CN114785951B - Positioning tracking method based on linkage of high-tower monitoring equipment and unmanned aerial vehicle - Google Patents
Positioning tracking method based on linkage of high-tower monitoring equipment and unmanned aerial vehicle Download PDFInfo
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- CN114785951B CN114785951B CN202210437320.8A CN202210437320A CN114785951B CN 114785951 B CN114785951 B CN 114785951B CN 202210437320 A CN202210437320 A CN 202210437320A CN 114785951 B CN114785951 B CN 114785951B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H12/00—Towers; Masts or poles; Chimney stacks; Water-towers; Methods of erecting such structures
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/1853—Satellite systems for providing telephony service to a mobile station, i.e. mobile satellite service
- H04B7/18545—Arrangements for managing station mobility, i.e. for station registration or localisation
- H04B7/18547—Arrangements for managing station mobility, i.e. for station registration or localisation for geolocalisation of a station
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
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Abstract
A positioning tracking method based on linkage of high tower monitoring equipment and an unmanned aerial vehicle belongs to the technical field of monitoring. In order to solve the technical problem of accurate positioning and accurate tracking, the invention inputs the installation height and coordinate information of the servo turntable optical monitoring equipment into a geographic information platform, an unmanned aerial vehicle discovers a target and transmits the target to the geographic information platform, the geographic information platform is utilized to calculate the azimuth value and the distance value of the target relative to the servo turntable optical monitoring equipment according to the obtained positioning information of the target and the obtained coordinate information of the servo turntable optical monitoring equipment, the pitching value, the focal length value and the focusing value of the target relative to the servo turntable optical monitoring equipment are calculated through the obtained fitting mapping table of the servo turntable optical monitoring equipment, the servo turntable optical monitoring equipment is controlled to accurately point to the target, and the servo turntable optical monitoring equipment is controlled to adjust the angle of view and the definition according to the obtained focal length value and the focusing value, so that the target positioning information is continuously obtained. The method is accurate and efficient.
Description
Technical Field
The invention belongs to the technical field of monitoring, and particularly relates to a positioning and tracking method based on linkage of high-tower monitoring equipment and an unmanned aerial vehicle.
Background
Because the oil field security protection is in outdoor and people's smoke rare areas. Because the targets have mobility and uncertainty in the moving process, great difficulty is brought to police and guard personnel for pursuing. In addition, the conventional monitoring means cannot track the target remotely in the capturing process, so that the difficulty of tracking the target in the capturing process is greatly increased. How to quickly find and capture the target becomes a difficult problem for oilfield security.
Disclosure of Invention
The invention aims to solve the problem of accurately finding and tracking a target, and discloses a positioning and tracking method based on linkage of high-tower monitoring equipment and an unmanned aerial vehicle.
The invention is realized by the following technical scheme:
a positioning tracking method based on linkage of high tower monitoring equipment and unmanned aerial vehicle comprises the following steps:
step a, installing servo turntable optical monitoring equipment by utilizing a newly-built or built high tower, and inputting the installation height and coordinate information of the servo turntable optical monitoring equipment into a geographic information platform;
b, performing scene fitting on the servo turntable optical monitoring equipment installed in the step a through the geographical information platform, and generating a fitting mapping table of the servo turntable optical monitoring equipment;
c, the unmanned aerial vehicle discovers a target, positioning information of the target is transmitted to an unmanned aerial vehicle ground management module through a satellite positioning system of the unmanned aerial vehicle, and the unmanned aerial vehicle ground management module transmits the positioning information of the target to a geographic information platform;
d, the geographic information platform calculates an azimuth value and a distance value of the target relative to the servo turntable optical monitoring equipment according to the positioning information of the target obtained in the step c and the coordinate information of the servo turntable optical monitoring equipment obtained in the step a;
step e, calculating a pitching value, a focal length value and a focusing value of the target relative to the servo turntable optical monitoring equipment according to the azimuth value and the distance value of the target relative to the servo turntable optical monitoring equipment obtained in the step d and through the fitting mapping table of the servo turntable optical monitoring equipment obtained in the step b;
f, controlling the servo turntable optical monitoring equipment to precisely point to the target according to the azimuth value and the pitching value of the target relative to the servo turntable optical monitoring equipment, which are obtained in the step d and the step e, and controlling the servo turntable optical monitoring equipment to adjust the angle of view and the definition according to the obtained focal length value and the focus value;
and g, continuously acquiring target positioning information, repeating the steps c-f, and continuously guiding the servo turntable optical monitoring equipment to realize positioning tracking.
