CN116045917A - Aviation image acquisition precision test system and test method - Google Patents
Aviation image acquisition precision test system and test method Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses an aerial image acquisition precision test system and a test method, wherein a control platform controls a plurality of simulation modules to adjust simulation condition parameters of a simulation platform, so that a simulation aircraft in the simulation platform simulates image acquisition in a sailing process on a simulation test platform to obtain simulation image data, actual image data is input in the control platform in advance, and deviation values between the simulation image data and the actual image data are determined after characteristic acquisition and comparison of the actual image data, so that the reliability of each input simulation condition parameter is determined, and the influence of each simulation condition parameter in the condition parameters which influence the aerial image acquisition of each simulation aircraft and an image acquisition unit is convenient to determine, so that the corresponding aerial condition parameter in the actual aerial image acquisition process approaches to the condition parameter with smaller deviation value and higher reliability, and the acquired image precision and reliability are further improved.
Description
Technical Field
The invention relates to the technical field of aerial image acquisition precision testing, in particular to an aerial image acquisition precision testing system and an aerial image acquisition precision testing method.
Background
With the continuous development of the technology of a reconnaissance plane and a small unmanned aerial vehicle, the unmanned aerial vehicle is used for acquiring aviation images so as to provide powerful visual support for the investigation of the topography and ecological environment of a certain area. In order to further improve the accuracy of aerial image acquisition, experimental tests are required to be performed in advance to further clearly influence relevant condition parameters of aerial image acquisition accuracy, so that the aerial image acquisition process is promoted to adjust to a high-accuracy direction, and the accuracy and the reliability of the acquired image are improved.
However, the following defects and disadvantages exist in the aviation image acquisition precision testing process in the prior art:
1) The kinds of simulated aircrafts and image acquisition units have various functions, and the condition parameters influencing the aerial image acquisition by using the simulated aircrafts and the image acquisition units are also numerous, so that it is difficult to determine which influence is larger and which influence is smaller in the condition parameters influencing the aerial image acquisition by each simulated aircrafts and image acquisition unit, and thus each condition parameter cannot be accurately determined to further improve the accuracy and the reliability of the acquired image.
2) When the influence of each condition parameter is determined by adjusting each condition parameter in the test process, due to lack of necessary limitation, irregular adjustment during test not only increases test time, so that the risk of interference is increased due to inaccurate test data, but also potential safety hazards are caused to normal use of the simulated aircraft and the image acquisition unit, and thus test precision and service life are affected.
Disclosure of Invention
In order to solve the defects and shortcomings in the prior art, the invention provides an aerial image acquisition precision testing system and an aerial image acquisition precision testing method.
In order to achieve the above purpose, the present invention provides the following technical solutions:
an aerial image acquisition precision test system, which is characterized in that: the system comprises:
the control platform is connected with the simulation platform through a plurality of simulation modules, adjusts simulation condition parameters of the simulation platform through the plurality of simulation modules and receives actual image data input by a user and simulation image data sent by the simulation platform; the other end of the control platform is connected with a deviation value module so as to determine the actual deviation value of the actual image data and the simulated image data according to the feature recognition and send the actual deviation value to the deviation value module;
the simulation platform is connected with a plurality of simulation modules and comprises a simulation aircraft with a plurality of image acquisition units and a simulation test bed, wherein the simulation aircraft simulates a flight process according to input simulation condition parameters and acquires simulation image data in the simulation flight process through the image acquisition units;
The simulation modules at least comprise a type simulation module, a voyage speed simulation module, a gesture simulation module, an environment simulation module and a driving simulation module; the system comprises a model simulation module, a voyage speed simulation module, an attitude simulation module, an environment simulation module and a driving simulation module, wherein the model simulation module adjusts the selection type of the simulated aircraft and the selection type of the image acquisition unit, the voyage speed simulation module adjusts the voyage speed of the simulated aircraft, the attitude simulation module adjusts the voyage attitude of the simulated aircraft and the acquisition attitude of the image acquisition unit, the environment simulation module adjusts the voyage environment of the simulated aircraft, and the driving simulation module adjusts the corresponding condition parameters of a cockpit in the voyage process of the simulated aircraft;
the deviation value module is connected with the control platform and compares the actual deviation value with a basic preset value:
when the basic preset value is not exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, and meanwhile, the actual deviation value is compared with the critical preset value:
When the supercritical preset value is not available, the image acquisition adjustment is not limited;
when the threshold preset value is exceeded, the deviation value module makes corresponding limitation on image acquisition adjustment;
wherein the critical preset value is greater than the basic preset value;
the system comprises an optimal image acquisition module, a control platform and a deviation value module, wherein one end of the optimal image acquisition module is connected with the deviation value module to receive corresponding simulation parameters provided by each simulation module corresponding to an actual deviation value, and the other end of the optimal image acquisition module is connected with the control platform to send the corresponding simulation parameters to the control platform for updating model data;
the credibility module is connected with the deviation value module to determine the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value;
the image acquisition parameter adjustment simulation module is connected with the credibility module and is used for automatically adjusting the types, the sequences and the adjustment amounts of the simulation parameters according to the determined credibility when the image acquisition adjustment is not limited; the image acquisition parameter adjustment simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the type, sequence and adjustment quantity of the simulation parameters are autonomously determined according to the determined credibility to carry out limited adjustment;
The image acquisition adjustment priority simulation module is connected with the image acquisition parameter adjustment simulation module, and when the image acquisition adjustment is not limited, the adjustment priority of the simulation parameter which needs to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is autonomously adjusted; the image acquisition adjustment priority simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is limited.
