CN114593710B - Unmanned aerial vehicle measurement method, unmanned aerial vehicle measurement system, electronic equipment and medium - Google Patents
Unmanned aerial vehicle measurement method, unmanned aerial vehicle measurement system, electronic equipment and medium Download PDFInfo
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- CN114593710B CN114593710B CN202210212803.8A CN202210212803A CN114593710B CN 114593710 B CN114593710 B CN 114593710B CN 202210212803 A CN202210212803 A CN 202210212803A CN 114593710 B CN114593710 B CN 114593710B
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C23/00—Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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Abstract
The invention is applicable to the technical field of unmanned aerial vehicles, and provides an unmanned aerial vehicle measuring method, an unmanned aerial vehicle measuring system, electronic equipment and a medium, wherein the method comprises the following steps: acquiring historical height data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data; respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data; predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data; performing fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result; by adopting the method, the problems of lower measurement precision and lower accuracy of unmanned aerial vehicle measurement in the prior art are solved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle measuring method, an unmanned aerial vehicle measuring system, electronic equipment and a medium.
Background
With the advancement of technology and the rapid development of artificial intelligence, unmanned aerial vehicle technology and application have become hot spots of research. The low cost, high flexibility and combination of unmanned aerial vehicle with other technologies make it applied in more and more fields such as vegetation protection, power inspection, disaster relief and the like. Unmanned aerial vehicles are applied in the fields, so that the limitation of the traditional means is broken through, and the labor cost can be greatly reduced. In these applications, it is desirable that the unmanned aerial vehicle accurately measure the height from the ground in real time so that the unmanned aerial vehicle can accurately lift and fall within a certain distance range and stably perform efficient work at a certain height. However, due to the influence of the measuring device and the measuring mode, the unmanned aerial vehicle height measurement has the problems of lower measuring precision and lower measuring accuracy.
Disclosure of Invention
The invention provides an unmanned aerial vehicle measuring method, an unmanned aerial vehicle measuring system, electronic equipment and a medium, and aims to solve the problems of low unmanned aerial vehicle measuring precision and low accuracy in the prior art.
The unmanned aerial vehicle measuring method provided by the invention comprises the following steps:
acquiring historical height data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
and carrying out fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result.
Optionally, the fusing the target laser measurement data and the target millimeter wave data according to the predicted height data to obtain a target measurement result includes:
comparing the predicted height with a first preset height to obtain a first comparison result;
setting laser weight and millimeter wave weight according to the first comparison result, and carrying out fusion processing on the target laser measurement data and the target millimeter wave data according to the laser weight and the millimeter wave weight to obtain the target measurement result.
Optionally, the fusing processing is performed on the target laser data and the target millimeter data according to the predicted height data, and obtaining the target measurement result further includes:
acquiring vision measurement data, and carrying out posture correction processing on the vision measurement data according to the acceleration data to obtain target vision data;
and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the predicted height data to obtain the target measurement result.
Optionally, the fusing the target laser data, the target millimeter wave data and the target vision data according to the predicted height data to obtain the target measurement result includes:
comparing the predicted height data with a second preset height to obtain a second comparison result;
setting laser parameters, millimeter wave parameters and visual parameters according to the second comparison result, and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the laser parameters, the millimeter wave parameters and the visual parameters to obtain a target measurement result.
Optionally, the predicting the height of the unmanned aerial vehicle according to the historical height data, and obtaining predicted height data includes;
acquiring the measurement time and the target time of the historical height data, and acquiring trend data of the historical height data according to the measurement time and the historical height data;
and predicting the height of the unmanned aerial vehicle according to the target time and the trend data to obtain predicted height data.
Optionally, before the acquiring the historical altitude data and the measurement data of the unmanned aerial vehicle, the method further includes:
acquiring a measurement period of the unmanned aerial vehicle and a data volume of the measurement data, and judging the validity of the measurement data according to the measurement period and the data volume to acquire a judging result;
if the judging result is abnormal, acquiring abnormal data, carrying out degradation processing on the measurement data of the unmanned aerial vehicle according to the abnormal data, and acquiring a height measurement result of the unmanned aerial vehicle according to the measurement data after the degradation processing;
and if the judging result is normal, carrying out posture correction processing on the laser measurement data and the millimeter wave data according to the acceleration measurement data.
