WO2017177542A1 - 目标跟踪方法、装置和系统 - Google Patents
目标跟踪方法、装置和系统 Download PDFInfo
- Publication number
- WO2017177542A1 WO2017177542A1 PCT/CN2016/086312 CN2016086312W WO2017177542A1 WO 2017177542 A1 WO2017177542 A1 WO 2017177542A1 CN 2016086312 W CN2016086312 W CN 2016086312W WO 2017177542 A1 WO2017177542 A1 WO 2017177542A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- aircraft
- coordinate system
- yaw
- roll
- pitch
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 38
- 238000004891 communication Methods 0.000 claims description 15
- 230000006870 function Effects 0.000 description 17
- 238000004364 calculation method Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 8
- 230000006872 improvement Effects 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011022 operating instruction Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Definitions
- the present invention relates to the field of unmanned aerial vehicles, and in particular, to a target tracking method, apparatus and system.
- Unmanned aerial vehicles also known as drones, unmanned aerial vehicles, etc.
- unmanned aircraft that are either radio-controlled or under autonomous, semi-autonomous procedures. Because of its low cost, no risk of casualties, and good mobility, it is widely used in various fields of aerial photography, geological survey, line inspection, and emergency rescue. Among them, drones are widely used in aerial photography due to their unique maneuvering advantages. With the development of intelligent technology, people have put forward higher requirements for the intelligent functions of unmanned aerial vehicles, such as requiring the drone to automatically track the target.
- patent application CN105100728A and the patent CN103149939B all use a visual sensor as a target tracking sensor.
- the solution of patent application CN104965522A is implemented based on GPS standard positioning.
- the existing video recognition system is complicated in structure, and the algorithm loses the target in the case where the line of sight is occluded for a short time or the target moves at a high speed, which has certain limitations.
- the use of vision sensors as target tracking sensors has a long tracking algorithm, which is not conducive to the integration of drone airborne systems.
- the positioning and tracking accuracy of the target tracking system based on GPS positioning is not high, and it is difficult to achieve the shadow of the target in the shooting device. The sound is stable and locked.
- the technical problem to be solved by the present invention is to provide a new target tracking method, device and system, which can improve the positioning and tracking accuracy of the drone during the shooting process.
- the present invention provides a target tracking method, including:
- a target control amount is obtained according to the current attitude information and the target posture information of the aircraft, and the target control amount is used to indicate an adjustment amount for the pan/tilt motion control.
- the reference coordinate system is established according to the position information of the object and the aircraft, and the first position vector from the object to the aircraft in the reference coordinate system is obtained.
- the reference coordinate system obtains the first position vector.
- the reference coordinate system is established according to the position information of the object and the aircraft in the geographic coordinate system, and the first position vector is obtained, including:
- lon0 2* ⁇ *a/360
- lat0 (2* ⁇ *c+4*(ac))/360
- ⁇ is the pi
- a is the long axis radius of the earth
- c is the short axis radius of the earth
- lon Longitude
- lat represents dimension
- hei represents height
- t represents the subject
- u represents the aircraft
- cos() represents a cosine function
- x 1 , y 1 , z 1 represent coordinate values in the reference coordinate system.
- calculating a direction vector from the antenna position of the aircraft to the pan/tilt position in the reference coordinate system according to the current attitude information of the aircraft including:
- a direction vector from the antenna phase center of the aircraft to the pan/tilt motion center in the reference coordinate system is calculated based on the current attitude information of the aircraft.
- calculating a direction vector from the antenna phase center of the aircraft to the motion center of the pan-tilt in the reference coordinate system according to the current attitude information of the aircraft including:
- Pitch u represents the current pitch angle of the aircraft u
- Roll u represents the current roll angle of the aircraft u
- Yaw u represents the current yaw angle of the aircraft u
- sin() represents a sine function
- dA(dx, dy, dz) represents the coordinate value of the direction vector of the antenna phase center to the motion center of the pan-tilt in the body coordinate system of the aircraft.
- calculating a second position from the subject to the position of the gimbal in the reference coordinate system according to the first position vector and the direction vector Vector, and converting the second position vector into target attitude information of the aircraft including:
- the second position vector is converted into the target posture information Atti c (Pitch c , Roll c , Yaw c ) of the aircraft in the body coordinate system by using Equation 6 below:
- arcsin() is an inverse sine function.
