the control points within the quantity control field are obtained from the measurements.
The embodiment of the invention provides a method and a system for measuring the center of an air-ground integrated multi-view intersection position, which have the following beneficial effects compared with the prior art:
the invention provides a method and a system for measuring the center of an air-to-ground integrated multi-view intersection position. The method not only can carry out data acquisition with low cost, rapidness, accuracy and automation, but also reduces the problem of rough difference or data failing to follow in artificial measurement, and simultaneously, the measured data has visibility and traceability
Drawings
FIG. 1 is a flow chart of a method for measuring the center of an idle explosion position by integrated multi-purpose intersection of the air and the ground, which is provided by the embodiment of the invention;
FIG. 2 is a system composition diagram of a space-ground integrated multi-view intersection measurement space explosion position center provided by an embodiment of the invention;
fig. 3 is a schematic diagram of an edge profile algorithm of a method and a system for measuring the center of an idle position by integrated multi-view intersection in the air-ground.
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.
Referring to fig. 1 to 3, an embodiment of the present invention provides a method for measuring a center of an air-to-ground integrated multi-view intersection, the method including:
arranging an idle measurement control field according to a preset idle position;
acquiring position parameters of control points in a measuring field;
arranging a plurality of space-ground integrated multi-camera around a preset space explosion position;
calculating the external parameter coefficients of the multi-camera arranged in the air by adopting a space rear convergence algorithm according to the position parameters of the control points;
networking a plurality of air-ground integrated multi-camera units and establishing a space measurement coordinate system;
synchronously shooting the image data of the air explosion process by utilizing a plurality of air-ground integrated multi-camera;
an edge contour recognition algorithm is adopted to obtain an empty explosion target area diagram;
and according to a space measurement coordinate system, adopting a forward intersection algorithm and a gray weighted gravity center algorithm to obtain the positioning of the idle explosion center.
The embodiment of the invention provides a system for measuring the center of an idle explosion position by air-ground integrated multi-purpose intersection, which comprises the following components:
unmanned aerial vehicle platform 1: a cradle head 2 and an aerial camera 3 are loaded to provide stable hovering in the air;
cradle head 2: the camera is arranged on the unmanned aerial vehicle platform 1 and used for accurately adjusting the gesture of the camera;
ground RTK base station 5: for providing accurate positioning to the unmanned aerial vehicle platform 1;
the air-ground integrated multi-camera is used for networking and establishing a space measurement coordinate system and comprises an air camera 3 and a ground camera 6, wherein the air camera 3 is used for shooting an air explosion process image and a ground control point, and the ground camera 6 is used for synchronously shooting the air explosion process image with the air camera;
the cooperative target 7 is arranged under the preset idle explosion position and in the shooting range of the aerial camera 3 and is used for resolving aerial camera external parameters;
data processing platform 8: and obtaining an empty explosion target area diagram according to an edge contour recognition algorithm, and obtaining the positioning of an empty explosion center by adopting a forward intersection algorithm and a gray weighted gravity center algorithm according to a space measurement coordinate system.
The implementation of the invention is further described below:
before an idle explosion test, firstly, a high-resolution camera is arranged right below the position of a known idle explosion point, the optical axis of the camera is adjusted to be vertical to the ground horizontal plane, and longitude and latitude coordinates and the ground height of the point are recorded; secondly, two high-precision calibrated internal references are hung on two multi-rotor unmanned aerial vehicles, the unmanned aerial vehicles fly to an empty safe position, and longitude and latitude coordinates and elevation values of the points are recorded; arranging 8 control points on the ground, and totally shooting the 8 control points through pitching of a camera on the unmanned aerial vehicle, and calculating external parameter information of the unmanned aerial vehicle according to the 8 known control points; then, networking an air-ground integrated multi-mesh intersection system, and establishing a space coordinate system; the 3 cameras before the warhead is exploded synchronously trigger to enter a video mode to start data acquisition; then, when the empty explosion is carried out, capturing an abnormal mutation point by the camera, acquiring data of 3 cameras which are integrally networked to the empty space at the same time by software, and completing space intersection calculation and beam method adjustment based on 3 images of each frame; finally, the three-dimensional coordinates of the position of the idle explosion are obtained (WGS 84 or CGCS 2000).