The invention also provides an unmanned aerial vehicle measuring system, which comprises:
the data acquisition module is used for acquiring historical altitude data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
the data correction module is used for respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
the data prediction module is used for predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
and the data fusion module is used for carrying out fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result, and the data acquisition module, the data correction module, the data prediction module and the data fusion module are connected.
Optionally, the data acquisition module further includes:
the laser sensor is used for acquiring laser measurement data of the unmanned aerial vehicle;
the millimeter wave sensor is used for acquiring millimeter wave measurement data of the unmanned aerial vehicle;
and the acceleration sensor is used for acquiring acceleration measurement data of the unmanned aerial vehicle.
The present invention also provides an electronic device including: a processor and a memory;
the memory is used for storing a computer program, and the processor is used for executing the computer program stored by the memory so as to enable the electronic device to execute the unmanned aerial vehicle measuring method.
The invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a drone measurement method as described above.
As described above, the invention provides an unmanned aerial vehicle measurement method, system, electronic equipment and medium, which have the following beneficial effects: firstly, acquiring historical altitude data, laser measurement data, millimeter wave measurement data and acceleration measurement data of an unmanned aerial vehicle; then, respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data; predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data; performing fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result; by adopting acceleration measurement data to carry out posture correction processing on the laser measurement data and the millimeter wave measurement data, the accuracy of a target measurement result obtained on the basis is higher, and by adopting a mode of fusion processing of the target laser data and the target millimeter wave data, the problems of small measurement range of a laser altimeter, large dead zone of a radar altimeter, low millimeter wave altitude precision and the like are avoided; and then solved unmanned aerial vehicle height measurement precision low and the low problem of degree of accuracy among the prior art.
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In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments or the description of the prior art 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 schematic flow chart of a measurement method of a unmanned aerial vehicle in an embodiment of the invention;
FIG. 2 is a flow chart of a method for obtaining target measurement results according to an embodiment of the invention;
FIG. 3 is another flow chart of a method for obtaining a target measurement result according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a measurement system of a unmanned aerial vehicle according to an embodiment of the present invention;
fig. 5 is another schematic structural diagram of a measurement system of a drone in an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.
With the development of unmanned aerial vehicle technology, unmanned aerial vehicle technology is widely applied to height measurement. At present, mainly include following technical scheme to unmanned aerial vehicle height measurement: the unmanned aerial vehicle height is detected by adopting a barometer, the unmanned aerial vehicle height is calculated by adopting real-time differential positioning (RTK), the unmanned aerial vehicle height is obtained by adopting a millimeter wave radar, and the unmanned aerial vehicle height is measured by adopting a laser radar. However, the barometer height measurement is greatly influenced by the environment, and different temperatures and air densities can have great influence on the barometer height measurement; determining that the height of the unmanned aerial vehicle is limited by satellite conditions through RTK, and measuring the height is unstable and is mainly applied to open areas; the millimeter wave radar measures the height of the unmanned aerial vehicle obtained by a single-frequency-band narrow-beam millimeter wave radar, the mode has high transmitting power, and the detection range and the detection precision of the low altitude and the high altitude sum cannot be considered; the laser radar is affected by the atmospheric environment and the reflectivity of the surface of different objects, and the range error is large. Therefore, the invention provides an unmanned aerial vehicle measuring method, system, electronic equipment and medium, which are used for solving the problems.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Fig. 1 is a flow chart of a method for measuring a unmanned aerial vehicle according to an embodiment of the present invention.
As shown in fig. 1, the unmanned aerial vehicle measurement method includes steps S110 to S140:
s110, acquiring historical height data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
s120, respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
s130, predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
and S140, carrying out fusion processing on the target laser data and the target millimeter data according to the predicted height data, and generating a target measurement result.
In an embodiment, the unmanned aerial vehicle measurement method is used for measuring the height of the unmanned aerial vehicle from the target object, in particular, the unmanned aerial vehicle measurement method can be used for measuring the actual height of the unmanned aerial vehicle from the ground, and the unmanned aerial vehicle measurement method can also be used for measuring the height of the unmanned aerial vehicle from the reference plane.