As a further preferable implementation mode of the invention, a data model module, an image receiving module, a characteristic identification module and a characteristic comparison module are arranged in the control platform; the data model module determines initial simulation parameters of a plurality of simulation modules according to preset data and update data, the image receiving module receives actual image data and simulation image data and sends the actual image data and the simulation image data to the feature recognition module connected with the image receiving module, the feature recognition module respectively performs feature recognition on the actual image data and the simulation image data and sends recognition results to the feature comparison module connected with the feature recognition module, and the feature comparison module determines actual deviation values through comparison of the recognition results.
As a further preferred embodiment of the present invention, the image acquisition units are respectively disposed at the positions of the nose, the fuselage, the tail and the wing of the simulated aircraft, and the image acquisition units at each position can be independently or simultaneously opened and can adjust the rotation angle and the position of the image acquisition units relative to the simulated aircraft.
As a further preferred embodiment of the present invention, the environment simulation module adjusts the navigation environment of the simulated aircraft to include at least a geographic environment and a weather environment, and the driving simulation module adjusts the corresponding condition parameters of the cockpit during the navigation of the simulated aircraft to include at least a device parameter and a driver parameter.
As a further preferred embodiment of the present invention, said corresponding limitation of the image acquisition adjustment comprises at least one of the following limitation modes:
limiting whether the analog modules can be adjusted;
limiting the adjustment priority of a plurality of analog modules;
the adjustment thresholds of the plurality of analog modules are limited.
As a further preferred embodiment of the present invention, the limiting the image acquisition adjustment includes limiting whether the plurality of analog modules can be adjusted, and the image acquisition parameter adjustment analog module and the image acquisition adjustment priority analog module only adjust the types, the sequences, the adjustment amounts and the priorities of the analog modules limited in the limiting mode.
As a further preferred embodiment of the present invention, the limiting the adjustment of the image acquisition parameters includes limiting the adjustment priorities of the plurality of simulation modules, and the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the adjustment priorities of the plurality of simulation modules limited in the limiting manner.
As a further preferred embodiment of the present invention, the limiting the image acquisition adjustment priority includes limiting the adjustment thresholds of the plurality of simulation modules, and the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the limiting of the adjustment thresholds in the limiting mode.
As a further preferable implementation mode of the invention, a sequencing module is arranged in the credibility module, and the sequencing module sequences the credibility according to the user requirement.