- the target control amount is obtained according to the current attitude information and the target attitude information of the aircraft, including:
- the invention also provides a target tracking device, comprising:
- a first position vector module configured to establish a reference coordinate system according to the position information of the object and the aircraft, to obtain a first position vector from the object to the aircraft in the reference coordinate system;
- a direction vector module configured to calculate, according to current attitude information of the aircraft, a direction vector from an antenna position of the aircraft to a pan/tilt position in the reference coordinate system;
- a second position vector module configured to calculate, according to the first position vector and the direction vector, a second position vector from the object to the position of the head in the reference coordinate system, and Translating the second position vector into target attitude information of the aircraft;
- a control quantity module configured to obtain a target control amount according to the current attitude information and the target attitude information of the aircraft, where the target control quantity is used to indicate an adjustment amount for the pan/tilt motion control.
- the first location vector module is further configured to acquire location information of the target in a geographic coordinate system from a GNSS beacon of the target;
- the GNSS receiver and the antenna of the aircraft acquire position information of the aircraft in a geographic coordinate system; and establish the reference coordinate system according to the target and the position information of the aircraft in the geographic coordinate system, and obtain the The first position vector is described.
- the first location vector module is further configured to: according to the location information of the target in the geographic coordinate system, P t (lon t , lat t , hei t And establishing, by using Equations P u (lon u , lat u , hei u ) in the geographic coordinate system of the aircraft, the reference coordinate system is established by using Equations 1 and 2 below, to obtain the first position vector A. 1 (x 1 , y 1 , hei u -hei t ),
- lon0 2* ⁇ *a/360
- lat0 (2* ⁇ *c+4*(ac))/360
- ⁇ is the pi
- a is the long axis radius of the earth
- c is the short axis radius of the earth
- lon Longitude
- lat represents dimension
- hei represents height
- t represents the subject
- u represents the aircraft
- cos() represents a cosine function
- x 1 , y 1 , z 1 represent coordinate values in the reference coordinate system.
- the direction vector module is further configured to obtain current attitude information of the aircraft from an attitude sensor; and calculate, in the reference coordinate system, according to current attitude information of the aircraft A direction vector from the antenna phase center of the aircraft to the center of motion of the gimbal.
- the direction vector module is further configured to adopt the following Equations 8, 4, and 4 according to the current attitude information Atti u (Pitch u , Roll u , Yaw u ) of the aircraft. Equation 5, calculating a direction vector dA'(dx',dy',dz') from the antenna phase center of the aircraft to the motion center of the gimbal in the reference coordinate system,
- Pitch u represents the current pitch angle of the aircraft u
- Roll u represents the current roll angle of the aircraft u
- Yaw u represents the current yaw angle of the aircraft u
- sin() represents a sine function
- dA(dx, dy, dz) represents the coordinate value of the direction vector of the antenna phase center to the motion center of the pan-tilt in the body coordinate system of the aircraft.
- arcsin() is an inverse sine function.
- control module is further configured according to the amount of information of the current attitude of the aircraft Atti u (Pitch u, Roll u, Yaw u) and the target posture information, using the formula 7 Obtain the target control amount Output of the three-axis pan/tilt,
- the present invention also provides a target tracking system for an unmanned aerial vehicle, comprising: a pan-tilt controller disposed on the unmanned aerial vehicle and a positioning device disposed on the object to be photographed, wherein the pan-tilt controller adopts the present A target tracking device of any one of the embodiments of the invention.
- the positioning device of the target is a GNSS beacon, and the GNSS beacon is used to acquire location information of the target;
- the target tracking system further includes:
- the airborne GNSS receiver and the antenna obtain the position information of the unmanned aerial vehicle by receiving the GNSS signal;
- An attitude sensor for detecting posture information of the unmanned aerial vehicle
- a pan/tilt head and a photographing device for controlling a photographing posture of a photographing device mounted on the pan head;
- the pan/tilt controller is in communication with the GNSS receiver and antenna, the GNSS beacon, and the attitude sensor for receiving location information of the unmanned aerial vehicle from the GNSS receiver and antenna, Receiving, by the GNSS beacon, position information of the object to be photographed, and receiving posture information of the unmanned aerial vehicle from an attitude sensor;
- the pan/tilt controller is further connected to the cloud platform for transmitting a target control amount to the pan/tilt to control a shooting posture of the photographing device on the pan/tilt.
- the invention calculates a relative spatial pointing relationship according to the acquired position information, and combines the drone
- the attitude of the aircraft obtained by the airborne sensor determines the pan/tilt output of the shooting device, and realizes the tracking of the target. Because of the influence of the height of the fuselage on the tracking algorithm, the tracking accuracy is high, and the all-weather autonomous tracking can be realized.