In step S110 of this embodiment, the historical altitude data is the historical altitude of the unmanned aerial vehicle from the target object, and the historical altitude data may be obtained by processing historical laser measurement data, historical millimeter wave data and historical acceleration measurement data, and may also be obtained by other manners of measuring the altitude of the unmanned aerial vehicle, for example, the historical altitude data obtained by processing the data collected by the barometer sensor, the historical altitude data obtained by processing the data collected by the laser sensor, and the historical altitude data obtained by processing the data collected by the acceleration sensor.
In an embodiment, the laser measurement data is the height data of the unmanned aerial vehicle from the target object, which is obtained by processing the laser data collected by the laser sensor, and the laser data includes, but is not limited to, laser emission time, laser receiving time, laser emission frequency, and laser output intensity. The method for acquiring the laser measurement data comprises the following steps: and acquiring the laser emission time and the time of the laser received after being reflected from the target object, and acquiring the time interval between the time of the laser received after being reflected from the target object and the laser emission time, wherein the time interval is multiplied by the speed of light and divided by 2 to obtain laser measurement data. Before acquiring laser measurement data, judging whether the data acquired by the laser sensor is valid or not, and if the data acquired by the laser sensor is valid, processing the laser data acquired by the laser sensor to acquire the laser measurement data; and if the data collected by the laser sensor is invalid, performing degradation processing on the laser measurement data. The controller of the unmanned aerial vehicle can send a test instruction to the laser sensor and receive information returned by the laser sensor to judge whether the laser sensor works normally, if the laser sensor works normally, the laser data collected by the laser sensor is valid, and if the laser sensor does not work normally, the laser data collected by the laser sensor is invalid; the validity judgment is carried out on the data collected by the laser sensor, if the data collected by the laser sensor is valid, the valid data is processed to obtain laser measurement data, and if the data collected by the laser sensor is invalid, the degradation processing is carried out on the laser measurement data; the laser measurement data obtained according to the effective data is more accurate, so that the accuracy of the target measurement result is improved.
In an embodiment, the millimeter wave measurement data is height data of the unmanned aerial vehicle from the target object after the millimeter wave data acquired by the millimeter wave sensor is processed, and the millimeter wave data includes, but is not limited to, related data required for calculating the height data of the unmanned aerial vehicle from the target object, such as distance resolution, target object detection data, distance item index, doppler item index, distance index, doppler index, and the like, and the millimeter wave sensor can acquire the millimeter wave measurement data according to a Frequency Modulation Continuous Wave (FMCW) working principle and the acquired millimeter wave data after acquiring the millimeter wave data. Before millimeter wave measurement data are acquired, whether the millimeter wave data acquired by the millimeter wave sensor are valid or not needs to be judged, and if the data acquired by the millimeter wave sensor are valid, the millimeter wave measurement data are acquired after the millimeter wave data acquired by the millimeter wave sensor are processed; and if millimeter wave data acquired by the millimeter wave sensor are invalid, degrading the millimeter wave measurement data. The controller of the unmanned aerial vehicle can send a test instruction to the millimeter wave sensor and receive information returned by the millimeter wave sensor to judge whether the millimeter wave sensor works normally, if the millimeter wave sensor works normally, millimeter wave data collected by the millimeter wave sensor is valid, and if the millimeter wave sensor does not work normally, the millimeter wave data collected by the millimeter wave sensor is invalid; the validity judgment is carried out on the data acquired by the millimeter wave sensor, if the data acquired by the millimeter wave sensor is valid, the valid millimeter wave data is processed to obtain millimeter wave measurement data, and if the data acquired by the millimeter wave sensor is invalid, the degradation treatment is carried out on the millimeter wave measurement data; the millimeter wave measurement data obtained according to the effective millimeter wave data is more accurate, so that the accuracy of the target measurement result is improved.
