CN116558497A - Night relative positioning method for unmanned aerial vehicle group - Google Patents
Night relative positioning method for unmanned aerial vehicle group Download PDFInfo
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Abstract
The invention belongs to the technical field of navigation and positioning of aircrafts and discloses a night relative positioning method of an unmanned aerial vehicle group. According to the invention, the unmanned aerial vehicle is provided with the magnetic compass, the passive infrared reflecting ball and the two-dimensional turntable infrared camera, and the communication topology network is used for realizing distributed cooperative positioning and collision warning of the inside of the unmanned aerial vehicle cluster, no additional equipment is required, no external signal source is required to be relied on, external interference is avoided, and compared with the traditional laser radar and ultrasonic positioning method, the system is effectively simplified, and the implementation cost is reduced. Meanwhile, the passive infrared reflective ball is adopted as the night position mark point of the unmanned aerial vehicle, so that the unmanned aerial vehicle has the advantages of low cost, low power consumption, low detectability and the like, and is beneficial to fight tasks such as night burst prevention, reconnaissance, striking and the like.
Description
Technical Field
The invention belongs to the technical field of navigation and positioning of aircrafts, and relates to a night relative positioning method of an unmanned aerial vehicle group.
Background
With the development of scientific technology, the unmanned aerial vehicle cluster has wide application prospect in the military field and the civil field, and particularly has great significance for the protection, production, safety, rescue, national defense safety, social stability, economic development and the like in the aspects of industrial production, social economy, scientific research education and the like of China due to the advantages of strong combat capability, high system survival rate, low attack cost and the like of the unmanned aerial vehicle cluster facing the low-altitude security under the future security system. How to acquire the high-precision and high-reliability relative space-time relationship among unmanned aerial vehicles in the cluster is important to the flight safety of the unmanned aerial vehicle cluster and the execution of tasks. Thus, the need and necessity for fast, economical and high quality unmanned cluster co-location technology is increasing.
At present, students at home and abroad have obtained abundant results in the field of autonomous relative positioning of unmanned aerial vehicle clusters, and a series of methods such as laser pulse ranging positioning, UWB ranging positioning, visual ranging positioning, ultrasonic ranging positioning, radio ranging positioning and the like are proposed and widely applied to various fields. The laser pulse ranging and positioning cost is extremely high; UWB ranging positioning stability is poor, and other wireless communication can be interfered; the ultrasonic ranging, positioning and collecting speed is low, and the application range is smaller; the radio ranging positioning is easy to be interfered and has poor reliability. Compared with other methods, the visual positioning has the advantages of low cost, passive sensing, low detectability and the like, and is one of important research directions in the future, and the existing visual ranging positioning mainly adopts a binocular camera, has heavy calculation task and cannot meet the use requirement at night.
Meanwhile, the ultimate goal of unmanned aerial vehicle cluster application is to adapt to all-weather full-scene requirements, however, the research on the relative positioning sensing by depending on unmanned aerial vehicles under night conditions is less at present, and the unmanned aerial vehicle cluster application is one of important application scenes at night, especially in the military field. Therefore, a method for cooperatively positioning the internal vision of the unmanned aerial vehicle cluster at night is needed to ensure the normal operation of the unmanned aerial vehicle cluster in the night environment.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention aims to provide a night relative positioning method for unmanned aerial vehicle groups.