In the step b, the azimuth scene fitting is performed on the optical monitoring device of the servo turntable, the azimuth scene fitting step is b1, and the azimuth scene fitting method is as follows:
b1-1, taking the installation position of the optical monitoring equipment of the servo turntable as the center in a geographic information platform, marking the north as azimuth 0 degrees, and recording the installation position O1 by using a handheld GPS positioning device to the installation position fixed point of the optical monitoring equipment of the servo turntable by a tester;
b1-2, moving a tester to a visual field range of optical monitoring of the servo turntable, informing positioning information to a calibrator, finding out a handheld GPS tester on an imaging picture of optical monitoring equipment of the servo turntable by the calibrator, enabling the tester to be positioned at the most central position of the picture, inputting the positioning information to a geographic information platform by the calibrator, and marking the positioning information as a position O2;
step b1-3, the geographic information platform calculates the angles among the position O1, the position O2 and the north by utilizing tangent trigonometric functions according to the longitude difference and the latitude difference of the position O1 and the position O2, and calibrates the position of the calibration personnel as the angle value,
tanα＝(X O2 -X O1 )/(Y O2 -Y O1 )
α＝arctan{(X O2 -X O1 )/(Y O2 -Y O1 )}
where α is the angular value of position O2 relative to position O1, X O2 Is the longitude of position O2, X O1 Is the longitude of position O1, Y O2 Is the latitude of the position O2, Y O1 Is the latitude of location O1.
In the step b, a pitching scene fitting is performed on the optical monitoring device of the servo turntable, wherein the pitching scene fitting step is b2, and the pitching scene fitting method is as follows:
step b2-1, taking the installation position of the optical monitoring equipment of the servo turntable as a center on a geographic information platform, holding a handheld GPS (Global positioning System) to a calibration point position by a tester, and sending coordinate information of the calibration point to the calibrator;
step b2-2, a calibration person finds the position of the tester on the picture of the optical monitoring equipment of the servo turntable, so that the tester holds the GPS positioning equipment at the most central position of the picture, inputs coordinate information on an information platform in the ground, and calibrates the pitching value of the optical monitoring equipment of the servo turntable on the calibration point
And b2-3, repeating the step b2-1 and the step b2-2, calibrating 10 calibration points at an average angle within 360 degrees, and displaying a corresponding relation between the pitching value of the optical monitoring equipment of the servo turntable and the distance between the installation position of the optical monitoring equipment of the servo turntable when the distance is within the range of 1 km to 2 km.
Further, in the step b, the focal length scene fitting is performed on the optical monitoring device of the servo turntable, the focal length scene fitting step is b3, and the focal length scene fitting method is as follows:
b3-1, a calibration person rotates the servo turntable optical monitoring equipment to find a surface building which forms an angle of 90 degrees with the surface building, so that the building is positioned at the most middle position of a picture, zooming is adjusted, the building can still completely appear in the picture at the maximum focal length value, the length of the building can be seen at the minimum focal length, and the actual length of the building is recorded;
step b3-2, calculating a maximum focal length value and a minimum focal length value of the optical monitoring equipment of the servo turntable, and equally dividing the focal length range value by 8-10;
step b3-3, measuring the imaging length of the building in the picture according to the end in the range, and recording the focal length value and the focusing value at the moment;
step b3-4, the focal length value and the size of the target point are in linear proportion, so that the size of target imaging is calculated according to different distances, and the adjusted focal length value of the lens is calculated according to the linear proportion.