(1) The unmanned aerial vehicle external parameter calibration method comprises the following steps:
firstly, arranging at least 8 control points which are specific cooperative targets in the visual field coverage range of the unmanned aerial vehicle under a theoretical explosion point, wherein the control points are shown as 7 in the upper diagram; then, measuring the control points one by using a total station to obtain an actual measurement value of a cooperative target in a control field; then, the unmanned aerial vehicle hovers to a proper position and height and then shoots an image; finally, calculating the external parameter coefficient of the unmanned aerial vehicle by utilizing a rear intersection mode based on the known control point coordinates, and completing the external parameter calibration work.
The external parameter calculation of the camera is the process of rear intersection calculation, and three position parameters are finally obtained: xs, ys, zs and three-dimensional attitude angle R X 、R Y 、R Z 。
The space back intersection of a single photo is a process of resolving the out-of-photo azimuth element by taking a photo as a unit according to the mathematical relation between a certain number of control points (points with known coordinates) and corresponding image points.
Based on the collineation equation, the external orientation element of the photo in the initial coordinate system is calculated Three targets within the control field can list six collinear equations in total:
in the above formula:
i＝1，2，3；
Xs、Ys、Zs，a i 、b i and c i (i=1, 2, 3) is the translation amount of the external azimuth element of the photo and the element of the rotation matrix, X, y is the theoretical position of the image point, X0, y0, f is the internal azimuth element of the image, X '' i ，Y' i ，Z' i The space coordinates of the object points are deltax and deltay, and the deviation of each image point relative to the theoretical positions x and y on the image plane is shown. The method comprises the steps of carrying out a first treatment on the surface of the
In the error equation, the number of unknowns is 6, so that only 3 targets list 6 equations to be solved. For more than 3 targets, the number of equations is larger than the number of unknowns, and the method can be solved according to the least square adjustment. Redundant targets can be used as redundant observation, and the optimal solution is solved by utilizing the beam method adjustment.
(2) Edge contour recognition algorithm:
and (5) performing image quasi-binary processing and image capturing, and separating out an air explosion profile. The imaging is based on the Blob processing of a visual algorithm, namely, the difference of gray values of a shot target and a background is subjected to separation to obtain an image block exceeding a certain threshold gray value, the target is bright, the gray value is high, the background is dark, the gray value is low, and the target area map is obtained after the image processing.
(3) Null explosion center position algorithm:
the method for locating the empty center is a gray weighted gravity center method. For a target with larger gray gradient, the gray gravity center method can calculate the barycenter coordinates of the light intensity weight according to the light intensity distribution of the target to be used as a tracking point, which is also called a density barycenter algorithm. Center of target S (x 0 ，y 0 ) This can be expressed as:
wherein x is i Representing the coordinates of row i, x j Representing the coordinates of the j-th row, f (i, j) representing the pixel value of the j-th column of the i-th row, x 0 ，y 0 Representing the center of the target.
The foregoing disclosure is only a few specific embodiments of the invention, and those skilled in the art may make various changes and modifications to the embodiments of the invention without departing from the spirit and scope of the invention, but the embodiments of the invention are not limited thereto, and any changes that may be made by those skilled in the art should fall within the scope of the invention.