In order to achieve the above purpose, the invention adopts the following technical scheme:
the invention is realized in particular as follows:
a night relative positioning method of unmanned aerial vehicle group, one unmanned aerial vehicle group comprises 4 unmanned aerial vehicles, each unmanned aerial vehicle comprises a magnetic compass, a passive infrared reflecting ball and a two-dimensional turntable infrared camera, and the method comprises the following steps:
step 1: unmanned cluster formation pre-take-off arrangement
Arranging the unmanned aerial vehicle 1, the unmanned aerial vehicle 2, the unmanned aerial vehicle 4 and the unmanned aerial vehicle 3 on a take-off site in sequence according to a rhombic geometric formation, and ensuring that the initial distance between one pair of unmanned aerial vehicles arranged on the diagonal of the rhombic is equal to the initial distance between the unmanned aerial vehicles arranged on adjacent vertexes of the rhombic, wherein the initial actual distance between the unmanned aerial vehicles is at least larger than the sum of the safety radiuses of the unmanned aerial vehicles and smaller than the maximum effective detection distance of the infrared cameras;
step 2: electrifying unmanned cluster formation;
step 3: the unmanned aerial vehicle pre-takeoff standard construction comprises a positioning standard construction and a time standard construction;
step 4: acquiring relative coordinate position information of each unmanned aerial vehicle: by means of directed communication topology, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 can acquire pixel coordinate information before take-off, which is stored in pixel coordinate values of an infrared camera imaging plane of the unmanned aerial vehicle 1 and an infrared camera imaging plane of the unmanned aerial vehicle 4, and pixel coordinate information detected in real time, so that real-time position coordinates of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 under respective obtuse angle relative coordinate systems are acquired, and the real-time position coordinates are used for cooperatively positioning the relative coordinates as position feedback of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3, so that the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are used for closed-loop control of positions; the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 are respectively represented by (x 14 ，θ 14 ) And (x) 41 ，θ 41 ) As a relative coordinate reference thereof and by closed-loop control of the respective positions thereof, wherein x 14 Abscissa, θ, in pre-takeoff pixel coordinate information stored for pixel coordinate values of unmanned aerial vehicle 4 in an infrared camera imaging plane of unmanned aerial vehicle 1 14 Is the quilt of unmanned aerial vehicle 4The diameter pixel value of the imaging maximum outline of the dynamic infrared reflecting ball on the imaging plane of the unmanned aerial vehicle 1; x is x 41 For the abscissa, θ, of the unmanned aerial vehicle 1 in the pre-takeoff pixel coordinate information stored in the pixel coordinate values of the infrared camera imaging plane of the unmanned aerial vehicle 4 41 The diameter pixel value of the imaging maximum outline of the passive infrared reflecting ball of the unmanned aerial vehicle 1 on the imaging plane of the unmanned aerial vehicle 4;
step 5: the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 are used for judging cluster collision risks by comparing the change of the diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 with a threshold value in real time respectively, and sending anti-collision warning instructions to the unmanned aerial vehicle 2 and/or the unmanned aerial vehicle 3 through directed communication topology.
Further, in the flight process, the unmanned aerial vehicle 1 shares the magnetic compass information thereof to the unmanned aerial vehicles 2 to 4 in real time through the directional communication topology.
Further, the positioning reference construction in the step 3 specifically includes the following steps:
step 3.1: setting an included angle alpha between the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1 and the course of the two-dimensional turntable infrared camera 1 180 degrees, and the included angle between the axis of the two-dimensional turntable infrared camera of the rest unmanned aerial vehicle and the course of the two-dimensional turntable infrared camera is zero;
step 3.2: adjusting the included angle between the two-dimensional turntable infrared camera axes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 and the course of the unmanned aerial vehicle, so that the imaging of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 on the opposite imaging plane is positioned at the horizontal center, and the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are positioned in the two-dimensional turntable infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4;
step 3.3: recording and storing the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1-4 and the alpha of the heading thereof 1 ～α 4 An included angle value;
step 3.4: the two-dimensional turntable infrared camera included angle closed-loop maintenance control program is started, so that alpha is achieved in the subsequent whole flight process 1 ～α 4 The included angle value is consistent with the record storage value before taking off;
step 3.5: recording and storing pixel coordinate values of the passive infrared reflecting balls of the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 on an infrared camera imaging plane of the unmanned aerial vehicle 1; the pixel coordinate values of the passive infrared reflecting balls of the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the infrared camera imaging plane of the unmanned aerial vehicle 4; the diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 on the opposite imaging plane; and diameter pixel values of imaging maximum contours of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 respectively; and the information is used as cooperative relative positioning reference information;
step 3.6: and constructing an obtuse angle relative coordinate system of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3.
Further, the time reference construction includes performing communication clock synchronization between the unmanned aerial vehicles.
Preferably, the angle of view of the infrared camera is 90 °.
