CN114924578A - Unmanned aerial vehicle waypoint position adjusting method and device based on illumination angle - Google Patents
Unmanned aerial vehicle waypoint position adjusting method and device based on illumination angle Download PDFInfo
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Abstract
The invention relates to the technical field of unmanned aerial vehicle routing inspection, and discloses an unmanned aerial vehicle waypoint position adjusting method and device based on an illumination angle, wherein the method comprises the following steps: determining inspection time, inspection camera parameters and an initial planning track; calculating a sun azimuth angle of a shooting position according to the patrol time, and calculating a camera field angle of the shooting position according to the patrol camera parameters; judging whether the sun azimuth angle and the camera field angle are overlapped or not, if not, executing according to the initial planning track, and if so, adjusting the initial planning track; whether the shooting target is influenced by the sunlight or not is judged according to the overlapping of the solar azimuth angle and the camera field angle, if the shooting target is influenced by the sunlight, the hovering position is automatically adjusted by the unmanned aerial vehicle, so that the imaging range is not influenced by the sunlight, clear fine routing inspection photos meeting requirements are shot, the routing inspection quality is guaranteed, reworking is avoided, and the routing inspection efficiency is improved.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle routing inspection, in particular to an unmanned aerial vehicle waypoint position adjusting method and device based on an illumination angle.
Background
Along with the continuous perfect and development of unmanned aerial vehicle technique, more and more trade begins to adopt unmanned aerial vehicle to carry out remote operation nowadays, in order to reach intelligence, swift and efficient operation effect, unmanned aerial vehicle patrols and examines the in-process at automatic track, need cooperate camera equipment to patrol and examine the video or the collection of the photo of target object, help personnel can master target object and situation around fast, because unmanned aerial vehicle patrols and examines in the environment with the outdoor mostly, it can receive the influence of direct solar radiation intensity sometimes and lead to the photo imaging fuzzy or unclear patrolling and examining the requirement at the in-process of patrolling and examining, and the requirement of patrolling and examining can not be reached, need to rework the shooting again, make unmanned aerial vehicle patrol and examine inefficiency, rework cost is high.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an unmanned aerial vehicle waypoint position adjusting method and device based on an illumination angle.
In order to achieve the above object, the present invention provides the following technical solutions:
an unmanned aerial vehicle waypoint position adjusting method based on illumination angles comprises the following steps:
determining inspection time, inspection camera parameters and an initial planning track;
calculating a sun azimuth angle of a shooting position according to the inspection time, and calculating a camera view angle of the shooting position according to the inspection camera parameters;
and judging whether the solar azimuth angle and the camera field angle are overlapped or not, if not, executing according to the initial planning track, and if so, adjusting the initial planning track.
In the present invention, preferably, the adjusting the initial planned route includes the following steps:
determining the pitching direction of the camera or the horizontal direction of the camera according to the minimum adjusting strategy;
calculating the adjustment quantity in the pitching direction or the horizontal direction to determine a new shooting position, and obtaining an adjusted new planned flight path;
and performing collision detection on the newly planned flight path to ensure the safety of the flight path and then executing the flight path.
In the present invention, preferably, the calculating the solar azimuth of the shooting position according to the patrol inspection time includes the following steps:
calculating a solar altitude angle according to the geographical latitude of a shooting position in the track, the solar declination and the solar hour angle;
calculating according to the solar altitude angle, the geographical latitude and the solar declination to obtain a solar azimuth angle;
and calculating according to the solar altitude and the solar azimuth to obtain a solar direction vector sunV.
In the present invention, preferably, the calculating a camera angle of view at the shooting position according to the inspection camera parameters specifically includes the following steps:
calculating to obtain a facing unit vector camera V of the camera according to the camera parameters and the initial planning track;
and calculating to obtain a camera field angle according to a camera imaging principle and the patrol camera parameters, wherein half of the vertical fov angle is as follows:
half the angle of horizontal fov is:
and combining the focal length to obtain the imaging range of the camera.
In the present invention, preferably, the determining whether the solar azimuth angle and the camera angle of view overlap includes the following steps:
calculating a horizontal included angle proj between the sun direction vector and the camera orientation unit vector according to a graphics vector included angle formula yaw And pitch angle proj pitch’
If proj yaw ≤fov H And proj pitch ≤fov V And if the solar azimuth angle and the camera field angle are overlapped, the photo shot by the inspection camera can be influenced and exposed by illumination.