Further, the positioning method of the azimuth value and the distance value of the target in the step d relative to the servo turntable optical monitoring device comprises the following steps:
the coordinate position of the target acquired by the geographic information platform is A, the installation position of the optical monitoring equipment of the servo turntable is marked as O, the distance between two points is calculated,
wherein L is OA Is the distance X of the target relative to the servo turntable optical monitoring device A Is the longitude, X of the target O Longitude of the servo turntable optical monitoring device; y is Y A Is the latitude of the target, Y O Is the latitude of the servo turntable optical monitoring device,
then calculating the azimuth included angle between the line formed by the two points of the target and the servo turntable optical monitoring equipment and the north direction
tanβ＝(X A -X O )/(Y A -Y O )。
The beneficial effects of the invention are as follows:
according to the positioning tracking method based on linkage of the high-tower monitoring equipment and the unmanned aerial vehicle, the unmanned aerial vehicle discovers the target position and then links the high-tower monitoring equipment to accurately position the target point, the distance and the azimuth of the target point from the servo turntable optical equipment are obtained according to the coordinate data of the unmanned aerial vehicle target so as to position the tracking target, a pitching value, a focal length and a focusing value are obtained by referring to a fitting mapping table of the monitoring equipment, and the linkage driving motor enables the lens to rotate to the target point position to finish guiding, so that the technical problem that effective monitoring is difficult in large-area and open areas is solved, and the real-time video condition that the high-tower optical monitoring equipment is not moved to position the target point and the target point is quickly positioned is realized.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and other related 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 the present invention;
fig. 2 is a schematic photograph of a pitch scene fit in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings and detailed description. It should be understood that the embodiments described herein are for purposes of illustration only and are not intended to limit the invention, i.e., the embodiments described are merely some, but not all, examples of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein can be arranged and designed in a wide variety of different configurations, and the present invention can have other implementations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other examples, which a person skilled in the art would obtain without making any inventive effort, are within the scope of the invention based on the detailed description of the invention.
For a further understanding of the invention, its aspects, features and advantages, reference should be made to the following detailed description taken in conjunction with the accompanying drawings, in which:
with reference to figures 1 and 2 of the drawings,
a positioning tracking method based on linkage of high tower monitoring equipment and unmanned aerial vehicle comprises the following steps:
step a, installing servo turntable optical monitoring equipment by utilizing a newly-built or built high tower, and inputting the installation height and coordinate information of the servo turntable optical monitoring equipment into a geographic information platform;
b, performing scene fitting on the servo turntable optical monitoring equipment installed in the step a through the geographical information platform, and generating a fitting mapping table of the servo turntable optical monitoring equipment;
c, the unmanned aerial vehicle discovers a target, positioning information of the target is transmitted to an unmanned aerial vehicle ground management module through a satellite positioning system of the unmanned aerial vehicle, and the unmanned aerial vehicle ground management module transmits the positioning information of the target to a geographic information platform;
d, the geographic information platform calculates an azimuth value and a distance value of the target relative to the servo turntable optical monitoring equipment according to the positioning information of the target obtained in the step c and the coordinate information of the servo turntable optical monitoring equipment obtained in the step a;
step e, calculating a pitching value, a focal length value and a focusing value of the target relative to the servo turntable optical monitoring equipment according to the azimuth value and the distance value of the target relative to the servo turntable optical monitoring equipment obtained in the step d and through the fitting mapping table of the servo turntable optical monitoring equipment obtained in the step b;
f, controlling the servo turntable optical monitoring equipment to precisely point to the target according to the azimuth value and the pitching value of the target relative to the servo turntable optical monitoring equipment, which are obtained in the step d and the step e, and controlling the servo turntable optical monitoring equipment to adjust the angle of view and the definition according to the obtained focal length value and the focus value;
and g, continuously acquiring target positioning information, repeating the steps c-f, and continuously guiding the servo turntable optical monitoring equipment to realize positioning tracking.