Further, the invention also provides an aerial image acquisition precision testing method, which is characterized in that: the method comprises the following steps:
1) The control platform receives actual image data;
2) The control platform determines initial simulation parameters of a plurality of simulation modules according to the internal data model module;
3) The control platform adjusts the simulation condition parameters of the simulation platform through a plurality of simulation modules,
4) The simulation platform simulates a flight process according to simulation condition parameters input by a plurality of simulation modules, acquires simulation image data in the simulation flight process through the image acquisition unit, and sends the simulation image data to the control platform;
5) The control platform receives the analog image data;
6) The control platform respectively carries out feature recognition on the actual image data and the analog image data through the feature recognition module, and sends recognition results to the feature comparison module;
7) The characteristic comparison module determines an actual deviation value by comparing the identification result;
8) The deviation value module compares the actual deviation value with a basic preset value:
when the basic preset value is not exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, and meanwhile, the actual deviation value is compared with the critical preset value:
when the supercritical preset value is not available, the image acquisition adjustment is not limited;
When the threshold preset value is exceeded, corresponding limitation is made on the image acquisition adjustment priority;
wherein the critical preset value is greater than the basic preset value;
9) The credibility module determines the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value;
10 When the image acquisition adjustment is not limited, the image acquisition parameter adjustment simulation module performs autonomous adjustment on the types, the sequences and the adjustment amounts of the simulation parameters according to the determined credibility; when the image acquisition adjustment is limited, the image acquisition parameter adjustment simulation module autonomously determines the type, sequence and adjustment quantity of the simulation parameters according to the determined credibility to carry out limited adjustment;
11 When the image acquisition adjustment is not limited, the image acquisition adjustment priority simulation module autonomously adjusts the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module; when the image acquisition adjustment is limited, the image acquisition adjustment priority simulation module performs limited adjustment on the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module.
Compared with the prior art, the invention has the following beneficial effects:
1) The invention provides an aerial image acquisition precision test system and a test method, wherein a control platform controls a plurality of simulation modules to adjust simulation condition parameters of a simulation platform, so that a simulation aircraft with a plurality of image acquisition units in the simulation platform simulates image acquisition in a sailing process on a simulation test bed to obtain simulation image data, actual image data is input in the control platform in advance, and the deviation value between the simulation image data and the actual image data is determined after characteristic acquisition and comparison of the actual image data, so that the reliability of each input simulation condition parameter is determined, and the influence of each simulation condition parameter in the condition parameters which influence the aerial image acquisition of each simulation aircraft and each image acquisition unit is convenient to determine, so that the corresponding aerial condition parameter in the actual aerial image acquisition process approaches the condition parameter with smaller deviation value and higher reliability, and the accuracy and reliability of the acquired image are further improved.
2) The invention provides an aerial image acquisition precision testing system and testing method, comparing an actual deviation value with a basic preset value in a deviation value module, so as to send a simulation parameter corresponding to the deviation value conforming to the basic preset value to an optimal image acquisition module to update an internal data model of a control platform, thereby improving the precision and the reliability of an initial simulation parameter preset according to the data model, when the deviation value exceeds the basic preset value, sending corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to a reliability module to determine the reliability of corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value, simultaneously comparing the actual deviation value with the critical preset value, and when the critical preset value is exceeded, connecting an image acquisition parameter adjustment simulation module and an image acquisition adjustment priority simulation module by the deviation value module, and correspondingly limiting the image acquisition adjustment; therefore, whether the simulation modules can be regulated, the priority of regulation and the threshold value of regulation are limited, a limiting mode is not applied when the deviation value is smaller, a user can regulate according to needs, and when the deviation value is larger, on one hand, the testing time is shortened, the accuracy of testing data is improved, the normal use of the simulated aircraft and the image acquisition unit is ensured, the testing precision is ensured, and the testing service life is prolonged.
Drawings
Fig. 1 is a schematic diagram of a logic structure of the present invention.
Fig. 2 is a schematic diagram of the logic structure of the control platform according to the present invention.
FIG. 3 is a schematic view of the placement of an image acquisition unit in a simulated aircraft according to the present invention.
FIG. 4 is a diagram showing the comparison of the relationship between the deviation value and the basic preset value and the critical preset value.
Fig. 5 is a flow chart of the steps of the method of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific direction, be configured and operated in the specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "provided," "connected," and the like are to be construed broadly, and may be fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Example 1
Referring to fig. 1, in an embodiment 1 of the present invention, embodiment 1 provides an aerial image acquisition precision testing system, which includes:
the control platform is connected with the simulation platform through a plurality of simulation modules, adjusts simulation condition parameters of the simulation platform through the plurality of simulation modules and receives actual image data input by a user and simulation image data sent by the simulation platform; the other end of the control platform is connected with a deviation value module so as to determine the actual deviation value of the actual image data and the simulated image data according to the feature recognition and send the actual deviation value to the deviation value module;
Referring to fig. 2, in this embodiment, a data model module, an image receiving module, a feature recognition module and a feature comparison module are disposed inside the control platform; the data model module determines initial simulation parameters of a plurality of simulation modules according to preset data and update data, the image receiving module receives actual image data input by a user and simulation image data sent by a simulation platform after simulation, the actual image data and the simulation image data are sent to the feature recognition module connected with the image receiving module, the feature recognition module respectively carries out feature recognition on the actual image data and the simulation image data, the recognition result is sent to the feature comparison module connected with the feature recognition module, and the feature comparison module determines an actual deviation value through comparing the recognition result.