Preferably, in step 3.2, the passive infrared reflective balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are located in the two-dimensional turntable infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4, are far away from the boundary of the imaging plane as far as possible, and are horizontally and centrally symmetrical about the imaging plane as far as possible.
Further, the construction of the obtuse angle relative coordinate system comprises: construct unmanned aerial vehicle 3's χ 3 -ζ 3 Obtuse angle relative coordinate system for relative position S of unmanned aerial vehicle 3 in cluster formation before take-off 3 Is the origin of coordinates (0, 0), when the unmanned aerial vehicle 3 moves to S 'after taking off' 3 After the position, the coordinates become (χ' 3 ，ζ' 3 ) At this time, the pixel coordinate values of the corresponding passive infrared reflection balls of the unmanned aerial vehicle 3 on the infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 become (x 'respectively)' 13 ，y' 13 ) And (x' 43 ，y' 43 ) The method comprises the following steps of: chi's shape' 3 ＝x 43 -x' 43 ，ζ' 3 ＝x' 13 -x 13 The method comprises the steps of carrying out a first treatment on the surface of the The same thing gets that the unmanned plane 2 is at its χ 2 -ζ 2 The cluster formation relative coordinates under the obtuse angle relative coordinate system are (χ' 2 ，ζ' 2 ) Wherein χ' 2 ＝x' 42 -x 42 ，ζ' 2 ＝x 12 -x' 12 。
Further, the directed communication topology specifically includes: the unmanned aerial vehicle 1, the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 are in one-way communication relationship; the unmanned aerial vehicle 4, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in one-way communication relationship; the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in a two-way communication relationship, wherein the unmanned aerial vehicle 1 is an information sender.
The safety radius is 2 times of the radius of the circumcircle of the maximum outline of the unmanned aerial vehicle body.
Compared with the prior art, the night vision relative positioning method has the advantages that the night vision relative positioning of the unmanned aerial vehicle is realized through the unmanned aerial vehicle magnetic compass, the passive infrared reflecting ball and the two-dimensional turntable infrared camera, additional equipment is not required to be added, the GPS, the laser radar, the ultrasonic radar and the like are not required to be relied on, and compared with the positioning method in the traditional mode, the night vision relative positioning method has the advantages that the system is effectively simplified, and the implementation cost is reduced. Meanwhile, the passive infrared reflective ball is adopted as the night position mark point of the unmanned aerial vehicle, so that the unmanned aerial vehicle has the advantages of low cost, low power consumption, low detectability and the like, and is beneficial to fight tasks such as night burst prevention, reconnaissance, striking and the like.
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Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:
fig. 1 is a technical scheme diagram of an embodiment.
Fig. 2 is a schematic diagram of an obtuse coordinate system according to an embodiment.
Fig. 3 is a directed graph of an embodiment communication topology.
Fig. 4 is a workflow diagram of an embodiment.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.
The utility model provides an unmanned aerial vehicle crowd relative positioning method at night, as shown in figure 1, mainly includes 4 unmanned aerial vehicles, and every unmanned aerial vehicle all contains magnetic compass, passive infrared reflection ball and two-dimensional revolving stage infrared camera, and wherein magnetic compass is used for each unmanned aerial vehicle to acquire its course direction information, and passive infrared reflection ball is as night vision location's mark, and infrared camera's visual angle is 90, unmanned aerial vehicle crowd relative positioning only need through unmanned aerial vehicle 1 and unmanned aerial vehicle 4's infrared camera can realize the collaborative positioning of this formation, and unmanned aerial vehicle 2 and unmanned aerial vehicle 3's infrared camera can be used to form the task load, such as search, reconnaissance, the acquisition of information such as obstacle avoidance.
The specific implementation flow chart is shown in fig. 4, and comprises the following steps:
step 1: unmanned clusters are arranged before take-off.
