JPH0337513A - Three-dimensional position/speed measuring apparatus - Google Patents

Abstract

PURPOSE:To detect three-dimensional positions and speeds highly accurately with a simple constitution by picking up the image of a moving body with two solid image sensing cameras which are arranged at positions having the different bearing angles and elevation angles, taking out only the image of the moving body, and performing specified analysis. CONSTITUTION:Solid image sensing cameras 10a and 10b housing, e.g. CCDs each having 500 vertically arranged pixels X 500 laterally arranged pixels are arranged at positions having the different bearing angles and elevation angles with respect to a moving body such as aircraft. The image of a moving body is picked up by the cameras 10a and 10b at the same time. The images are stored in memory parts 12a and 12b. The stored images are processed in image processing parts 13a and 13b. Only the images of the moving body are taken out. The three-dimensional positions and speeds of the moving body are computed in real time in an analyzing part 14 from the positions having said bearing angles and elevation angles of the cameras 10a and 19b and the images of the moving body by using a triangulation method. Therefore, this apparatus is simplified and the operability can be simplified.

Description

[Detailed Description of the Invention] [Object of the Invention] (Field of Industrial Application) This invention relates to a three-dimensional position/velocity information of a moving body such as an airplane, which is used to measure the three-dimensional position/velocity information in real time.
This invention relates to a speed measuring device.

(Prior Art) Generally, in air traffic control systems, aircraft guidance systems, etc., the three-dimensional position and speed of an airplane around an airport is measured in real time using a three-dimensional position and speed measuring device. Such conventional three-dimensional position/velocity measuring devices include radar tracking systems and laser beam tracking systems as shown in FIGS. 6 and 7.

The radar tracking system shown in Fig. 6 is an application of radar tracking technology, in which an antenna 1 is rotatably arranged via a rotary drive unit 2, and radio waves from the antenna 1 are irradiated to an airplane 3, and the radio waves are reflected. The angle and time of the antenna 1 at the time of receiving the waves are measured. Then, based on the angle and time of the antenna 1, the azimuth angle, elevation angle, and distance from the antenna 1 to the airplane 3 are determined, and the three-dimensional position and speed of the airplane 3 are calculated based on these values.

The laser beam tracking system shown in FIG. 7 is an application of laser beam tracking technology, and includes a laser beam emitter 4 and a laser beam detector 5 that can be freely tracked. the plane 3
and the reflected laser light is sent to the laser light detector 4.
Detect with. At this time, the azimuth angle and the elevation angle are detected from the emission angle of the laser beam from the laser beam emitter 4, the distance is detected from the time when the laser beam is detected by the laser beam detector 5, and based on these, the 3D Find position and speed.

However, the three-dimensional position/velocity measurement devices described above have a structure in which the three-dimensional position/velocity is determined by irradiating radio waves or laser light onto the airplane 3 and detecting the reflected radio waves or reflected laser light. However, there are problems in that the number of components is very large, the structure is very complicated, and the handling operation is very troublesome.

Note that the same situation applies when measuring the three-dimensional position and velocity of a moving body such as a car.

(Problems to be Solved by the Invention) As described above, the conventional three-dimensional position/velocity measurement device has a large number of components, so its configuration is very complicated and the handling operation is extremely difficult. The problem was that it was troublesome.

This invention was made in view of the above circumstances, and an object of the present invention is to provide a three-dimensional position/velocity measuring device that has a simple configuration and is capable of realizing highly accurate three-dimensional position and velocity detection. do.

[Structure of the Invention (Means to be Solved by the Invention) This invention provides a plurality of solid-state imaging cameras that are arranged toward a target direction from different azimuth and elevation angle positions and that simultaneously take pictures of a moving object, and the solid-state imaging camera. storage means for storing images taken by the camera; image processing means for processing the images stored in the storage means to extract only images of the moving body; A three-dimensional position/velocity measuring device comprising: prefecture analysis means for calculating the three-dimensional position and velocity of the moving body from the image of the moving body extracted by the image processing means using a triangular all quantity method; It is.

(Operation) According to the above configuration, a moving object is photographed by a plurality of solid-state imaging cameras, an image of the moving object is extracted from the images, and the extracted image is used by the analysis means using a well-known triangulation method. Through analysis, three-dimensional position and velocity are detected in real time. Therefore, there is no need for the conventional configuration of irradiating a measuring medium such as radio waves or laser light onto a moving object and receiving the reflected medium, making the configuration as simple as possible and making handling easier. Operability can be simplified.

(Example) Hereinafter, an example of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a three-dimensional position/velocity measuring device according to an embodiment of the present invention.

10b is a solid-state imaging camera incorporating a well-known solid-state imaging device (CCD) having a resolution of, for example, 500 pixels in the vertical direction and 500 pixels in the horizontal direction. The solid-state imaging cameras 10a and 10b are arranged, for example, to face the intrusion direction of the aircraft 11 on the runway, and their photographic screen is set to 50° x 500, so that the angle at which the position of the aircraft can be identified by one pixel is determined. 0,1o
is adjusted to have a resolution of A VRAM is installed at the output end of the solid-state imaging cameras 10a and 10b, respectively.
(visual RAM) or the like storage unit 12a.