In an embodiment, the acceleration measurement data is attitude data of the unmanned aerial vehicle obtained by processing acceleration data collected by the acceleration sensor, the acceleration data includes but is not limited to three-axis acceleration data (X-axis acceleration data, Y-axis acceleration data, Z-axis acceleration data), temperature data, and calculates an attitude by using an euler formula, and calculates an aircraft attitude angle according to a ratio of the three-axis acceleration data to the gravitational acceleration. Before acquiring the acceleration measurement data, whether the acceleration data acquired by the acceleration sensor is effective or not needs to be judged, whether the acceleration sensor works normally or not can be judged by sending a test instruction to the acceleration sensor through a controller of the unmanned aerial vehicle and receiving information returned by the acceleration sensor, if the acceleration sensor works normally, the acceleration data acquired by the acceleration sensor is effective, and if the acceleration sensor does not work normally, the acceleration data acquired by the acceleration sensor is ineffective; judging the effectiveness of the acceleration data acquired by the acceleration sensor, if the acceleration data acquired by the acceleration sensor is effective, processing the effective acceleration data to obtain acceleration measurement data, and if the acceleration data acquired by the acceleration sensor is ineffective, debugging the acceleration sensor until the acceleration sensor works normally, or installing a standby acceleration sensor on the unmanned aerial vehicle and acquiring the acceleration data by adopting the standby acceleration sensor, thereby ensuring the effectiveness of the acceleration data; the acceleration measurement data obtained according to the effective acceleration data is more accurate, so that the accuracy of the target measurement result is improved.
In an embodiment, the unmanned aerial vehicle measurement method further includes: acquiring a measurement period of the unmanned aerial vehicle and a data quantity of measurement data, and judging the validity of the measurement data according to the measurement period and the data quantity to acquire a judging result; if the judgment result is abnormal, acquiring abnormal data, carrying out degradation processing on the measurement data of the unmanned aerial vehicle according to the abnormal data, and acquiring a height measurement result of the unmanned aerial vehicle according to the measurement data after the degradation processing; and if the judgment result is normal, carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data. Specifically, the measurement period includes a measurement period of an acceleration sensor, a measurement period of a laser sensor, and a measurement period of a millimeter wave sensor, the data amount includes a data amount collected by the acceleration sensor, a data amount collected by the laser sensor, and a data amount collected by the millimeter wave sensor, and the abnormal data includes acceleration abnormal data, laser abnormal data, and millimeter wave abnormal data. If the judgment result is abnormal and the abnormal data is acceleration data, carrying out degradation processing on the acceleration measurement data; specifically, the acceleration sensor is debugged until the acceleration sensor works normally, or a standby acceleration sensor is installed on the unmanned aerial vehicle and is adopted to collect acceleration data, so that the effectiveness of the acceleration data is ensured. If the judgment result is abnormal and the abnormal data is laser data, performing degradation treatment on the laser measurement data; specifically, only the acceleration measurement data is adopted to carry out posture correction processing on the millimeter wave measurement data, so that target millimeter wave data is obtained, fusion of the target millimeter wave data and the target laser data is not needed, and the target millimeter wave data is a target measurement result. If the judgment result is abnormal and the abnormal data is millimeter wave data, performing degradation processing on millimeter wave measurement data; specifically, only the acceleration measurement data is adopted to carry out posture correction processing on the laser measurement data, so that target laser data is obtained, fusion of the target millimeter wave data and the target laser data is not needed, and the target laser data is a target measurement result. The target measurement result is the height of the unmanned aerial vehicle from the target object. And the validity of the measurement data is judged, and a target measurement result is obtained according to the judgment result, so that the aim of improving the accuracy of the target measurement result is fulfilled.
In step S120 of the present embodiment, the attitude correction is performed on the laser measurement data by using the acceleration measurement data to obtain the target laser data, so that the target measurement result obtained based on the target laser data is more accurate, and the attitude correction is performed on the millimeter wave data by using the acceleration measurement data to obtain the target millimeter wave data, so that the target measurement result obtained based on the target millimeter wave data is more accurate.