The simulation platform is connected with a plurality of simulation modules and comprises a simulation aircraft with a plurality of image acquisition units and a simulation test bed, wherein the simulation aircraft simulates a flight process on the simulation test bed according to input simulation condition parameters and acquires simulation image data in the simulation flight process through the image acquisition units;
the simulation modules at least comprise a type simulation module, a voyage speed simulation module, a gesture simulation module, an environment simulation module and a driving simulation module; wherein, the liquid crystal display device comprises a liquid crystal display device,
The type simulation module adjusts the selected type of the simulated aircraft and the selected type of the image acquisition unit; the possible influence of the simulated aircrafts of different types and the image acquisition units of different types on the aerial image acquisition precision can be determined through testing;
the voyage height simulation module adjusts the voyage height of the simulated aircraft, so that the possible influence of different voyage heights on the aerial image acquisition precision can be determined through testing, and the person skilled in the art knows that the higher the voyage height is, the lower the aerial image acquisition precision is, so that the specific change value of the aerial image acquisition precision, namely the change of the later offset value, can be tested when the possible influence of different voyage heights on the aerial image acquisition precision can be determined through testing; the threshold range of the navigation height change and the like can also be determined through testing on the basis of ensuring certain image acquisition precision.
The navigational speed simulation module adjusts the navigational speed of the simulated aircraft, so that the possible influence of different navigational speeds on the aerial image acquisition precision can be determined through testing, and the person skilled in the art knows that the faster the navigational speed is, the lower the aerial image acquisition precision is, so that the specific change value of the aerial image acquisition precision, namely the change of the deviation value in the following, can be tested through testing while the possible influence of different navigational speeds on the aerial image acquisition precision can be determined; the threshold range of the change of the sailing speed and the like can be determined through testing on the basis of ensuring certain image acquisition precision.
The attitude simulation module is used for adjusting the navigation attitude of the simulated aircraft and the acquired attitude of the image acquisition unit, wherein the navigation attitude of the simulated aircraft at least comprises horizontal displacement data in front-back, left-right, up-down dimensions relative to a preset origin position and deflection angle data in a space triaxial position relative to the preset origin position; similarly, the acquiring gesture of the image acquiring unit at least comprises horizontal displacement data in front and back, left and right, up and down dimensions relative to a preset origin position and deflection angle data in a space triaxial position relative to the preset origin position; as the preference in this embodiment, when the attitude simulation module adjusts the navigation attitude of the simulated aircraft and the acquisition attitude of the image acquisition unit, the navigation attitude of the simulated aircraft is preferentially adjusted, and then the acquisition attitude of the image acquisition unit is adjusted, which is because on one hand, the influence of the navigation attitude change of the simulated aircraft on the simulation process is far greater than the influence of the acquisition attitude change of the image acquisition unit on the simulation process, and on the other hand, a plurality of groups of image acquisition units are arranged in a single simulated aircraft, and after the navigation attitude of the simulated aircraft is adjusted, the image acquisition units at different positions on the simulated aircraft are also convenient to correspondingly adjust, so that the influence of the adjustment of the image acquisition units at all positions on the simulated aircraft on the simulation process is determined.
As shown in fig. 3, in this embodiment, the image acquisition units U are respectively disposed at the positions of the nose, the body, the tail and the wing of the simulated aircraft F, and the image acquisition units at each position can be opened independently or simultaneously, and the rotation angle and the position of the image acquisition units relative to the simulated aircraft can be adjusted, so that the influence of the adjustment of the image acquisition units at each position on the simulation process can be determined conveniently.
The environment simulation module adjusts the navigation environment of the simulated aircraft, and in this embodiment, the navigation environment at least includes a geographic environment and a weather environment, where the geographic environment is a geographic environment where the ground is located during the navigation of the simulated aircraft, and may include factors such as topography, water and soil, vegetation, etc.; weather conditions, i.e., weather conditions encountered in the air during the course of an aircraft voyage, may include factors such as rain and snow, haze, wind, etc.; those skilled in the art know that the more complex the geographical environment, the worse the weather environment, the lower the aerial image acquisition accuracy, so that by testing, not only the possible influence of different geographical environments and weather environments on the aerial image acquisition accuracy can be determined, but also the specific variation values of different geographical environments and weather environment parameters (such as vegetation coverage, haze concentration and other parameters) which may be generated on the aerial image acquisition accuracy, namely the variation of the later-described deviation values, can be tested.