In the present invention, it is preferable that the actual exposure threshold value α is obtained through experimental calculation due to an influence of an actual environment on a photographing effect.
In the present invention, preferably, the determining to adjust the tilt direction of the camera or adjust the horizontal direction of the camera according to the minimum adjustment policy specifically includes the following steps:
since the collision detection is performed again for the front and rear related shooting positions to ensure the safety of the shooting positions when the shooting positions are adjusted, the minimum adjustment principle is adopted here, that is, the minimum adjustment principle is adopted
If fov H +α-proj yaw ≥fov V +α-proj pitch The pitch angle adjustment angle is smaller, and only the pitch direction needs to be adjusted.
If fov H +α-proj yaw ＜fov V +α-proj pitch The horizontal angle adjustment angle is smaller, only the horizontal adjustment is neededAnd (4) direction.
In the present invention, it is preferable that the new photographing position is determined according to the pitch direction adjustment amount, including the steps of:
e) calculating a rotation matrix
Using the new pitch fov according to the graphical rotation matrix algorithm V +α-proj pitch Obtaining a rotation Matrix pitch
f) Calculating new target point position
targetPos new ＝cameraPos+Matrix pitch *(targetPos-cameraPos)
g) Calculating a photographing target point offset
targetOffset＝targetPos-targetPos new
h) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
In the present invention, it is preferable that the new shooting position is determined according to the horizontal direction adjustment amount, and the method specifically includes the following steps:
e) calculating a rotation matrix
Using the new horizontal angle fov according to the graphical rotation matrix algorithm H +α-proj yaw Obtaining a rotation Matrix yaw
f) Calculating new target point positions
targetPos new ＝cameraPos+Matrix yaw *(targetPos-cameraPos)
g) Calculating a photographing target point offset
targetOffset＝targetPos-targetPos new
h) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
An illumination angle-based unmanned aerial vehicle waypoint position adjustment apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of any of claims 1-9.
Compared with the prior art, the invention has the beneficial effects that:
the invention combines the solar azimuth angle calculated by the time and longitude and latitude of the location of the shot picture, the camera orientation when the shot picture is shot and the finally calculated reference value of the imaging parameter of the camera, judges whether the shot target is influenced by the solar ray at the moment according to the result, if the shot target is influenced by the solar light, the unmanned aerial vehicle automatically adjusts the hovering position, so that the imaging range is not influenced by the light, the clear and refined inspection picture meeting the requirements is shot, the inspection quality is ensured, the rework is avoided, and the inspection efficiency is improved.
Drawings
Fig. 1 is a flowchart of an unmanned aerial vehicle waypoint position adjustment method based on an illumination angle according to the present invention.
Fig. 2 is a flowchart of adjusting an initial planned track according to the method for adjusting the waypoint position of the unmanned aerial vehicle based on the illumination angle.
Fig. 3 is a schematic view of a solar azimuth calculation flow of the unmanned aerial vehicle waypoint position adjustment method based on the illumination angle.
Fig. 4 is a schematic diagram of the imaging principle of the camera.
FIG. 5 is a graphical vector diagram.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is noted that the terms "vertical," "horizontal," "left," "right," and the like are used herein for descriptive purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 3, a preferred embodiment of the present invention provides a method for adjusting a waypoint position of an unmanned aerial vehicle based on an illumination angle, which combines the longitude and latitude of a planned shooting position of an unmanned aerial vehicle polling track at a designated time to calculate a sun azimuth, a field angle of a polling camera, and a camera imaging parameter, and finally calculates a reference value, so as to determine whether the polling camera is affected by the sun illumination during shooting, and automatically adjust a hovering position of the unmanned aerial vehicle and a shooting angle of the polling camera on the premise of being affected by the illumination, so that the polling camera can avoid exposure of a shot picture, thereby reducing the inefficiency and rework rate of the unmanned aerial vehicle polling the shot picture, and saving the polling cost, and mainly comprising the following steps:
determining inspection time, inspection camera parameters and an initial planning track;
calculating a sun azimuth angle of a shooting position according to the inspection time, and calculating a camera view angle of the shooting position according to the inspection camera parameters;
and judging whether the solar azimuth angle and the camera field angle are overlapped or not, if not, executing according to the initial planning track, and if so, adjusting the initial planning track.
