CN116518921A - Target object height measurement method and system based on unmanned aerial vehicle photoelectric pod - Google Patents
Target object height measurement method and system based on unmanned aerial vehicle photoelectric pod Download PDFInfo
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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Abstract
The invention discloses a target object height measurement method and system based on an unmanned aerial vehicle photoelectric pod, wherein the unmanned aerial vehicle and the target object position information is determined, and an unmanned aerial vehicle route is planned based on the position information; acquiring picture information of the unmanned aerial vehicle passing through the target object according to a planned route; acquiring pixel information corresponding to the picture information based on the picture information, and measuring distance information between the unmanned aerial vehicle and a target object; and determining the height information of the target object according to the pixel information and the distance information. According to the method, the laser ranging module is integrated in the photoelectric pod, so that the target object can be measured in real time in the flight of the unmanned aerial vehicle, and the unmanned aerial vehicle carrying the load of the photoelectric pod can measure the height of the target object in real time in the flight process.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle application, in particular to a target object height measurement method and system based on an unmanned aerial vehicle photoelectric pod.
Background
When a natural disaster occurs, the unmanned aerial vehicle is often required to go to a disaster area to collect first hand data, and real-time data such as video pictures and the like are transmitted back to a rear command part for assisting emergency disaster relief command. Natural disasters often cause damage to buildings, and thus building height information is one of the important concerns in emergency disaster relief command. Height information of a building is generally not directly obtained by video live pictures only, and it is necessary to determine the height information by some extrinsic reference information.
In the prior art, the fine modeling of the building elevation is realized through complex data post-processing operation, so that the accurate measurement of the building height can be realized, but the method is complex in post-processing and long in time consumption, the height of a target object cannot be obtained in real time in the process of monitoring and cruising flight of an unmanned aerial vehicle, the target object height measurement requirements of scenes such as emergency command and the like are difficult to meet, the problems that the effectiveness is poor, the real-time measurement cannot be realized, the method cannot be applied to the actual scene of emergency disaster relief command, and the measurement accuracy is also to be improved.
Disclosure of Invention
In view of the above, the invention provides a target object height measurement method and system based on an unmanned aerial vehicle photoelectric pod, which aims to solve the technical problems that the actual effect of measuring the target object height is poor and real-time measurement cannot be realized, improve the measurement accuracy and provide effective reference data for scenes such as emergency command, disaster relief and the like.
In order to solve the technical problems, the technical scheme of the invention is to provide a target object height measurement method based on an unmanned aerial vehicle photoelectric pod, which comprises the following steps:
determining position information of an unmanned aerial vehicle and a target object, and planning a route of the unmanned aerial vehicle based on the position information;
acquiring picture information of the unmanned aerial vehicle passing through the target object according to a planned route;
acquiring pixel information corresponding to the picture information based on the picture information, and measuring distance information between the unmanned aerial vehicle and a target object;
and determining the height information of the target object according to the pixel information and the distance information.
As an improvement, the planning the unmanned aerial vehicle route based on the position information includes:
arranging a photoelectric pod on the unmanned aerial vehicle at a fixed frame pitch angle gamma;
and planning a route of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and the target object, so that the planned route of the unmanned aerial vehicle passes through the target object along a picture center vertical axis acquired by the photoelectric pod arranged at the fixed frame pitch angle gamma.
As an improvement, the acquiring the picture information of the unmanned aerial vehicle passing through the target object according to the planned route includes:
and acquiring picture information of the photoelectric pod picture center point carried by the unmanned aerial vehicle after entering the target object elevation range.
As an improvement, the acquiring pixel information corresponding to the picture information based on the picture information and measuring distance information between the unmanned aerial vehicle and the target object includes:
based on the picture information, obtaining T 1 Pixel information corresponding to the picture information at the moment and measuring T 1 And the distance information between the unmanned aerial vehicle and the target object is obtained at the moment.
As an improvement, the acquisition T 1 And the pixel information corresponding to the picture information at the moment comprises:
respectively measure T 1 In the time photoelectric pod picture, the number of pixels from the top edge of the target object and the bottom edge of the target object to the center point of the picture along the vertical axis is obtained to obtain T 1 Pixel information of the time.