In step S130 of the present embodiment, the method for predicting the altitude of the unmanned aerial vehicle according to the historical altitude data includes: acquiring the measurement time and the target time of the historical height data, and acquiring trend data of the historical height data according to the measurement time and the historical height data; and predicting the height of the unmanned aerial vehicle according to the target time and the trend data to obtain predicted height data. Specifically, predicting the altitude of the unmanned aerial vehicle according to the target time and the trend data to obtain mathematical expression of the predicted altitude data may be: h1 =h2+ (t 1-t 2) ×h, H1 is predicted height data, t1 is target time, H2 is historical height data at time t2, and H is trend data. The height of the unmanned aerial vehicle is the height of the unmanned aerial vehicle from a target object, the target time is the time corresponding to the target measurement result, and the target time is the acquisition time of laser data, millimeter wave data and acceleration data.
In step S140 of the present embodiment, fusion processing is performed on the target laser measurement data and the target millimeter wave data according to the predicted height data, and a specific implementation method for obtaining the target measurement result is shown in fig. 2, and fig. 2 is a flow chart of a method for obtaining the target measurement result according to an embodiment of the present invention.
As shown in fig. 2, the target measurement result acquisition method may include the following steps S210 to S220:
s210, comparing the predicted height data with a first preset height to obtain a first comparison result;
s220, setting laser weight and millimeter wave weight according to the first comparison result, and carrying out fusion processing on the target laser measurement data and the target millimeter wave data according to the laser weight and the millimeter wave weight to obtain a target measurement result.
In an embodiment, a first preset height is reasonably set according to the flight condition of the unmanned aerial vehicle, and the method for realizing the target measurement result by carrying out fusion processing on the target measurement data and the target millimeter wave data according to the laser weight and the millimeter wave weight includes but is not limited to; c=a+b+n, c is a target measurement result, a is target laser data, m is laser weight, b is target millimeter wave data, and n is millimeter wave weight.
In an embodiment, the predicted height is compared with a first preset height to obtain a first comparison result, where the first comparison result includes that the predicted height is greater than the first preset height and the predicted height is less than or equal to the first preset height. Considering that the accuracy of laser short-distance ranging is higher than that of millimeter waves and the accuracy of laser long-distance ranging is lower than that of millimeter waves, if the predicted height is higher than the first preset height, the set laser weight is smaller, and if the predicted height is lower than or equal to the first preset height, the set laser weight is larger, and the millimeter wave weight is smaller. And when the target laser data and the target millimeter wave data are fused according to the predicted height data, the flight condition or the weather condition also needs to be considered. The target measurement result is obtained by reasonably setting the first preset height, setting the laser weight and the millimeter wave weight according to the comparison result of the predicted height data and the first preset height data and carrying out fusion processing according to the laser weight and the millimeter wave weight, thereby achieving the purpose of improving the accuracy of the target measurement result.
In an embodiment, other algorithms such as a kalman filtering method and a neural network may be used to perform fusion processing on the target laser data and the target millimeter wave data.
In an embodiment, the fusion processing is performed on the target laser measurement data and the target millimeter wave data according to the predicted height data, and the specific implementation method for obtaining the target measurement result may also refer to fig. 3, and fig. 3 is another flow chart of the method for obtaining the target measurement result according to an embodiment of the present invention.
As shown in fig. 3, the target measurement result acquisition method may include the following steps S310 to S320:
s310, visual measurement data are acquired, posture correction processing is carried out on the visual measurement data according to acceleration data, and target visual data are obtained;
and S320, carrying out fusion processing on the target laser data, the target millimeter wave data and the target vision data according to the predicted height data to obtain a target measurement result.
In step S320 of the present embodiment, fusion processing is performed on target laser data, target millimeter wave data and target visual data according to predicted height data, so as to obtain a specific implementation method of a target measurement result, including; comparing the predicted height data with a second preset height to obtain a second comparison result; and setting laser parameters, millimeter wave parameters and visual parameters according to the second comparison result, and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the laser parameters, the millimeter wave parameters and the visual parameters to obtain a target measurement result.
In an embodiment, the fusion processing can be performed on the target laser data, the target millimeter wave data and the target visual data by using other algorithms such as a kalman filter method and a neural network.