Specifically, the method for calculating the sun azimuth angle of the shooting position according to the patrol time comprises the following steps of:
s01, calculating the solar altitude according to the geographical latitude, the solar declination and the solar hour angle of the position in the track, wherein the calculation formula is as follows:
sin H s ＝sinφ×sinδ+cosφ×cosδ×cos t
in the formula, H s The sun altitude is represented, phi represents the geographical latitude of the current shooting position, delta represents the solar declination, and t represents the solar hour angle, wherein the solar declination delta is calculated according to the following calculation formula:
δ(deg)＝0.006918-0.399912cos(b)+0.070257sin(b)-0.006758cos(2b)+0.000907sin(2b)-0.002697cos(3b)+0.00148sin(3b)
wherein b is 2 × PI × (N-1)/365, N is the number of days from 1 month and 1 day per year from the calculation day, i.e., 1 month and 1 day, N is 1 month and 2 days, N is 2, and so on, PI represents the circumferential rate, and deg represents the angle degree;
the solar time angle t is calculated according to the following formula:
t＝15×(ST-12)
in the formula, when ST is true sun, it is noted that, in china, beijing time is often used, but not local time (true sun time), china is wide, east-west time difference can reach 4h at most, and when sunshine analysis is performed, local time should be used, so in china, the conversion formula of true sun time is:
true Solar Time (ST) ═ Beijing time + time difference
Time difference (local longitude-120 degree/15 degree)
I.e., t 15 × [ beijing time + ((local longitude-120 °)/15 °) -12 ];
s02, calculating the solar azimuth angle according to the solar altitude angle, the geographical latitude and the solar declination,
cos A s ＝(sin H s ×sinφ-sinδ)÷(cos H s ×cosφ)
in the formula, A s Representing the sun azimuth, H s Representing the solar altitude, phi representing the geographical latitude, and delta representing the solar declination;
s03, calculating a sun direction vector sunV according to the sun altitude and the sun azimuth, specifically using the existing standard graphics method, sequentially rotating according to the sun altitude and the sun azimuth to obtain a rotation matrix SunMatrix, where the initial unit vector is (0, 1, 0) facing north, and the unit vector calculation formula of the camera position looking at the sun is:
sunV＝SunMatrix*(0，1，0)。
specifically, the method for calculating the camera view angle of the shooting position according to the patrol camera parameters specifically comprises the following steps:
s11, calculating and obtaining a unit vector camera V of the orientation of the camera according to the camera parameters and the initial planning track: the rotation matrix is defined as Cameramatrix by adopting the existing standard graphical method, and according to the data parameters of the known track format:
air latex: shooting longitude
air after Longituude: shooting latitude
baseStationAltitude: height of shooting
airCraftYawValue: the horizontal angle of the shot is the angle between the positive north and the negative north, the positive is clockwise and the negative is anticlockwise
gimbalPitchValue: shoot pitch angle, positive is looking up and negative is looking down
The photographing pitch angle (gimbals value) and the photographing horizontal angle (airCraftYawValue) are sequentially rotated to obtain a rotation matrix CameraMatrix,
the initial unit vector is (0, 1, 0) towards true north.
The camera orientation unit vector calculation formula is:
cameraV＝CameraMatrix*(0，1，0)；
s12, calculating a camera view angle according to the camera imaging principle and the inspection camera parameters, as shown in fig. 4, where half of the vertical fov (view angle) angle is:
half the angle of horizontal fov is:
and S13, obtaining the imaging range of the camera by combining the camera angle of view and the focal length.
Specifically, the determining whether the solar azimuth angle and the camera field angle are overlapped specifically includes the following steps:
will be seen as shown in fig. 5, the sun is regarded asA beam of parallel light, wherein a cube in the graph represents the sun, a sun direction vector sunV is calculated according to a vector included angle formula in graphics, and a horizontal included angle proj between the sun direction vector sunV and a camera facing unit vector camera is obtained yaw And pitch angle proj pitch ，
If proj yaw ≤fov H And proj pitch ≤fov V The azimuth angle of the sun and the field angle of the camera are overlapped, the photo shot by the inspection camera is influenced by illumination, and when proj yaw ≤fov H Then, the field angle of the horizontal range photo exposure is calculated by the formula sunV ═ SunMatrix (0, 1, 0), when proj pitch ≤fov V Then, the field angle of the pitch range photo exposure is calculated by the formula camera v (camera matrix x (0, 1, 0)).