As an improvement, the determining the height information of the target object according to the pixel information and the distance information includes:
according to T 1 Pixel information and T of time instant 1 Time of dayDistance information determination T of (2) 1 Height information of the target object at the moment;
circularly calculating the height information of the target at different moments in a T period, wherein the T period comprises T 1 ～T n Time;
and carrying out average calculation on the height information of the target object at each moment in the T period to obtain the final height information of the target object.
In addition, the invention also provides a target object height measurement system based on the unmanned aerial vehicle photoelectric pod, which comprises an unmanned aerial vehicle and photoelectric pod equipment carried on the unmanned aerial vehicle, wherein a platform unit integrated by the photoelectric pod equipment comprises a camera (including but not limited to a visible light camera and an infrared camera) for acquiring image information, a laser ranging unit for distance measurement, an image processing unit for processing the acquired image, a signal processing unit for realizing information interaction and a stable platform unit for integrated platform stabilization.
As an improvement, the imaging light path of the camera and the ranging light path of the laser ranging unit are positioned on the same optical axis.
As an improvement, the electro-optic pod device is mounted on the unmanned aerial vehicle at a fixed frame pitch angle γ.
As an improvement, the image processing unit further comprises an error compensation module, and the error compensation module is used for compensating the error of the imaging distance of the camera.
The invention provides a target object height measurement method and system based on an unmanned aerial vehicle photoelectric pod, which are characterized in that position information of an unmanned aerial vehicle and a target object is determined, and an unmanned aerial vehicle route is planned based on the position information; acquiring picture information of the unmanned aerial vehicle passing through the target object according to a planned route; acquiring pixel information corresponding to the picture information based on the picture information, and measuring distance information between the unmanned aerial vehicle and a target object; and determining the height information of the target object according to the pixel information and the distance information. According to the method, the laser ranging module is integrated in the photoelectric pod, so that the real-time ranging can be carried out on the target in the flight of the unmanned aerial vehicle, the real-time height measurement of the target in the flight process of the unmanned aerial vehicle carrying the photoelectric pod load is realized, the method is simple to operate and calculate, complex post-processing operation is not needed, the requirement of measuring the height of the target in the scenes such as emergency command can be effectively met, meanwhile, the method is also suitable for a movable camera, the camera movement and the conversion view angle do not need to be calibrated again, the method can be used for measuring the height of the target when the unmanned aerial vehicle cruises in the air, and the accuracy of a measurement result is higher after error compensation.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a target object height measurement system based on an unmanned aerial vehicle optoelectronic pod according to an embodiment of the present invention.
Fig. 2 is a schematic step diagram of a target object height measurement method based on an unmanned aerial vehicle optoelectronic pod according to an embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating steps for planning an unmanned aerial vehicle route according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a T-cell according to an embodiment of the present invention 1 A time photoelectric pod picture schematic diagram;
FIG. 5 is a schematic diagram of a T-cell according to one embodiment of the present invention 2 A time photoelectric pod picture schematic diagram;
FIG. 6 is a diagram of a T-cell according to one embodiment of the present invention n A time photoelectric pod picture schematic diagram;
FIG. 7 is a schematic diagram of a T-cell according to an embodiment of the present invention 1 And T 2 Schematic diagram of moment imaging light path.
Detailed Description
In order that those skilled in the art will better understand the embodiments of the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, 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.
First, key terms appearing in the detailed description are defined as follows:
electro-optical nacelle (Electro-optical Payload): the photoelectric pod is a comprehensive remote sensor integrating a camera, a laser ranging unit, a signal processing unit, an image processing unit, a stable platform unit and other platform units, has the functions of ranging, photographing and shooting, and can realize tracking, shooting and monitoring of a long-distance target.
Optical Axis (Optical Axis): the optical axis refers to the center line of a light beam or a light beam column, and is the symmetry axis of an optical system, and the light beam rotates around the axis without any change of optical characteristics.
Fig. 1 is a schematic structural diagram of a target object height measurement system based on an unmanned aerial vehicle optoelectronic pod according to an embodiment of the present invention.
The target height measurement system comprises an unmanned aerial vehicle 1 and a photoelectric pod device 2 carried on the unmanned aerial vehicle, wherein a platform unit integrated by the photoelectric pod device comprises a camera 3, a laser ranging unit 4, a signal processing unit 5, an image processing unit 6 and a stable platform unit 7.