Arranging each unmanned aerial vehicle group at a take-off site according to the rhombic geometry formation shown in fig. 1, specifically arranging unmanned aerial vehicle 1, unmanned aerial vehicle 2, unmanned aerial vehicle 4 and unmanned aerial vehicle 3 at the take-off site in sequence according to the rhombic geometry formation should ensure an initial distance (γ 5 ) Initial distance (γ) between unmanned aerial vehicles arranged on vertices adjacent to the diamond 1 Or gamma 2 Or gamma 3 Or gamma 4 ) Equal, the initial actual distance between each unmanned aerial vehicle in this embodiment satisfies γ 1 ＝γ 2 ＝γ 3 ＝γ 4 ＝γ 5 And the initial actual distance between unmanned aerial vehicles should be at least greater than the sum of the safety radiuses between each other, so as to avoid collision risk, and at the same time, should be less than the maximum effective detection distance of the infrared camera. Step 2: the unmanned cluster formation is powered on.
Step 3: and constructing a standard before taking off of the unmanned aerial vehicle.
Step 3.1: positioning reference construction:
step 3.1.1: setting an included angle alpha between the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1 and the course of the two-dimensional turntable infrared camera 1 180 DEG, and included angle alpha between the axis of the two-dimensional turntable infrared camera of the rest unmanned aerial vehicle and the course of the two-dimensional turntable infrared camera 2 ～α 4 Zero;
step 3.1.2: fine tuning of included angle alpha between two-dimensional turntable infrared camera axes of unmanned aerial vehicle 1 and unmanned aerial vehicle 4 and course of two-dimensional turntable infrared camera axes 1 And alpha 4 The passive infrared reflecting balls meet the requirement shown in the figure 1 in the respective infrared camera imaging planes, namely the imaging of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 in the opposite imaging planes is required to be positioned at the horizontal center, and the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are required to be positioned in the two-dimensional turntable infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 and are far away from the boundary of the imaging planes as far as possible and are symmetrical about the horizontal center of the imaging planes as far as possible;
description: in fig. 1, a is the pixel width of an imaging plane of the infrared camera, and b is the pixel height, and the specific value of the pixel width is determined by the performance of the infrared camera actually adopted.
Step 3.1.3: recording and storing the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1-4 and the course alpha of the two-dimensional turntable infrared camera 1 ～α 4 An included angle value;
step 3.1.4: the two-dimensional turntable infrared camera included angle closed-loop maintenance control program is started, so that alpha is achieved in the subsequent whole flight process 1 ～α 4 The included angle value is consistent with the record storage value before taking off;
step 3.1.5: recording and storing the pixel coordinate values (x) of the passive infrared reflecting balls of the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 at the imaging plane of the infrared camera of the unmanned aerial vehicle 1 at this time 12 ，y 12 )、(x 13 ，y 13 ) And (x) 14 ，y 14 ) The method comprises the steps of carrying out a first treatment on the surface of the Simultaneously, the pixel coordinate values (x) of the passive infrared reflection balls of the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 at the imaging plane of the infrared camera of the unmanned aerial vehicle 4 at this time are recorded and stored 41 ，y 41 )、(x 42 ，y 42 ) And (x) 43 ，y 43 ) The coordinate schematic position is shown in figure 1; meanwhile, the diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 at the moment in the opposite imaging plane is stored and recorded as follows: θ 41 And theta 14 And unmanned aerial vehicle 2 and unmanned aerial vehicle 3 are respectively at unmanned aerial vehicleThe diameter pixel value of the imaging maximum profile of the plane of imaging of the unmanned aerial vehicle 4 and the unmanned aerial vehicle 1 is recorded as: θ 42 、θ 12 And theta 43 、θ 13 The method comprises the steps of carrying out a first treatment on the surface of the And the above is used as the cooperative relative positioning reference information.