12b is connected, and these storage units 12a and 12b have D
Image processing units 13a and 13b such as SP (digital signal processing processor) are connected. An analysis section 14 such as a personal computer is connected to the image processing sections 13a and 13b. The analysis unit 14 stores, for example, the azimuth/elevation positions and directions of the solid-state imaging cameras 10a and 10b, and based on these azimuth/elevation positions and directions, the three-dimensional image of the aircraft 11 is calculated as described below. Calculate position and velocity.

Note that the solid-state imaging camera 10a stored in the analysis unit 14,
The azimuth angle/elevation angle position and direction of the object 10b are determined based on an object whose azimuth angle and elevation angle are specified in advance, such as the moon.

In the above configuration, the solid-state imaging cameras 10a and 10b capture an image in the target direction in conjunction with the operation of an operation unit (not shown), and output the image data to the respective storage units 12a and 12b. This image data is stored in the storage units 12a and 12b (see FIG. 2), and the image data is stored in the image processing unit 13.
At steps a and 13b, the image signal is compared with an image signal from a certain period of time, for example, about 0.1 seconds ago, and only the image data that has changed, that is, the image data of the aircraft 11, is extracted (see Fig. 3).
. This extracted image data is then led to the analysis section 14. The analysis unit 14 detects the position of the input image data on a 500 pixel x 500 pixel screen in units of 1 pixel (corresponding to 0.1° in a 500 pixel angle of view), and detects the position of the input image data from the solid-state imaging cameras 10a and 10b on the airplane. Find the azimuth and elevation angle of 11 (see Figure 4). The analysis unit 14 also uses the azimuth and elevation angles of the airplane 11 and the solid-state imaging camera 1 stored in advance.
From the azimuth/elevation angle positions and directions of 0a and 10b, a three-dimensional position is determined using a well-known triangulation method (see FIG. 5). At the same time, the analysis section 14 calculates the speed from the movement of the position of the image data inputted at fixed time intervals (approximately 0.1 seconds) from the image processing sections 13a and 13b. Note that the solid-state imaging camera 10a is the solid-state imaging camera 10a.

According to the settings of the solid-state imaging cameras 10a and 10b, logically, the accuracy of the azimuth angle is approximately 0.10.
When photographing airplane 11 500m away from 0b, it is approximately 1
This results in a position measurement error of about m, and the solid-state imaging camera 10a,
If you take a picture of airplane 11, which is 5km away from 10b, then 10
This results in a position measurement error of about m.

In this manner, the three-dimensional position/velocity measuring device photographs the airplane 11 using the two solid-state imaging cameras 10a and 10b, and stores the image data in the storage unit 12a.

12b, and the image processing unit 13a uses the image data.
, 13b extracts image data of only the airplane 11, and the analysis unit 14 analyzes the extracted image data using a well-known triangulation method, thereby detecting the three-dimensional position and velocity in real time. Configured. This eliminates the need for the conventional configuration of irradiating measuring media such as radio waves or laser beams onto an airplane and receiving the reflected medium, which simplifies the configuration and simplifies handling operations. It can be simplified.

In the above embodiment, three of the airplanes 11 are used as moving bodies.
Although the structure is configured to measure the dimensional position and velocity, the present invention is not limited to this, and for example, the three-dimensional position and velocity of a moving body such as a car can be measured.
It is also possible to configure it to detect speed. It is also applicable to detecting the three-dimensional position and velocity of a moving object to be surveyed in so-called moving object surveying in the field of surveying.

Furthermore, in the above embodiment, two solid-state imaging cameras 10a
, 10b has been described, but the number is not limited to this, and it is possible to configure using two or more solid-state imaging cameras.

Therefore, it goes without saying that the present invention is not limited to the above embodiments, and that various modifications can be made without departing from the spirit of the invention.

[Effects of the Invention] As described in detail above, the present invention provides a three-dimensional position/velocity measuring device that has a simple configuration and can realize highly accurate three-dimensional position and velocity detection. be able to.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram showing a three-dimensional position/velocity measuring device according to an embodiment of the present invention, FIGS. 2 to 5 are diagrams shown to explain the operation of FIG. 1, and FIGS. FIG. 7 is a configuration diagram showing a conventional three-dimensional position/velocity measuring device. 10a, 10...Solid-state imaging camera, 11...Airplane, 12a, 12b-...Storage unit, 13a, 13b-...
Image processing section, 14... analysis section.

Claims (1)

[Scope of Claims] A plurality of solid-state imaging cameras that are arranged toward a target from different azimuth and elevation angle positions and that simultaneously take pictures of a moving object; a storage means that stores images taken by the solid-state imaging cameras; an image processing means for processing an image stored in a storage means to extract only an image of the moving body; and a moving body extracted by the image processing means based on the azimuth/elevation position and direction of the solid-state imaging camera. A three-dimensional position/velocity measuring device comprising: analysis means for determining the three-dimensional position and velocity of the moving body from the image using a triangulation method.