The cockpit simulation module adjusts corresponding condition parameters of the cockpit in the sailing process of the simulated aircraft; the corresponding condition parameters of the cockpit include at least equipment parameters and driver parameters. The device parameters may include cabin space size parameters, cabin device response sensitivity, etc., while the driver parameters include driver age, sex, driving age, response sensitivity, etc.
In this embodiment, the system further includes a deviation value module, where the deviation value module is connected to the control platform, and a critical preset value and a basic preset value are preset in the deviation value module, and the critical preset value is satisfied to be greater than the basic preset value; the base preset value defines the deviation value in a lower range and the critical preset value defines the deviation value in a higher range.
As shown in FIG. 4, when the basic preset value is not exceeded, the deviation value is smaller, the simulation parameters corresponding to the input in the adjustment process in the test can be used as the reference data in the optimal image acquisition, and the latest data reference can be provided for updating the data model in the control platform;
when the deviation value exceeds the basic preset value but is not the supercritical preset value, although the deviation value is larger at the moment and cannot be used as a data reference, further adjustment test is needed, the safety influence is not formed on the use of the simulated aircraft and the image acquisition unit, and therefore the adjustment process is not required to be limited;
When the deviation value exceeds a critical preset value, the deviation value is larger, the deviation value cannot be used as a data reference, further adjustment test is needed, and safety influence is formed on the use of the simulation aircraft and the image acquisition unit, so that the adjustment process is limited;
the deviation value module compares the actual deviation value with a basic preset value:
when the basic preset value is not exceeded, the deviation value is smaller, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module to serve as reference data in optimal image acquisition, and meanwhile, the latest data reference can be provided for updating the data model in the control platform;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, the deviation value is larger and cannot be used as a data reference, further adjustment test is needed, and meanwhile the actual deviation value is compared with the critical preset value to determine whether limitation on the adjustment process is needed or not:
when the supercritical preset value is not available, the image acquisition adjustment priority is not limited;
When the threshold preset value is exceeded, the deviation value module is connected with the image acquisition adjustment priority simulation module and correspondingly limits the image acquisition adjustment priority;
as a preference of the present embodiment, the making of the corresponding limitation on the image acquisition adjustment priority includes at least one of the following limitation modes:
limiting whether the analog modules can be adjusted;
limiting the adjustment priority of a plurality of analog modules;
the adjustment thresholds of the plurality of analog modules are limited.
The method is characterized in that whether the simulation modules can be regulated is limited, namely, the type simulation modules, the voyage speed simulation modules, the gesture simulation modules, the environment simulation modules and the driving simulation modules are subjected to on-off control, so that part of the simulation modules cannot be regulated to input simulation condition parameters, for example, the type simulation modules can be limited to deviation values caused by lower voyage speed or faster voyage speed, so that the type simulation modules cannot be regulated, the test regulation time is shortened, the test efficiency is improved, and meanwhile, the shortening of the service life of a control platform caused by long test time, complex calculation process and the like possibly caused by the total recalculation of all parameters due to the change of the types of the simulated aircraft and the image acquisition units is avoided.
The adjustment priorities of the simulation modules are limited, namely, the adjustment priorities of the type simulation module, the voyage speed simulation module, the gesture simulation module, the environment simulation module and the driving simulation module are controlled, the test adjustment time can be further reduced by changing the adjustment priorities, for example, when the deviation value caused by the input of the simulation condition parameters of a driver is large, the adjustment priorities of the driving simulation modules can be properly improved, and the adjustment priorities of other simulation modules can be properly reduced.
The adjusting threshold values of the simulation modules are limited, namely, the adjusting range of the type simulation module, the voyage speed simulation module, the gesture simulation module, the environment simulation module and the driving simulation module is controlled, so that unexpected damage to the simulation aircraft and the image acquisition unit caused by overlarge adjusting range is avoided. For example, when the environment simulation module is set as a severe weather environment, the adjustment threshold values of the voyage simulation module and the voyage simulation module can be limited, so that on one hand, the test adjustment process can be performed within the limited threshold value range, the test adjustment time is shortened, the test efficiency is improved, and meanwhile, the safety threat and the test precision damage possibly caused by the fact that the simulated aircraft and the image acquisition unit still keep high voyage and high voyage in the severe weather environment can be avoided.