The unmanned aerial vehicle is a carrier for executing cruising flight tasks, and comprises a multi-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle and a compound-wing unmanned aerial vehicle; cameras are used for image information acquisition including, but not limited to, visible light cameras, infrared cameras.
Electro-optical nacelle device as load on board the unmanned aerial vehicle to fix the frame pitch angle γ Monitoring cruising flight, wherein a camera is used for acquiring image information in an integrated platform unit; the laser ranging unit is used for measuring the distance; the image processing unit is used for processing the image information acquired by the cameraProcessing a line image; the signal processing unit is used for receiving the image signals and realizing information interaction; the stabilized platform unit is used for stabilizing and controlling the integrated platform.
The image processing unit further comprises an error compensation module 8 for compensating the error of the imaging distance of the camera so as to realize a more accurate distance measurement function.
In the electro-optical pod device as the load, after the imaging light path of the camera and the ranging light path of the laser ranging unit are calibrated, all the light paths are on the same optical axis, which is referred to as the system optical axis in this embodiment.
It will be appreciated that any aircraft that can perform cruise flight tasks, as a carrier, can be used in the target height measurement system provided in this embodiment, and that other components of the units for distance measurement or height measurement that have the same function as the units mentioned in this embodiment are included in the scope of the present invention, in addition to the units on the integrated platform mentioned in the electro-optical pod device.
Furthermore, in this embodiment, a millimeter wave radar ranging unit may be further used to acquire a ranging value, instead of the laser ranging unit provided in the foregoing embodiment, where other integrated platform units are unchanged, so as to obtain the same ranging value parameter (a distance from the center of the optical lens to the target object along the optical axis of the system) L.
Referring to fig. 2, a schematic step diagram of a target object height measurement method based on an unmanned aerial vehicle optoelectronic pod according to an embodiment of the present invention is provided.
S11, determining the position information of the unmanned aerial vehicle and the target object, and planning the unmanned aerial vehicle route based on the position information.
In the process of measuring the height of a target object by utilizing an unmanned aerial vehicle photoelectric pod, firstly, determining the current position of the unmanned aerial vehicle and the position of the target object, wherein the area of the position of the target object is a target area, and secondly, planning the unmanned aerial vehicle route based on the position information of the unmanned aerial vehicle and the target object, specifically, as shown in fig. 3:
and S111, controlling the unmanned aerial vehicle to enter a horizontal stable flight attitude in a target area, and monitoring cruising flight by the photoelectric pod through a fixed frame pitch angle gamma.
S112, guiding the unmanned aerial vehicle to fly through the target object so as to ensure that the target object passes along the center vertical axis of the unmanned aerial vehicle nacelle frame.
The horizontal stable flight attitude of the unmanned aerial vehicle is preset according to actual requirements, so that the unmanned aerial vehicle is guaranteed to be in the same horizontal line in the process of acquiring target object information, the accuracy of data is guaranteed, and the possibility of occurrence of error items is reduced. Furthermore, the drone pod view is acquired by a camera.
S12, acquiring picture information of the unmanned aerial vehicle passing through the target object according to the planned route.
When the unmanned aerial vehicle cruises and flies according to a planned route in a horizontal stable flight attitude, the unmanned aerial vehicle passes through a target object, at the moment, the picture information of a photoelectric pod picture center point carried by the unmanned aerial vehicle after entering the target object elevation range is acquired, a period of T is formed from the time when the photoelectric pod picture center point enters the target object elevation range to the time when the unmanned aerial vehicle leaves the target object elevation range, and the period of T comprises T 1 、T 2 、…、T n The frame information acquired by the unmanned aerial vehicle includes frame information of n times.
S13, acquiring pixel information corresponding to the picture information based on the picture information, and measuring the distance information between the unmanned aerial vehicle and the target object.
Based on the obtained picture information of n moments after the pod picture center point enters the target object elevation range, the following information in each moment is measured and recorded respectively:
(1) Laser ranging value (distance from optical lens center to target object along system optical axis) L 1 、L 2 、…、L n (unit: m);
(2) Number of pixels from top edge of object (upper edge of object elevation) to center point of frame in electro-optical pod frame(unit: pixel);
(3) Bottom edge of object in photoelectric pod picture (object stand)Lower edge of the surface) number of pixels along the vertical axis to the center point of the screen(unit: pixel).