In the step b, the azimuth scene fitting is performed on the optical monitoring device of the servo turntable, the azimuth scene fitting step is b1, and the azimuth scene fitting method is as follows:
b1-1, taking the installation position of the optical monitoring equipment of the servo turntable as the center in a geographic information platform, marking the north as azimuth 0 degrees, and recording the installation position O1 by using a handheld GPS positioning device to the installation position fixed point of the optical monitoring equipment of the servo turntable by a tester;
b1-2, moving a tester to a visual field range of optical monitoring of the servo turntable, informing positioning information to a calibrator, finding out a handheld GPS tester on an imaging picture of optical monitoring equipment of the servo turntable by the calibrator, enabling the tester to be positioned at the most central position of the picture, inputting the positioning information to a geographic information platform by the calibrator, and marking the positioning information as a position O2;
step b1-3, the geographic information platform calculates the angles among the position O1, the position O2 and the north by utilizing tangent trigonometric functions according to the longitude difference and the latitude difference of the position O1 and the position O2, and calibrates the position of the calibration personnel as the angle value,
tanα＝(X O2 -X O1 )/(Y O2 -Y O1 )
α＝arctan{(X O2 -X O1 )/(Y O2 -Y O1 )}
where α is the angular value of position O2 relative to position O1, X O2 Is the longitude of position O2, X O1 Is the longitude of position O1, Y O2 Is the latitude of the position O2, Y O1 Is the latitude of location O1.
In the step b, a pitching scene fitting is performed on the optical monitoring device of the servo turntable, wherein the pitching scene fitting step is b2, and the pitching scene fitting method is as follows:
step b2-1, taking the installation position of the optical monitoring equipment of the servo turntable as a center on a geographic information platform, holding a handheld GPS (Global positioning System) to a calibration point position by a tester, and sending coordinate information of the calibration point to the calibrator;
step b2-2, a calibration person finds the position of the tester on the picture of the optical monitoring equipment of the servo turntable, so that the tester holds the GPS positioning equipment at the most central position of the picture, inputs coordinate information on an information platform in the ground, and calibrates the pitching value of the optical monitoring equipment of the servo turntable on the calibration point
And b2-3, repeating the step b2-1 and the step b2-2, calibrating 10 calibration points at an average angle within 360 degrees, and displaying a corresponding relation between the pitching value of the optical monitoring equipment of the servo turntable and the distance between the installation position of the optical monitoring equipment of the servo turntable when the distance is within the range of 1 km to 2 km.
Further, in the step b, the focal length scene fitting is performed on the optical monitoring device of the servo turntable, the focal length scene fitting step is b3, and the focal length scene fitting method is as follows:
b3-1, a calibration person rotates the servo turntable optical monitoring equipment to find a surface building which forms an angle of 90 degrees with the surface building, so that the building is positioned at the most middle position of a picture, zooming is adjusted, the building can still completely appear in the picture at the maximum focal length value, the length of the building can be seen at the minimum focal length, and the actual length of the building is recorded;
step b3-2, calculating a maximum focal length value and a minimum focal length value of the optical monitoring equipment of the servo turntable, and equally dividing the focal length range value by 8-10;
step b3-3, measuring the imaging length of the building in the picture according to the end in the range, and recording the focal length value and the focusing value at the moment;
step b3-4, the focal length value and the size of the target point are in linear proportion, so that the size of target imaging is calculated according to different distances, and the adjusted focal length value of the lens is calculated according to the linear proportion.