As a further preference of the present embodiment, when all three embodiments above are included, the adjustment of the analog modules is limited according to the first; limiting the adjustment priority of the simulation modules; finally, limiting the sequence of limiting the adjustment threshold values of the simulation modules.
As shown in fig. 1, the implementation further includes an optimal image acquisition module, one end of the optimal image acquisition module is connected with the deviation value module to receive corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value, and the other end of the optimal image acquisition module is connected with the control platform to send the corresponding simulation parameters to the control platform for updating model data;
the embodiment also comprises a credibility module which is connected with the deviation value module to determine the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value; preferably, a sequencing module is arranged in the credibility module, and the sequencing module sequences the credibility according to the user requirement. Those skilled in the art will appreciate that the greater the bias value, the lower the confidence level, and thus the confidence level may be ranked by reversing the ranking of the bias values, the confidence level may be determined by first determining the bias value by the following equation:
P= |t-modulo-tstate|/tstate
Wherein P is an offset value; t mode is the characteristic set of the analog image data; t real is a feature set of actual image data;
according to
K=1-P
And determining the credibility, wherein K is the credibility.
As shown in fig. 1, the embodiment further includes an image acquisition parameter adjustment simulation module, where the image acquisition parameter adjustment simulation module is connected to the reliability module, and when the image acquisition adjustment is not limited, the image acquisition parameter adjustment simulation module autonomously adjusts the type, sequence and adjustment amount of the simulation parameters according to the determined reliability; the image acquisition parameter adjustment simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the type, sequence and adjustment quantity of the simulation parameters are autonomously determined according to the determined credibility to carry out limited adjustment;
the image acquisition adjustment priority simulation module is connected with the image acquisition parameter adjustment simulation module, and when the image acquisition adjustment is not limited, the adjustment priority of the simulation parameter which needs to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is automatically adjusted; the image acquisition adjustment priority simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is limited.
The autonomous adjustment is not limited, and can be adjusted according to the user demand, or according to an internal preset model rule and algorithm.
The limited adjustment in this embodiment specifically refers to:
when the corresponding limitation on the image acquisition adjustment comprises limitation on whether the adjustment of a plurality of simulation modules is possible, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module only regulate the types, the sequences, the adjustment amounts and the priorities of the adjustable simulation modules limited in the limitation mode.
When the corresponding limitation on the image acquisition adjustment comprises limitation on the adjustment priorities of a plurality of simulation modules, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the adjustment priorities of a plurality of simulation modules limited in the limitation mode.
When the corresponding limitation on the image acquisition adjustment priority comprises limitation on the adjustment thresholds of the plurality of simulation modules, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the limitation on the adjustment thresholds limited in the limitation mode.
Therefore, whether the simulation modules can be regulated, the priority of regulation and the threshold value of regulation are limited, a limiting mode is not applied when the deviation value is smaller, a user can regulate according to needs, and when the deviation value is larger, on one hand, the testing time is shortened, the accuracy of testing data is improved, the normal use of the simulated aircraft and the image acquisition unit is ensured, the testing precision is ensured, and the testing service life is prolonged.
Example 2
Referring to fig. 5, an embodiment 2 of the present invention provides a method for testing aerial image acquisition accuracy, which includes the following steps:
1) The control platform receives actual image data;
2) The control platform determines initial simulation parameters of a plurality of simulation modules according to the internal data model module;
3) The control platform adjusts the simulation condition parameters of the simulation platform through a plurality of simulation modules,
4) The simulation platform simulates a flight process according to simulation condition parameters input by a plurality of simulation modules, acquires simulation image data in the simulation flight process through the image acquisition unit, and sends the simulation image data to the control platform;
5) The control platform receives the analog image data;
6) The control platform respectively carries out feature recognition on the actual image data and the analog image data through the feature recognition module, and sends recognition results to the feature comparison module;
7) The characteristic comparison module determines an actual deviation value by comparing the identification result;
8) The deviation value module compares the actual deviation value with a basic preset value:
when the basic preset value is not exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, and meanwhile, the actual deviation value is compared with the critical preset value:
when the supercritical preset value is not available, the image acquisition adjustment is not limited;
when the threshold preset value is exceeded, corresponding limitation is made on the image acquisition adjustment priority;
wherein the critical preset value is greater than the basic preset value;
9) The credibility module determines the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value;
10 When the image acquisition adjustment is not limited, the image acquisition parameter adjustment simulation module performs autonomous adjustment on the types, the sequences and the adjustment amounts of the simulation parameters according to the determined credibility; when the image acquisition adjustment is limited, the image acquisition parameter adjustment simulation module autonomously determines the type, sequence and adjustment quantity of the simulation parameters according to the determined credibility to carry out limited adjustment;
11 When the image acquisition adjustment is not limited, the image acquisition adjustment priority simulation module autonomously adjusts the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module; when the image acquisition adjustment is limited, the image acquisition adjustment priority simulation module performs limited adjustment on the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module.