In an embodiment, the unmanned aerial vehicle measurement method is applied to an unmanned aerial vehicle measurement system, referring to fig. 4, the unmanned aerial vehicle measurement system includes a flight controller, a microprocessor, a memory, an acceleration sensor, a laser sensor and a millimeter wave sensor, and the microprocessor is respectively connected with the flight controller, the memory, the acceleration sensor, the laser sensor and the millimeter wave sensor. The acceleration sensor collects acceleration data and transmits the collected acceleration data to the microprocessor, the laser sensor collects laser data and transmits the collected laser data to the microprocessor, the millimeter wave sensor collects millimeter wave data and transmits the collected millimeter wave data to the microprocessor, and the flight controller transmits flight data of the unmanned aerial vehicle to the microprocessor; the microprocessor transmits the received data to the memory, and the memory receives and stores the data transmitted by the microprocessor. After receiving the acceleration data, the laser data and the millimeter wave data, the microprocessor carries out posture correction processing on the laser data and the millimeter wave data according to the acceleration data to obtain target laser data and target millimeter wave data; predicting the height of the unmanned aerial vehicle according to the historical height data stored in the memory to obtain predicted height data; and then carrying out fusion processing on the target laser data and the target millimeter wave data according to the predicted height data to obtain a target measurement result, wherein the target measurement result is the height of the unmanned aerial vehicle from the target object.
The embodiment provides an unmanned aerial vehicle measuring method, which comprises the steps of firstly obtaining historical height data, laser measuring data, millimeter wave measuring data and acceleration measuring data of an unmanned aerial vehicle; then, respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data; predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data; performing fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result; by adopting acceleration measurement data to carry out posture correction processing on the laser measurement data and the millimeter wave measurement data, the accuracy of a target measurement result obtained on the basis is higher, and by adopting a mode of fusion processing of the target laser data and the target millimeter wave data, the problems of small measurement range of a laser altimeter, large dead zone of a radar altimeter, low millimeter wave altitude precision and the like are avoided; and then solved unmanned aerial vehicle height measurement precision low and the low problem of degree of accuracy among the prior art.
Based on the same inventive concept as the unmanned aerial vehicle measuring method, correspondingly, the embodiment also provides an unmanned aerial vehicle measuring system. In this embodiment, the unmanned aerial vehicle measurement system executes the unmanned aerial vehicle measurement method described in any one of the above embodiments, and specific functions and technical effects may be referred to the above embodiments, which are not described herein.
Fig. 5 is another schematic structural diagram of the unmanned aerial vehicle measurement system provided by the invention.
As shown in fig. 5, the illustrated unmanned aerial vehicle measurement system includes: 51 data acquisition module, 52 data correction module, 53 data prediction module and 54 data fusion module.
The system comprises a data acquisition module, a control module and a control module, wherein the data acquisition module is used for acquiring historical altitude data and measurement data of the unmanned aerial vehicle, and the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
the data correction module is used for respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
the data prediction module is used for predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
and the data fusion module is used for carrying out fusion processing on the target laser data and the target millimeter data according to the predicted height data to generate a target measurement result, and the data acquisition module, the data correction module, the data prediction module and the data fusion module are connected.
In some exemplary embodiments, the data acquisition module includes:
the laser sensor is used for acquiring laser measurement data of the unmanned aerial vehicle;
the millimeter wave sensor is used for acquiring millimeter wave measurement data of the unmanned aerial vehicle;
and the acceleration sensor is used for acquiring acceleration measurement data of the unmanned aerial vehicle.
In some exemplary embodiments, the unmanned aerial vehicle measurement system includes:
the judging module is used for acquiring the measuring period of the unmanned aerial vehicle and the data volume of the measuring data, judging the validity of the measuring data according to the measuring period and the data volume, and acquiring a judging result;
the degradation processing module is used for acquiring abnormal data if the judging result is abnormal, carrying out degradation processing on the measurement data of the unmanned aerial vehicle according to the abnormal data, and acquiring a height measurement result of the unmanned aerial vehicle according to the measurement data after the degradation processing;
and the gesture correction module is used for carrying out gesture correction processing on the laser measurement data and the millimeter wave data according to the acceleration measurement data if the judging result is normal.