Claims (5)
1. A method for measuring the center of an idle position by air-ground integrated multi-purpose intersection, which is characterized by comprising the following steps:
laying an idle explosion measurement control field according to a preset idle explosion position;
acquiring position parameters of control points in a measurement control field;
arranging a plurality of space-ground integrated multi-camera around a preset space explosion position;
according to the position parameters of the control points, calculating the external parameter coefficients of the multi-camera distributed in the air by adopting a space rear convergence algorithm;
networking a plurality of air-ground integrated multi-camera units and establishing a space measurement coordinate system;
synchronously shooting the image data of the air explosion process by utilizing a plurality of air-ground integrated multi-camera;
according to the image data of the air explosion process, an edge contour recognition algorithm is adopted to obtain an air explosion target area diagram;
according to the space measurement coordinate system and the empty target area diagram, a space front intersection and gray weighting gravity center algorithm is adopted to obtain a three-dimensional coordinate of the center position of the empty target;
the space rear intersection algorithm comprises the steps of taking a single photo as a unit, and solving external orientation elements of the photo in an initial coordinate system by adopting a collineation equation according to mathematical relations between three known control points and corresponding image points of the single photo, wherein the collineation equation expression comprises the following components:
wherein i=1, 2,3, x S 、Y S And Z S A is the translation amount of the external azimuth element of the photo i 、b i And c i (i=1, 2, 3) is an element of a rotation matrixX, y are theoretical positions of image points, X0, y0, f are internal azimuth elements of the image, X' i ，Y' i ，Z' i The space coordinates of the object space points are delta x and delta y, and the deviation amount of each image point relative to the theoretical positions x and y on the image plane is shown;
the calculation formula of the gray weighted gravity center algorithm comprises the following steps:
wherein x is i Representing the coordinates of row i, y j Representing the coordinates of the j-th row, f (i, j) representing the pixel value of the j-th column of the i-th row, x 0 ，y 0 Representing a target center;
the multi-space integrated multi-camera comprises:
the ground camera is arranged right below the preset idle explosion point, the optical axis of the ground camera is vertical to the ground horizontal plane, and the ground camera is used for shooting an idle explosion process image and a ground control point;
and the aerial camera is mounted on the two multi-rotor unmanned aerial vehicle and positioned at the safe position of the aerial explosion and is used for synchronously shooting an aerial explosion process image with the aerial camera.
2. A method for measuring the center of an air-ground integrated multi-view intersection as claimed in claim 1, wherein said arranging an air-explosion measurement control field according to a predetermined air-explosion position comprises:
and laying at least 8 control points right below the theoretical explosion point.
3. The method for measuring the center of the idle position by the air-ground integrated multi-view intersection according to claim 1, wherein when the control points are more than 3, the external azimuth elements are solved according to least square adjustment, redundant control points can be used as redundant observation, and the optimal solution of the external azimuth elements is solved by utilizing beam adjustment.
4. A method of measuring the center of a space-to-ground integrated multi-view intersection as recited in claim 1, wherein said edge profile recognition algorithm comprises:
dividing the empty foreground imaging from the background by adopting a quasi-binary processing algorithm of the image, and performing quasi-binary gray scale processing to obtain a gray scale gradient difference value;
and (3) performing image capturing processing on the image, and separating out an air explosion profile by adopting Blob processing based on a visual algorithm.
5. A system for measuring the center of an air-to-ground integrated multi-view intersection, comprising:
the unmanned plane platform is used for loading the cradle head and the camera and providing stable hovering in the air;
the cradle head is arranged on the unmanned plane platform and is used for accurately adjusting the posture of the camera;
the ground RTK base station is used for providing accurate positioning for the unmanned aerial vehicle;
the air-ground integrated multi-camera is used for networking and establishing a space measurement coordinate system, and comprises an air camera and a ground camera, wherein the air camera is used for shooting an air explosion process image and a ground control point, and the ground camera is used for synchronously shooting the air explosion process image with the air camera;
the cooperative target is arranged under the preset idle explosion position and in the shooting range of the aerial camera and is used for resolving the external parameters of the aerial camera;
the data processing platform is used for obtaining an empty target area diagram by adopting an edge contour recognition algorithm according to the empty process image data, and obtaining a three-dimensional coordinate of the central position of the empty target by adopting a space front intersection and gray weighting gravity center algorithm according to a space measurement coordinate system and the empty target area diagram;
the air explosion measurement control field is distributed according to a preset air explosion position;
the position parameters of the control points within the quantity control field are obtained from the measurements.
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