As shown in FIG. 4, T is 1 A schematic diagram of a time photoelectric pod picture is shown in FIG. 5, which is T 2 A schematic diagram of a time photoelectric pod picture is shown in FIG. 6, which is T n A schematic diagram of a time photoelectric pod picture. Wherein the size of each pixel on the camera sensor in the optoelectronic pod is a (unit: mm/pixel).
S14, determining the height information of the target object according to the pixel information and the distance information.
Further, according to the obtained pixel information and distance information at each moment in the T period, calculating to obtain the height information of the target object, specifically:
for T 1 At the moment, as shown in FIG. 7, the system optical axis is d 1 D′ 1 Perpendicular lines are respectively drawn from the bottom point A and the top point B of the target object to the optical axis of the system, and the perpendicular points are respectively A 1 And B 1 From the similar triangles, it can be derived that:
where F is the focal length (in mm) of the camera in the optoelectronic pod.
And is composed of:
wherein L is 1 Is T 1 Time laser ranging value (unit: mm), gamma is photoelectric pod frame pitch angle (unit: °)
The method can obtain:
the same principle can be obtained:
thus T can be calculated 1 Object height measured at timeThe method comprises the following steps:
t is obtainable by the same way 2 Object height measured at timeThe method comprises the following steps:
can be pushed to T n Object height measured at timeThe method comprises the following steps:
according to the above deduction process, the average of n measurements can be obtained, and the final target height is:
according to the target object height measurement method based on the unmanned aerial vehicle photoelectric pod, the position information of the unmanned aerial vehicle and the target object is determined, and the unmanned aerial vehicle route is planned based on the position information; acquiring picture information of the unmanned aerial vehicle passing through the target object according to a planned route; acquiring pixel information corresponding to the picture information based on the picture information, and measuring the distance information between the unmanned aerial vehicle and the target object; and determining the height information of the target object according to the pixel information and the distance information. According to the method, the laser ranging module is integrated in the photoelectric pod, so that real-time ranging can be performed on the target in the flight of the unmanned aerial vehicle, the unmanned aerial vehicle carrying the load of the photoelectric pod can perform real-time height measurement on the target in the flight process, the method is simple to operate and calculate, complex post-processing operation is not needed, the target height measurement requirements in the scenes such as emergency command can be effectively met, meanwhile, the method is also suitable for a movable camera, the camera movement and the conversion view angle do not need to be calibrated again, and the method can be used for measuring the target height when the unmanned aerial vehicle cruises and flies in the air.
Furthermore, the embodiment can compensate the error of the imaging distance of the camera, further improve the measurement accuracy of the height of the target object, and specifically optimize the measurement accuracy based on the Gaussian imaging formula:
according to the Gaussian imaging formula, the following relationship exists among the object distance u, the image distance v and the focal length F:
in this model, the laser ranging value L is the object distance u and the principal distance f is the image distance v, so there is:
since the object distance u (laser ranging value L) is far greater than the main distance F and the focal length F, the main distance F can be approximately considered to be equal to the focal length F, so that the focal length F is generally used for calculation in practical application in the formula (11), if there is a higher requirement on the precision, the main distance F can be further accurately calculated to replace the focal length F for calculation, and according to the formula (13), there is:
the principal distance F and focal length F therefore have the following relationship:
therefore, the formula (11) can be updated to obtain the target height H AB The method comprises the following steps:
after the error of the imaging distance of the camera is compensated, the embodiment can obtain a measurement result with higher precision so as to meet the requirement of higher detection precision in actual measurement.
Further, in another embodiment of the present invention, the pixel size of the sensor of the optoelectronic pod camera is 1920×1080, the sensor size is 2.4043mm× 1.3524mm, and the size of a single pixel can be calculated to be 0.00125mm. At T 1 Time and T 2 Each item of data measured at the moment and the actual object height are shown in the following table:
TABLE 1-T 1 Time and T 2 Time data mapping table
T provided according to Table 1 1 Time and T 2 The time data map is obtained by the formula (11):
from equation (16):
the measurement value obtained by the measurement method provided by the embodiment is 4.0063m, the measurement value obtained by the Gaussian imaging formula is 4.0050m, and compared with the true value of 4m, the accuracy is 99.84% and 99.88% respectively. Through verification, the accuracy of the target object height measurement method based on the unmanned aerial vehicle photoelectric pod meets the target object height measurement requirements under the scenes of emergency command and the like, and meanwhile, the measured value after error compensation optimization is improved to a certain degree in accuracy compared with the measured value before optimization.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. 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 system that comprises the element.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that the above-mentioned preferred embodiment should not be construed as limiting the invention, and the scope of the invention should be defined by the appended claims. It will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the spirit and scope of the invention, and such modifications and adaptations are intended to be comprehended within the scope of the invention.