Step 3.1.6: according to the figure 2, taking the unmanned plane 3 as an example, constructing χ 3 -ζ 3 Obtuse angle relative coordinate system, which is the relative position S of the unmanned aerial vehicle 3 in the cluster formation before take-off 3 Is the origin of coordinates (0, 0), when the unmanned aerial vehicle 3 moves to S 'shown in figure 2 after taking off' 3 After the position, the coordinates become (χ' 3 ，ζ' 3 ) At this time, the pixel coordinate values of the corresponding passive infrared reflection balls of the unmanned aerial vehicle 3 on the infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 become (x 'respectively)' 13 ，y' 13 ) And (x' 43 ，y' 43 ) From this, it can be seen from the coordinate geometry shown in fig. 2: chi's shape' 3 ＝x 43 -x' 43 ，ζ' 3 ＝x' 13 -x 13 The method comprises the steps of carrying out a first treatment on the surface of the Similarly, the unmanned plane 2 is at χ 2 -ζ 2 The cluster formation relative coordinates under the obtuse angle relative coordinate system are (χ' 2 ，ζ' 2 ) Wherein χ' 2 ＝x' 42 -x 42 ，ζ' 2 ＝x 12 -x' 12 。
Step 3.2: time reference construction: and synchronizing communication clocks among the unmanned aerial vehicles, so that consistency of cooperative positioning of the unmanned aerial vehicles in the cluster is ensured.
Step 4: information such as relative coordinate positions of unmanned aerial vehicles is acquired: the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 can both obtain the pixel coordinate information (x) before taking off, which is stored by the pixel coordinate values of the imaging planes of the infrared cameras of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4, by means of the directional communication topology shown in the figure 3 13 ，y 13 )、(x 12 ，y 12 )、(x 42 ，y 42 ) And (x) 43 ，y 43 ) And pixel coordinate information (x 'detected in real time' 13 ，y' 13 )、(x' 12 ，y' 12 )、(x' 42 ，y' 42 ) And (x' 43 ，y' 43 ) Further, the unmanned aerial vehicles 2 and 3 can be obtained in each of themReal-time position coordinates (χ 'in the self obtuse angle relative to the coordinate system' 2 ，ζ' 2 ) And (χ' 3 ，ζ' 3 ) The co-locating relative coordinates are used as position feedback of the unmanned aerial vehicles 2 and 3 and used for closed-loop control of the positions of the unmanned aerial vehicles 2 and 3; for each of the unmanned aerial vehicles 1 and 4, there is shown in fig. 2 (x 14 ，θ 14 ) And (x) 41 ，θ 41 ) As their relative coordinate references, and by closed-loop control of their respective positions. The directed communication topology specifically comprises: the unmanned aerial vehicle 1, the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 are in one-way communication relationship; the unmanned aerial vehicle 4, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in one-way communication relationship; the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in a two-way communication relationship, wherein the unmanned aerial vehicle 1 is an information sender.
Description: the above description is given by taking the relative positioning in the horizontal plane of the unmanned plane as an example, and the pixel height coordinate y shown in fig. 1 and 2 is shown as y 12 、y 13 、y 14 、y 41 、y 42 And y 43 The method is used for co-positioning in the height direction of the clusters, and the principle is similar to that of control in the horizontal plane of the unmanned aerial vehicle, and is not repeated here.
Step 5: unmanned aerial vehicle 1 and unmanned aerial vehicle 4 will θ respectively through real-time 42 、θ 12 And theta 43 、θ 13 The change of the (2) is compared with a threshold value to judge the collision risk of the cluster, and the collision warning command is sent to the unmanned aerial vehicle 2 or the unmanned aerial vehicle 3 through the communication topology, so that the collision risk between unmanned aerial vehicles is avoided. Wherein θ 42 、θ 43 The diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 in the imaging plane of the unmanned aerial vehicle 4 is respectively; θ 12 、θ 13 The diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 in the imaging plane of the unmanned aerial vehicle 1 is respectively;
step 6: the unmanned aerial vehicle 1 realizes the instruction-based operation of the whole formation by receiving an external system control instruction. In the flight process, the unmanned aerial vehicle 1 needs to share the magnetic compass information of the unmanned aerial vehicle through the communication topology in real time for the unmanned aerial vehicle 2-4, so that the direction of the whole unmanned aerial vehicle formation fuselage is consistent, and further, the formation maintenance and formation flight are facilitated.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
It is noted that in this application relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is merely an embodiment of the present invention, and a specific structure and characteristics of common knowledge in the art, which are well known in the scheme, are not described herein, so that a person of ordinary skill in the art knows all the prior art in the application day or before the priority date of the present invention, and can know all the prior art in the field, and have the capability of applying the conventional experimental means before the date, so that a person of ordinary skill in the art can complete and implement the present embodiment in combination with his own capability in the light of the present application, and some typical known structures or known methods should not be an obstacle for a person of ordinary skill in the art to implement the present application. It should be noted that modifications and improvements can be made by those skilled in the art without departing from the structure of the present invention, and these should also be considered as the scope of the present invention, which does not affect the effect of the implementation of the present invention and the utility of the patent. The protection scope of the present application shall be subject to the content of the claims, and the description of the specific embodiments and the like in the specification can be used for explaining the content of the claims.