Although the present invention has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
Claims (10)
1. An aerial image acquisition precision test system, which is characterized in that: the system comprises:
the control platform is connected with the simulation platform through a plurality of simulation modules, adjusts simulation condition parameters of the simulation platform through the plurality of simulation modules and receives actual image data input by a user and simulation image data sent by the simulation platform; the other end of the control platform is connected with a deviation value module so as to determine the actual deviation value of the actual image data and the simulated image data according to the feature recognition and send the actual deviation value to the deviation value module;
The simulation platform is connected with a plurality of simulation modules and comprises a simulation aircraft with a plurality of image acquisition units and a simulation test bed, wherein the simulation aircraft simulates a flight process according to input simulation condition parameters and acquires simulation image data in the simulation flight process through the image acquisition units;
the simulation modules at least comprise a type simulation module, a voyage speed simulation module, a gesture simulation module, an environment simulation module and a driving simulation module; the system comprises a model simulation module, a voyage speed simulation module, an attitude simulation module, an environment simulation module and a driving simulation module, wherein the model simulation module adjusts the selection type of the simulated aircraft and the selection type of the image acquisition unit, the voyage speed simulation module adjusts the voyage speed of the simulated aircraft, the attitude simulation module adjusts the voyage attitude of the simulated aircraft and the acquisition attitude of the image acquisition unit, the environment simulation module adjusts the voyage environment of the simulated aircraft, and the driving simulation module adjusts the corresponding condition parameters of a cockpit in the voyage process of the simulated aircraft;
the deviation value module is connected with the control platform and compares the actual deviation value with a basic preset value:
When the basic preset value is not exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, and meanwhile, the actual deviation value is compared with the critical preset value:
when the supercritical preset value is not available, the image acquisition adjustment is not limited;
when the threshold preset value is exceeded, the deviation value module makes corresponding limitation on image acquisition adjustment;
wherein the critical preset value is greater than the basic preset value;
the system comprises an optimal image acquisition module, a control platform and a deviation value module, wherein one end of the optimal image acquisition module is connected with the deviation value module to receive corresponding simulation parameters provided by each simulation module corresponding to an actual deviation value, and the other end of the optimal image acquisition module is connected with the control platform to send the corresponding simulation parameters to the control platform for updating model data;
the credibility module is connected with the deviation value module to determine the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value;
the image acquisition parameter adjustment simulation module is connected with the credibility module and is used for automatically adjusting the types, the sequences and the adjustment amounts of the simulation parameters according to the determined credibility when the image acquisition adjustment is not limited; the image acquisition parameter adjustment simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the type, sequence and adjustment quantity of the simulation parameters are autonomously determined according to the determined credibility to carry out limited adjustment;
The image acquisition adjustment priority simulation module is connected with the image acquisition parameter adjustment simulation module, and when the image acquisition adjustment is not limited, the adjustment priority of the simulation parameter which needs to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is autonomously adjusted; the image acquisition adjustment priority simulation module is connected with the deviation value module, and when the image acquisition adjustment is limited, the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module is limited.
2. An aerial image acquisition accuracy testing system according to claim 1, wherein: the control platform is internally provided with a data model module, an image receiving module, a characteristic identification module and a characteristic comparison module; the data model module determines initial simulation parameters of a plurality of simulation modules according to preset data and update data, the image receiving module receives actual image data and simulation image data and sends the actual image data and the simulation image data to the feature recognition module connected with the image receiving module, the feature recognition module respectively performs feature recognition on the actual image data and the simulation image data and sends recognition results to the feature comparison module connected with the feature recognition module, and the feature comparison module determines actual deviation values through comparison of the recognition results.