Further, the focal length fitting mapping table of this embodiment is shown in table 1:
table 1 focal length fitting mapping table
| Width of reference object | Reference elevation | Distance of reference object | Pixel width | Zoom value | Focus value |
| 13.35 | 174 | 1752.64 | 744 | 3505 | 3503 |
| 13.35 | 174 | 1752.64 | 467 | 3151 | 3503 |
| 13.35 | 174 | 1752.64 | 323 | 2811 | 3504 |
| 13.35 | 174 | 1752.64 | 223 | 2455 | 3498 |
| 13.35 | 174 | 1752.64 | 153 | 2102 | 3505 |
| 13.35 | 174 | 1752.64 | 109 | 1761 | 3502 |
| 13.35 | 174 | 1752.64 | 76 | 1416 | 3500 |
| 13.35 | 174 | 1752.64 | 58 | 1054 | 3496 |
| 13.35 | 174 | 1752.64 | 44 | 711 | 3501 |
| 13.35 | 174 | 1752.64 | 33 | 368 | 3499 |
Further, the positioning method of the azimuth value and the distance value of the target in the step d relative to the servo turntable optical monitoring device comprises the following steps:
the coordinate position of the target acquired by the geographic information platform is A, the installation position of the optical monitoring equipment of the servo turntable is marked as O, the distance between two points is calculated,
wherein L is OA Is the distance X of the target relative to the servo turntable optical monitoring device A Is the longitude, X of the target O Longitude of the servo turntable optical monitoring device; y is Y A Is the latitude of the target, Y O Is the latitude of the servo turntable optical monitoring device,
then calculating the azimuth included angle between the line formed by the two points of the target and the servo turntable optical monitoring equipment and the north direction
tanβ＝(X A -X O )/(Y A -Y O )。
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Although the present application has been described hereinabove with reference to specific embodiments, various modifications thereof may be made and equivalents may be substituted for elements thereof without departing from the scope of the application. In particular, the features of the embodiments disclosed in this application may be combined with each other in any way as long as there is no structural conflict, and the exhaustive description of these combinations is not given in this specification merely for the sake of omitting the sake of brevity and saving resources. Therefore, it is intended that the present application not be limited to the particular embodiments disclosed, but that the present application include all embodiments falling within the scope of the appended claims.
Claims (2)
1. A positioning tracking method based on linkage of high tower monitoring equipment and an unmanned aerial vehicle is characterized by comprising the following steps of: the method comprises the following steps:
step a, installing servo turntable optical monitoring equipment by utilizing a newly-built or built high tower, and inputting the installation height and coordinate information of the servo turntable optical monitoring equipment into a geographic information platform;
b, performing azimuth, pitching and focal length scene fitting on the servo turntable optical monitoring equipment installed in the step a through a geographic information platform to generate a fitting mapping table of the servo turntable optical monitoring equipment;
in the step b, azimuth scene fitting is performed on the servo turntable optical monitoring equipment, the azimuth scene fitting step is b1, and the azimuth scene fitting method is as follows:
b1-1, taking the installation position of the optical monitoring equipment of the servo turntable as the center in a geographic information platform, marking the north as azimuth 0 degrees, and recording the installation position O1 by using a handheld GPS positioning device to the installation position fixed point of the optical monitoring equipment of the servo turntable by a tester;
b1-2, moving a tester to a visual field range of optical monitoring of the servo turntable, informing positioning information to a calibrator, finding out a handheld GPS tester on an imaging picture of optical monitoring equipment of the servo turntable by the calibrator, enabling the tester to be positioned at the most central position of the picture, inputting the positioning information to a geographic information platform by the calibrator, and marking the positioning information as a position O2;
step b1-3, the geographic information platform calculates the angles among the position O1, the position O2 and the north by utilizing tangent trigonometric functions according to the longitude difference and the latitude difference of the position O1 and the position O2, and calibrates the position of the calibration personnel as the angle value,
tanα＝(X O2 -X O1 )/(Y O2 -Y O1 )
α＝arctan{(X O2 -X O1 )/(Y O2 -Y O1 )}
where α is the angle of position O2 relative to position O1Degree value, X O2 Is the longitude of position O2, X O1 Is the longitude of position O1, Y O2 Is the latitude of the position O2, Y O1 Is the latitude of location O1;
in the step b, the pitching scene fitting is performed on the servo turntable optical monitoring equipment, the pitching scene fitting step is b2, and the pitching scene fitting method is as follows:
step b2-1, taking the installation position of the optical monitoring equipment of the servo turntable as a center on a geographic information platform, holding a handheld GPS (Global positioning System) to a calibration point position by a tester, and sending coordinate information of the calibration point to the calibrator;