Claims (8)
1. The night relative positioning method for the unmanned aerial vehicle group is characterized in that one unmanned aerial vehicle group comprises 4 unmanned aerial vehicles, each unmanned aerial vehicle comprises a magnetic compass, a passive infrared reflecting ball and a two-dimensional turntable infrared camera, and the method comprises the following steps:
step 1: unmanned cluster formation pre-take-off arrangement
Arranging the unmanned aerial vehicle 1, the unmanned aerial vehicle 2, the unmanned aerial vehicle 4 and the unmanned aerial vehicle 3 on a take-off site in sequence according to a rhombic geometric formation, and ensuring that the initial distance between one pair of unmanned aerial vehicles arranged on the diagonal of the rhombic is equal to the initial distance between the unmanned aerial vehicles arranged on adjacent vertexes of the rhombic, wherein the initial actual distance between the unmanned aerial vehicles is at least larger than the sum of the safety radiuses of the unmanned aerial vehicles and smaller than the maximum effective detection distance of the infrared cameras; step 2: electrifying unmanned cluster formation;
step 3: the unmanned aerial vehicle pre-takeoff standard construction comprises a positioning standard construction and a time standard construction;
step 4: acquiring relative coordinate position information of each unmanned aerial vehicle: by means of directed communication topology, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 can acquire pixel coordinate information before take-off, which is stored in pixel coordinate values of an infrared camera imaging plane of the unmanned aerial vehicle 1 and an infrared camera imaging plane of the unmanned aerial vehicle 4, and pixel coordinate information detected in real time, so that real-time position coordinates of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 under respective obtuse angle relative coordinate systems are acquired, and the real-time position coordinates are used for cooperatively positioning the relative coordinates as position feedback of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3, so that the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are used for closed-loop control of positions; the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 are respectively represented by (x 14 ，θ 14 ) And (x) 41 ，θ 41 ) As a relative coordinate reference thereof and by closed-loop control of the respective positions thereof, wherein x 14 Abscissa, θ, in pre-takeoff pixel coordinate information stored for pixel coordinate values of unmanned aerial vehicle 4 in an infrared camera imaging plane of unmanned aerial vehicle 1 14 The diameter pixel value of the imaging maximum outline of the passive infrared reflecting ball of the unmanned aerial vehicle 4 on the imaging plane of the unmanned aerial vehicle 1; x is x 41 Pre-takeoff pixel coordinates stored for pixel coordinate values of unmanned aerial vehicle 1 in an infrared camera imaging plane of unmanned aerial vehicle 4Abscissa, θ in the information 41 The diameter pixel value of the imaging maximum outline of the passive infrared reflecting ball of the unmanned aerial vehicle 1 on the imaging plane of the unmanned aerial vehicle 4;
step 5: the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 are used for judging cluster collision risks by comparing the change of the diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 with a threshold value in real time respectively, and sending anti-collision warning instructions to the unmanned aerial vehicle 2 and/or the unmanned aerial vehicle 3 through directed communication topology.
2. The night relative positioning method of unmanned aerial vehicle group according to claim 1, wherein the unmanned aerial vehicle 1 shares its magnetic compass information to the unmanned aerial vehicles 2 to 4 in real time through a directional communication topology during the flight.