Furthermore, the theoretical calculation structure can ensure that the shooting effect is not affected, but due to the complexity of the actual environment, the sun may not be in the shooting range but the picture may also be affected to different degrees, so the actual exposure critical value α is obtained through multiple experimental calculations, and α is used as an adjustment parameter to determine the final field angle range of the camera.
In this embodiment, the initial planning track of adjustment, unmanned aerial vehicle shoots position and angle promptly, guarantees that the track shoots the achievement and does not have the exposure condition in patrolling and examining the time quantum, specifically includes following step:
s21, determining to adjust the pitching direction of the camera or adjust the horizontal direction of the camera according to the minimum adjustment strategy;
according to known parameters:
camera Pos at shooting position
Shooting position targetPos (corresponding to shooting position)
Half of the angle fov of vertical fov V
Half fov of the angle of horizontal fov H
Horizontal angle proj between camera orientation and sun azimuth yaw
Elevation angle proj of camera orientation and sun azimuth pitch
Actual exposure critical deviation value alpha
Obtaining: if proj yaw ≤fov H + α and proj pitch ≤fov V The photographing effect of the picture at + alpha is affected.
Since the collision detection needs to be performed again on the front and rear related shooting positions to ensure the safety of the shooting positions when the shooting positions are adjusted, a minimum adjustment principle is adopted here, that is, the minimum adjustment principle is
If fov H +α-proj yaw ≥fov V +α-proj pitch The pitch angle adjustment angle is smaller, and only the pitch direction needs to be adjusted.
If fov H +α-proj yaw ＜fov V +α-proj pitch The horizontal angle adjustment angle is smaller, and only the horizontal direction needs to be adjusted;
s22, determining a new shooting position according to the adjustment quantity in the pitching direction or the horizontal direction to obtain an adjusted new planned track:
calculating a new shooting position according to the pitch angle or the horizontal angle to be adjusted, calculating the offset of the new shooting position relative to a fixed position because the shooting position cannot be modified, and calculating the position to which the final shooting camera needs to be adjusted by adding the offset to the shooting camera position;
1, adjusting a pitch angle:
a) computing rotation matrices
Use of new pitch fov according to a graphical rotation matrix algorithm V +α-proj pitch Obtaining a rotation Matrix pitch
b) Calculating new target point position
targetPos new ＝cameraPos+Matrix pitch *(targetPos-cameraPos)
c) Calculating a photographing target point offset
targetOffset＝targetPos-targetPos new
d) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
2, adjusting the horizontal angle:
i) calculating a rotation matrix
Using the new horizontal angle fov according to the graphical rotation matrix algorithm H +α-proj yaw Obtaining a rotation Matrix yaw
j) Calculating new target point position
targetPos new ＝cameraPos+Matrix yaw *(targetPos-cameraPos)
k) Calculating a photographing target point offset
targetOffset＝targetPos-targetPos new
1) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
And S23, performing collision detection on the newly planned flight path, and executing after ensuring the safety of the flight path.
Another preferred embodiment of the present invention provides an illumination angle-based apparatus for adjusting a waypoint position of an unmanned aerial vehicle, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the illumination angle-based method for adjusting the waypoint position of the unmanned aerial vehicle.
It should be noted that, for those skilled in the art, it is possible to make several improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the protection scope of the claims of the present invention.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned memory comprises: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
The above description is intended to describe in detail the preferred embodiments of the present invention, but the embodiments are not intended to limit the scope of the claims of the present invention, and all equivalent changes and modifications made within the technical spirit of the present invention should fall within the scope of the claims of the present invention.
Claims (10)
1. An unmanned aerial vehicle waypoint position adjusting method based on illumination angles is characterized by comprising the following steps:
determining inspection time, inspection camera parameters and an initial planning track;
calculating a sun azimuth angle of a shooting position according to the patrol time, and calculating a camera field angle of the shooting position according to the patrol camera parameters;
and judging whether the solar azimuth angle and the camera field angle are overlapped or not, if not, executing according to the initial planning track, and if so, adjusting the initial planning track.