In some exemplary embodiments, the data fusion module includes:
the comparison unit is used for comparing the predicted height with a first preset height to obtain a first comparison result;
the first fusion processing unit is used for setting laser weight and millimeter wave weight according to the first comparison result, and carrying out fusion processing on the target laser measurement data and the target millimeter wave data according to the laser weight and the millimeter wave weight to obtain the target measurement result.
In some exemplary embodiments, the data fusion module further comprises:
the visual data correction unit is used for acquiring visual measurement data, and carrying out posture correction processing on the visual measurement data according to the acceleration data to obtain target visual data;
and the second fusion processing unit is used for carrying out fusion processing on the target laser data, the target millimeter wave data and the target vision data according to the predicted height data to obtain the target measurement result.
In some exemplary embodiments, the second fusion processing unit includes:
the comparison subunit is used for comparing the predicted height data with a second preset height to obtain a second comparison result;
and the fusion processing subunit is used for setting laser parameters, millimeter wave parameters and visual parameters according to the second comparison result, and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the laser parameters, the millimeter wave parameters and the visual parameters to obtain a target measurement result.
In some exemplary embodiments, the data prediction module includes:
a trend data acquisition unit, configured to acquire a measurement time and a target time of the historical height data, and acquire trend data of the historical height data according to the measurement time and the historical height data;
and the data prediction unit is used for predicting the height of the unmanned aerial vehicle according to the target time and the trend data to obtain predicted height data.
In one embodiment, referring to fig. 6, the present embodiment further provides an electronic device 600, including a memory 601, a processor 602, and a computer program stored on the memory and executable on the processor, where the processor 602 implements the steps of the method according to any of the embodiments above when executing the computer program.
The computer readable storage medium in this embodiment, as will be appreciated by those of ordinary skill in the art: all or part of the steps for implementing the method embodiments described above may be performed by computer program related hardware. The aforementioned computer program may be stored in a computer readable storage medium. The program, when executed, performs steps including the method embodiments described above; and the aforementioned storage medium includes: various media that can store program code, such as ROM, RAM, magnetic or optical disks.
The electronic device provided in this embodiment includes a processor, a memory, a transceiver, and a communication interface, where the memory and the communication interface are connected to the processor and the transceiver and perform communication therebetween, the memory is used to store a computer program, the communication interface is used to perform communication, and the processor and the transceiver are used to run the computer program, so that the electronic device performs each step of the above method.
In this embodiment, the memory may include a random access memory (RandomAccess Memory, abbreviated as RAM), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory.
The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU for short), a network processor (Network Processor, NP for short), etc.; but also digital signal processors (Digital Signal Processing, DSP for short), application specific integrated circuits (Application Specific Integrated Circuit, ASIC for short), field-programmable gate arrays (Field-Programmable GateArray, FPGA for short) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
In the foregoing embodiments, references in the specification to "this embodiment," "one embodiment," "another embodiment," "in some exemplary embodiments," or "other embodiments" indicate that a particular feature, structure, or characteristic described in connection with the embodiments is included in at least some, but not necessarily all, embodiments. Multiple occurrences of "this embodiment," "one embodiment," "another embodiment," and "like" do not necessarily all refer to the same embodiment.
In the above embodiments, while the present invention has been described in conjunction with specific embodiments thereof, many alternatives, modifications and variations of these embodiments will be apparent to those skilled in the art in light of the foregoing description. For example, other memory structures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed. The embodiments of the invention are intended to embrace all such alternatives, modifications and variances which fall within the broad scope of the appended claims.
In this specification, each embodiment is described in a progressive manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.
The invention is operational with numerous general purpose or special purpose computing system environments or configurations. For example: personal computers, server computers, hand-held or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, distributed computing environments that include any of the above systems or devices, and the like.
The invention may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types. The invention may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer storage media including memory storage devices.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. It is therefore intended that all equivalent modifications and changes made by those skilled in the art without departing from the spirit and technical spirit of the present invention shall be covered by the appended claims.
Claims (9)
1. A method of unmanned aerial vehicle measurement, comprising:
acquiring historical height data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
and carrying out fusion processing on the target laser data and the target millimeter wave data according to the predicted height data to generate a target measurement result, wherein the fusion processing on the target laser data and the target millimeter wave data according to the predicted height data is carried out by comparing the predicted height with a first preset height, a first comparison result is obtained, laser weight and millimeter wave weight are set according to the first comparison result, and fusion processing is carried out on the target laser data and the target millimeter wave data according to the laser weight and the millimeter wave weight, and the first preset height is set according to the flight condition of the unmanned aerial vehicle.