3. The method for night relative positioning of unmanned aerial vehicle group according to claim 1, wherein the positioning reference construction in the step 3 specifically comprises the following steps:
step 3.1: setting an included angle alpha between the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1 and the course of the two-dimensional turntable infrared camera 1 180 degrees, and the included angle between the axis of the two-dimensional turntable infrared camera of the rest unmanned aerial vehicle and the course of the two-dimensional turntable infrared camera is zero;
step 3.2: adjusting the included angle between the two-dimensional turntable infrared camera axes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 and the course of the unmanned aerial vehicle, so that the imaging of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 on the opposite imaging plane is positioned at the horizontal center, and the passive infrared reflecting balls of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are positioned in the two-dimensional turntable infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4;
step 3.3: recording and storing the axis of the two-dimensional turntable infrared camera of the unmanned aerial vehicle 1-4 and the alpha of the heading thereof 1 ～α 4 An included angle value;
step 3.4: the two-dimensional turntable infrared camera included angle closed-loop maintenance control program is started, so that alpha is achieved in the subsequent whole flight process 1 ～α 4 The included angle value is consistent with the record storage value before taking off;
step 3.5: recording and storing pixel coordinate values of the passive infrared reflecting balls of the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 on an infrared camera imaging plane of the unmanned aerial vehicle 1; the pixel coordinate values of the passive infrared reflecting balls of the unmanned aerial vehicle 1, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the infrared camera imaging plane of the unmanned aerial vehicle 4; the diameter pixel value of the imaging maximum outline of the passive infrared reflecting balls of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 on the opposite imaging plane; and diameter pixel values of imaging maximum contours of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 on the imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 respectively; and the information is used as cooperative relative positioning reference information;
step 3.6: and constructing an obtuse angle relative coordinate system of the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3.
4. The method of claim 1, wherein the time reference construction includes synchronizing communication clocks between the drones.
5. The unmanned aerial vehicle crowd night-time relative positioning method of claim 1, wherein the angle of view of the infrared camera is 90 °.
6. A method of night relative positioning of unmanned aerial vehicle clusters according to claim 3, wherein in step 3.2, the passive infrared reflective spheres of unmanned aerial vehicle 2 and unmanned aerial vehicle 3 are located in the two-dimensional turntable infrared camera imaging planes of unmanned aerial vehicle 1 and unmanned aerial vehicle 4, and are as far away from the imaging plane boundary as possible, and are as horizontally and centrally symmetrical as possible with respect to the imaging plane.
7. A method of night relative positioning of a population of unmanned aerial vehicles according to claim 3, wherein the constructing of the obtuse relative coordinate system comprises: construct unmanned aerial vehicle 3's χ 3 -ζ 3 Obtuse angle relative coordinate system for relative position S of unmanned aerial vehicle 3 in cluster formation before take-off 3 Is the origin of coordinates (0, 0), when the unmanned aerial vehicle 3 moves to S 'after taking off' 3 After the position, the coordinates become (χ' 3 ，ζ' 3 ) At this time correspond toThe pixel coordinate values of the passive infrared reflection balls of the unmanned aerial vehicle 3 on the infrared camera imaging planes of the unmanned aerial vehicle 1 and the unmanned aerial vehicle 4 are respectively changed into (x '' 13 ，y' 13 ) And (x' 43 ，y' 43 ) The method comprises the following steps of: chi's shape' 3 ＝x 43 -x' 43 ，ζ' 3 ＝x' 13 -x 13 The method comprises the steps of carrying out a first treatment on the surface of the The same thing gets that the unmanned plane 2 is at its χ 2 -ζ 2 The cluster formation relative coordinates under the obtuse angle relative coordinate system are (χ' 2 ，ζ' 2 ) Wherein χ' 2 ＝x' 42 -x 42 ，ζ' 2 ＝x 12 -x' 12 。
8. The method for night relative positioning of unmanned aerial vehicle group according to claim 1, wherein the directional communication topology is specifically: the unmanned aerial vehicle 1, the unmanned aerial vehicle 2, the unmanned aerial vehicle 3 and the unmanned aerial vehicle 4 are in one-way communication relationship; the unmanned aerial vehicle 4, the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in one-way communication relationship; the unmanned aerial vehicle 2 and the unmanned aerial vehicle 3 are in a two-way communication relationship, wherein the unmanned aerial vehicle 1 is an information sender.
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