2. The method of claim 1, wherein adjusting the initial planned path comprises:
determining the pitching direction of the camera or the horizontal direction of the camera according to the minimum adjusting strategy;
calculating the adjustment amount in the pitching direction or the horizontal direction to determine a new shooting position, and obtaining an adjusted new planning track;
and performing collision detection on the newly planned flight path to ensure the safety of the flight path and then executing the flight path.
3. The unmanned aerial vehicle waypoint position adjusting method based on the illumination angle as claimed in claim 2, wherein the step of calculating the sun azimuth of the shooting position according to the patrol inspection time comprises the following steps:
calculating a solar altitude angle according to the geographical latitude of a shooting position in the track, the solar declination and the solar hour angle;
calculating according to the solar altitude angle, the geographical latitude and the solar declination to obtain a solar azimuth angle;
and calculating according to the solar altitude and the solar azimuth to obtain a solar direction vector sunV.
4. The unmanned aerial vehicle waypoint position adjusting method based on the illumination angle as claimed in claim 3, wherein the step of calculating the camera angle of view of the shooting position according to the inspection camera parameters specifically comprises the following steps:
calculating to obtain a facing unit vector camera V of the camera according to the camera parameters and the initial planning track;
and calculating to obtain a camera field angle according to a camera imaging principle and the inspection camera parameters, wherein half of the vertical fov angle is as follows:
half the angle of horizontal fov is:
and combining the focal length to obtain the imaging range of the camera.
5. The method for adjusting the waypoint position of the unmanned aerial vehicle based on the illumination angle as claimed in claim 4, wherein the step of judging whether the sun azimuth angle and the camera angle of view are overlapped specifically comprises the following steps:
calculating a horizontal included angle proj between the sun direction vector and the camera orientation unit vector according to a graphic vector included angle formula yaw And pitch angle proj pitch ，
If proj yaw ≤fov H And proj pitch ≤fov V And if the solar azimuth angle and the camera field angle are overlapped, the photo shot by the inspection camera can be influenced and exposed by illumination.
6. The unmanned aerial vehicle waypoint position adjustment method based on the illumination angle as claimed in claim 5, wherein an actual exposure critical value α is obtained through experimental calculation due to the influence of an actual environment on a shooting effect.
7. The method according to claim 6, wherein the determining of the pitching direction of the camera or the horizontal direction of the camera according to the minimum adjustment strategy comprises:
since the collision detection is performed again for the front and rear related shooting positions to ensure the safety of the shooting positions when the shooting positions are adjusted, the minimum adjustment principle is adopted here, that is, the minimum adjustment principle is adopted
If fov H +α-proj yaw ≥fov V +α-proj pitch The pitch angle adjustment angle is smaller and only the pitch direction needs to be adjusted.
If fov H +α-proj yaw ＜fov V +α-proj pitch The horizontal angle adjustment angle is smaller, and only the horizontal direction needs to be adjusted.
8. The unmanned aerial vehicle waypoint position adjustment method based on the illumination angle as claimed in claim 1, wherein a new shooting position is determined according to the adjustment amount of the pitching direction, and the method comprises the following steps:
a) computing rotation matrices
Use of new pitch fov according to a graphical rotation matrix algorithm V +α-proj pitch Obtaining a rotation Matrix pitch
b) Calculating new target point positions
targetPos new ＝cameraPos+Matrix pitch *(targetPos-cameraPos)
c) Calculating a photographing target point offset
targetOffset＝targetPos-targeLPos new
d) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
9. The method for adjusting the waypoint position of the unmanned aerial vehicle based on the illumination angle as recited in claim 8, wherein a new shooting position is determined according to the adjustment amount in the horizontal direction, and the method comprises the following steps:
a) computing rotation matrices
Using the new horizontal angle fov according to the graphical rotation matrix algorithm H +α-proj yaw Obtaining a rotation Matrix yaw
b) Calculating new target point positions
targetPos new ＝cameraPos+Matrix yaw *(targetPos-cameraPos)
c) Calculating a photographing target point offset
targetOffset＝targetPos-targetPos new
d) Calculating the position to which the camera shooting point needs to be adjusted
cameraPos new ＝cameraPos+targetOffset。
10. An illumination angle-based unmanned aerial vehicle waypoint position adjustment apparatus comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of any of claims 1-9.
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