Claims (10)
1. The target object height measurement method based on the unmanned aerial vehicle photoelectric pod is characterized by comprising the following steps of:
determining position information of an unmanned aerial vehicle and a target object, and planning a route of the unmanned aerial vehicle based on the position information;
acquiring picture information of the unmanned aerial vehicle passing through the target object according to a planned route;
acquiring pixel information corresponding to the picture information based on the picture information, and measuring distance information between the unmanned aerial vehicle and a target object;
and determining the height information of the target object according to the pixel information and the distance information.
2. The method for measuring the height of a target object based on an unmanned aerial vehicle photoelectric pod according to claim 1, wherein the planning the unmanned aerial vehicle route based on the position information comprises:
arranging a photoelectric pod on the unmanned aerial vehicle at a fixed frame pitch angle gamma;
and planning a route of the unmanned aerial vehicle according to the position information of the unmanned aerial vehicle and the target object, so that the planned route of the unmanned aerial vehicle passes through the target object along a picture center vertical axis acquired by the photoelectric pod arranged at the fixed frame pitch angle gamma.
3. The method for measuring the height of the target object based on the photoelectric pod of the unmanned aerial vehicle according to claim 2, wherein the step of obtaining the picture information of the unmanned aerial vehicle passing through the target object according to a planned route comprises the following steps:
and acquiring picture information of the photoelectric pod picture center point carried by the unmanned aerial vehicle after entering the target object elevation range.
4. The method for measuring the height of the target object based on the photoelectric pod of the unmanned aerial vehicle according to claim 1, wherein the steps of obtaining pixel information corresponding to the picture information based on the picture information and measuring the distance information between the unmanned aerial vehicle and the target object include:
based on the picture information, obtaining T 1 Pixel information corresponding to the picture information at the moment and measuring T 1 And the distance information between the unmanned aerial vehicle and the target object is obtained at the moment.
5. The method for measuring the height of a target object based on an unmanned aerial vehicle photoelectric pod according to claim 4, wherein the acquisition T is as follows 1 And the pixel information corresponding to the picture information at the moment comprises:
respectively measure T 1 In the time photoelectric pod picture, the number of pixels from the top edge of the target object and the bottom edge of the target object to the center point of the picture along the vertical axis is obtained to obtain T 1 Pixel information of the time.
6. The method for measuring the height of the target object based on the unmanned aerial vehicle photoelectric pod according to claim 5, wherein the determining the height information of the target object according to the pixel information and the distance information comprises:
according to T 1 Pixel information and T of time instant 1 Time distance information determination T 1 Height information of the target object at the moment;
circularly calculating the height information of the target at different moments in a T period, wherein the T period comprises T 1 ～T n Time;
and carrying out average calculation on the height information of the target object at each moment in the T period to obtain the final height information of the target object.
7. The target object height measurement system based on the unmanned aerial vehicle photoelectric pod is characterized by comprising an unmanned aerial vehicle and photoelectric pod equipment carried on the unmanned aerial vehicle, wherein a platform unit integrated by the photoelectric pod equipment comprises a camera for acquiring image information, a laser ranging unit for distance measurement, an image processing unit for processing acquired images, a signal processing unit for realizing information interaction and a stable platform unit for integrated platform stabilization.
8. The unmanned aerial vehicle optoelectronic pod based target height measurement system of claim 7, wherein the imaging optical path of the camera is on the same optical axis as the ranging optical path of the laser ranging unit.
9. The unmanned aerial vehicle optoelectronic pod based target height measurement system of claim 7, wherein the optoelectronic pod apparatus is mounted on the unmanned aerial vehicle at a fixed frame pitch angle γ.
10. The unmanned aerial vehicle optoelectronic pod-based target height measurement system of claim 7, wherein the image processing unit further comprises an error compensation module configured to compensate for errors in the camera imaging distance.
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