2. The unmanned aerial vehicle measurement method of claim 1, wherein the fusing the target laser data and the target millimeter wave data according to the predicted altitude data, to obtain a target measurement result further comprises:
acquiring vision measurement data, and carrying out posture correction processing on the vision measurement data according to the acceleration data to obtain target vision data;
and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the predicted height data to obtain the target measurement result.
3. The unmanned aerial vehicle measurement method of claim 2, wherein the fusing the target laser data, the target millimeter wave data, and the target vision data according to the predicted altitude data, to obtain the target measurement result comprises:
comparing the predicted height data with a second preset height to obtain a second comparison result;
setting laser parameters, millimeter wave parameters and visual parameters according to the second comparison result, and carrying out fusion processing on the target laser data, the target millimeter wave data and the target visual data according to the laser parameters, the millimeter wave parameters and the visual parameters to obtain a target measurement result.
4. The unmanned aerial vehicle measurement method of claim 1, wherein predicting the altitude of the unmanned aerial vehicle from the historical altitude data comprises;
acquiring the measurement time and the target time of the historical height data, and acquiring trend data of the historical height data according to the measurement time and the historical height data;
and predicting the height of the unmanned aerial vehicle according to the target time and the trend data to obtain predicted height data.
5. The unmanned aerial vehicle measurement method of claim 1, wherein the acquiring historical altitude data and measurement data of the unmanned aerial vehicle is preceded by:
acquiring a measurement period of the unmanned aerial vehicle and a data volume of the measurement data, and judging the validity of the measurement data according to the measurement period and the data volume to acquire a judging result;
if the judging result is abnormal, acquiring abnormal data, carrying out degradation processing on the measurement data of the unmanned aerial vehicle according to the abnormal data, and acquiring a height measurement result of the unmanned aerial vehicle according to the measurement data after the degradation processing;
and if the judging result is normal, carrying out posture correction processing on the laser measurement data and the millimeter wave data according to the acceleration measurement data.
6. An unmanned aerial vehicle measurement system, comprising:
the data acquisition module is used for acquiring historical altitude data and measurement data of the unmanned aerial vehicle, wherein the measurement data comprise laser measurement data, millimeter wave measurement data and acceleration measurement data;
the data correction module is used for respectively carrying out posture correction processing on the laser measurement data and the millimeter wave measurement data according to the acceleration measurement data to obtain target laser data and target millimeter wave data;
the data prediction module is used for predicting the height of the unmanned aerial vehicle according to the historical height data to obtain predicted height data;
the data fusion module is used for carrying out fusion processing on the target laser data and the target millimeter wave data according to the predicted height data to generate a target measurement result, wherein the fusion processing on the target laser data and the target millimeter wave data according to the predicted height data is carried out by comparing the predicted height with a first preset height to obtain a first comparison result, setting laser weight and millimeter wave weight according to the first comparison result, carrying out fusion processing on the target laser data and the target millimeter wave data according to the laser weight and the millimeter wave weight, and connecting the data acquisition module, the data correction module, the data prediction module and the data fusion module, wherein the first preset height is set according to the flight condition of the unmanned aerial vehicle.
7. The unmanned aerial vehicle measurement system of claim 6, wherein the data acquisition module further comprises:
the laser sensor is used for acquiring laser measurement data of the unmanned aerial vehicle;
the millimeter wave sensor is used for acquiring millimeter wave measurement data of the unmanned aerial vehicle;
and the acceleration sensor is used for acquiring acceleration measurement data of the unmanned aerial vehicle.
8. An electronic device comprising a processor, a memory, and a communication bus;
the communication bus is used for connecting the processor and the memory;
the processor is configured to execute a computer program stored in the memory to implement the method of any one of claims 1-5.
9. A computer readable storage medium, characterized in that it has stored thereon a computer program for causing the computer to perform the method according to any of claims 1-5.
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