3. An aerial image acquisition accuracy testing system according to claim 1, wherein: the image acquisition units are respectively arranged at the positions of the head, the body, the tail and the wing of the simulated aircraft, the image acquisition units at all the positions can be independently or simultaneously opened, and the rotation angle and the position of the image acquisition units relative to the simulated aircraft can be adjusted.
4. An aerial image acquisition accuracy testing system according to claim 1, wherein: the environment simulation module is used for adjusting the navigation environment of the simulated aircraft to at least comprise a geographic environment and a weather environment, and the driving simulation module is used for adjusting the corresponding condition parameters of the cockpit in the navigation process of the simulated aircraft to at least comprise equipment parameters and driver parameters.
5. An aerial image acquisition accuracy testing system according to claim 1, wherein: the corresponding limitation on the image acquisition adjustment includes at least one of the following limitation modes:
limiting whether the analog modules can be adjusted;
limiting the adjustment priority of a plurality of analog modules;
the adjustment thresholds of the plurality of analog modules are limited.
6. An aerial image acquisition accuracy testing system as set forth in claim 5, wherein: when the corresponding limitation on the image acquisition adjustment comprises limitation on whether the adjustment of a plurality of simulation modules is possible, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module only regulate the types, the sequences, the adjustment amounts and the priorities of the adjustable simulation modules limited in the limitation mode.
7. An aerial image acquisition accuracy testing system as set forth in claim 5, wherein: when the corresponding limitation on the image acquisition adjustment comprises limitation on the adjustment priorities of a plurality of simulation modules, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the adjustment priorities of a plurality of simulation modules limited in the limitation mode.
8. An aerial image acquisition accuracy testing system as set forth in claim 5, wherein: when the corresponding limitation on the image acquisition adjustment priority comprises limitation on the adjustment thresholds of the plurality of simulation modules, the image acquisition parameter adjustment simulation module and the image acquisition adjustment priority simulation module follow the limitation on the adjustment thresholds limited in the limitation mode.
9. An aerial image acquisition accuracy testing system according to claim 1, wherein: the credibility module is internally provided with a sequencing module, and the sequencing module sequences the credibility according to the user demands.
10. The aviation image acquisition precision testing method is characterized by comprising the following steps of: the method comprises the following steps:
1) The control platform receives actual image data;
2) The control platform determines initial simulation parameters of a plurality of simulation modules according to the internal data model module;
3) The control platform adjusts the simulation condition parameters of the simulation platform through a plurality of simulation modules,
4) The simulation platform simulates a flight process according to simulation condition parameters input by a plurality of simulation modules, acquires simulation image data in the simulation flight process through the image acquisition unit, and sends the simulation image data to the control platform;
5) The control platform receives the analog image data;
6) The control platform respectively carries out feature recognition on the actual image data and the analog image data through the feature recognition module, and sends recognition results to the feature comparison module;
7) The characteristic comparison module determines an actual deviation value by comparing the identification result;
8) The deviation value module compares the actual deviation value with a basic preset value:
When the basic preset value is not exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the optimal image acquisition module;
when the basic preset value is exceeded, the deviation value module sends corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value to the credibility module, and meanwhile, the actual deviation value is compared with the critical preset value:
when the supercritical preset value is not available, the image acquisition adjustment is not limited;
when the threshold preset value is exceeded, corresponding limitation is made on the image acquisition adjustment priority;
wherein the critical preset value is greater than the basic preset value;
9) The credibility module determines the credibility of the corresponding simulation parameters provided by each simulation module corresponding to the actual deviation value;
10 When the image acquisition adjustment is not limited, the image acquisition parameter adjustment simulation module performs autonomous adjustment on the types, the sequences and the adjustment amounts of the simulation parameters according to the determined credibility; when the image acquisition adjustment is limited, the image acquisition parameter adjustment simulation module autonomously determines the type, sequence and adjustment quantity of the simulation parameters according to the determined credibility to carry out limited adjustment;
11 When the image acquisition adjustment is not limited, the image acquisition adjustment priority simulation module autonomously adjusts the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module; when the image acquisition adjustment is limited, the image acquisition adjustment priority simulation module performs limited adjustment on the adjustment priority of the simulation parameters which need to be correspondingly adjusted in the image acquisition parameter adjustment simulation module.
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| CN202211443188.8A CN116045917B (en) | 2022-11-17 | Aviation image acquisition precision test system and test method |
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