step b2-2, a calibration person finds the position of a tester on a picture of the optical monitoring equipment of the servo turntable, so that the tester holds the GPS positioning equipment at the most central position of the picture, inputs coordinate information on a geographic information platform, and calibrates the pitching value of the optical monitoring equipment of the servo turntable on the calibration point;
b2-3, repeating the steps b2-1 and b2-2, calibrating 10 calibration points at an average angle within 360 degrees, and displaying a corresponding relation between the pitching value of the optical monitoring equipment of the servo turntable and the distance between the installation position of the optical monitoring equipment of the servo turntable when the distance is within the range of 1 km to 2 km;
in the step b, the optical monitoring equipment of the servo turntable is subjected to focal length scene fitting, the focal length scene fitting step is b3, and the focal length scene fitting method comprises the following steps:
b3-1, a calibration person rotates the servo turntable optical monitoring equipment to find a surface building which forms an angle of 90 degrees with the surface building, so that the building is positioned at the most middle position of a picture, zooming is adjusted, the building can still completely appear in the picture at the maximum focal length value, the length of the building can be seen at the minimum focal length, and the actual length of the building is recorded;
step b3-2, calculating a maximum focal length value and a minimum focal length value of the optical monitoring equipment of the servo turntable, and equally dividing the focal length range value by 8-10;
step b3-3, measuring the imaging length of the building in the picture according to the end in the range, and recording the focal length value and the focusing value at the moment;
step b3-4, enabling the focal length value and the size of the target point to be in linear proportion, calculating the imaging size of the target according to different distances, and then calculating the focal length value adjusted by the lens according to the linear proportion;
c, the unmanned aerial vehicle discovers a target, positioning information of the target is transmitted to an unmanned aerial vehicle ground management module through a satellite positioning system of the unmanned aerial vehicle, and the unmanned aerial vehicle ground management module transmits the positioning information of the target to a geographic information platform;
d, the geographic information platform calculates an azimuth value and a distance value of the target relative to the servo turntable optical monitoring equipment according to the positioning information of the target obtained in the step c and the coordinate information of the servo turntable optical monitoring equipment obtained in the step a;
step e, calculating a pitching value, a focal length value and a focusing value of the target relative to the servo turntable optical monitoring equipment according to the azimuth value and the distance value of the target relative to the servo turntable optical monitoring equipment obtained in the step d and through the fitting mapping table of the servo turntable optical monitoring equipment obtained in the step b;
f, controlling the servo turntable optical monitoring device to precisely point to the target according to the azimuth value and the pitching value of the target relative to the servo turntable optical monitoring device, which are obtained in the step d and the step e, and controlling the servo turntable optical monitoring device to adjust the angle of view and the definition according to the obtained focal length value and the focus value;
and g, continuously acquiring target positioning information, repeating the steps c-f, and continuously guiding the servo turntable optical monitoring equipment to realize positioning tracking.
2. The positioning and tracking method based on linkage of high-tower monitoring equipment and unmanned aerial vehicle according to claim 1, which is characterized in that: the positioning method of the azimuth value and the distance value of the target relative to the servo turntable optical monitoring equipment in the step d is as follows:
the coordinate position of the target acquired by the geographic information platform is A, the installation position of the optical monitoring equipment of the servo turntable is marked as O, the distance between two points is calculated,
wherein L is OA Is the distance X of the target relative to the servo turntable optical monitoring device A Is the longitude, X of the target O Longitude of the servo turntable optical monitoring device; y is Y A Is the latitude of the target, Y O Is the latitude of the servo turntable optical monitoring device,
then calculating the azimuth included angle beta, tan beta= (X) between the line formed by the two points of the target and the servo turntable optical monitoring equipment and the north direction A -X O )/(Y A -Y O )。
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| CN105759839B (en) * | 2016-03-01 | 2018-02-16 | 深圳市大疆创新科技有限公司 | Unmanned plane visual tracking method, device and unmanned plane |
| CN105929850B (en) * | 2016-05-18 | 2018-10-19 | 中国计量大学 | A kind of UAV system and method with lasting locking and tracking target capability |
| CN108146637A (en) * | 2018-02-08 | 2018-06-12 | 张健 | A kind of unattended normalization area monitoring UAV system and monitoring method |
| CN113115001B (en) * | 2021-04-13 | 2022-11-04 | 大庆安瑞达科技开发有限公司 | Oil and gas field video monitoring real-time three-dimensional projection fusion method |
| CN113115002A (en) * | 2021-04-13 | 2021-07-13 | 大庆安瑞达科技开发有限公司 | Oil and gas field personnel and vehicle positioning associated video monitoring method |
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