- the present embodiment uses the high-precision GNSS positioning result to obtain accurate position information of the subject and the drone, which can ensure further improvement of the calculation accuracy.
- FIG. 1 is a block diagram showing the structure of a target tracking system of an unmanned aerial vehicle according to an embodiment of the present invention
- FIG. 2a is a schematic flow chart of a target tracking method according to an embodiment of the invention.
- 2b is a schematic diagram showing the principle of a target tracking method according to an embodiment of the invention.
- FIG. 3 is a schematic flowchart diagram of a target tracking method according to another embodiment of the present invention.
- FIG. 4 is a schematic structural diagram of a target tracking device according to an embodiment of the present invention.
- FIG. 5 is a block diagram showing the structure of a target tracking device according to an embodiment of the present invention.
- the GNSS Global Navigation Satellite System
- PPP Precision Point Positioning
- the invention is based on GNSS technology and is advantageous for achieving precise positioning.
- the target tracking system of the unmanned aerial vehicle mainly includes: a pan-tilt controller 114 disposed on the unmanned aerial vehicle 11 (abbreviated as a drone) and a positioning device disposed on the object 13 to be photographed.
- a pan-tilt controller 114 disposed on the unmanned aerial vehicle 11 (abbreviated as a drone) and a positioning device disposed on the object 13 to be photographed.
- the pan/tilt controller 114 can be configured independently of the controller of the drone, or can be implemented by the controller of the drone, which is not limited by the present invention.
- the UAV target tracking system of the embodiment includes: a GNSS beacon 131, communication devices 133, 113, an onboard GNSS receiver and antenna 111, a PTZ 112, a PTZ controller 114, and an attitude sensor 115. , shooting device 116.
- the GNSS beacon 131 is equipped on the subject 13 and the GNSS can be used to obtain the precise position of the subject.
- the onboard GNSS receiver and antenna 111, the pan/tilt head 112, the pan/tilt controller 114, the attitude sensor 115, and the photographing device 116 are provided on the target tracking device 11 based on the drone.
- the GNSS beacon 131 communicates with the communication device 113 of the target tracking device 11 through the communication device 133, thereby providing the pan/tilt controller 114 with real-time accurate position information of the subject 13.
- Communication device 113 communication device
- the device 133 can be considered as both ends of a communication device for implementing communication between the GNSS beacon 131 and the PTZ controller 114, and communicating in the air by, for example, a 433 MHz radio signal.
- the functions of the components installed in the drone are as follows:
- the onboard GNSS receiver and antenna 111 is coupled to the pan/tilt controller 114 to obtain the precise position of the drone by receiving the GNSS signal, which can actually correspond to the spatial position of the phase center of the receiving antenna.
- the pan/tilt head 112 is preferably constituted by a motor or a steering gear having a plurality of degrees of freedom, and can control the mounting device mounted thereon to perform multi-degree of freedom swinging.
- the pan/tilt controller 114 is preferably composed of a microcontroller, its peripheral circuits, and a pan/tilt motor drive circuit, and receives the information transmitted from each part for calculation processing, and then controls the pan/tilt to swing.
- the attitude sensor 115 is preferably constituted by a MEMS sensor, and provides the pan/tilt controller 114 with posture information of three directions of a Pitch (pitch angle), a Roll (rolling angle), and a Yaw (yaw angle) of the drone.
- the photographing device 116 is preferably composed of a camera or a video camera.
- the attitude sensor 115 is coupled to the pan/tilt controller 114 for detecting and providing the current attitude information of the drone.
- the photographing device 116 for example, a camera is fixed on the pan/tilt head 112, and the pan-tilt controller 114 controls the wobble of the pan-tilt head 112 to control the photographing posture of the photographing device, thereby realizing tracking of the object to be photographed.
- FIG. 2a is a flow chart showing a target tracking method according to an embodiment of the invention. As shown in FIG. 2a, the target tracking method may specifically include the following steps:
- Step 201 Establish a reference coordinate system according to the position information of the target and the aircraft, and obtain a first position vector from the target to the aircraft in the reference coordinate system;
- Step 202 Calculate, according to current posture information of the aircraft, a direction vector from an antenna position of the aircraft to a PTZ position in the reference coordinate system;
- Step 203 Calculate, according to the first position vector and the direction vector, a second position vector from the target to the position of the head in the reference coordinate system, and the second position Converting the vector to target attitude information of the aircraft;
- Step 204 Obtain a target control amount according to the current posture information and the target posture information of the aircraft, where the target control amount is used to indicate an adjustment amount for the pan/tilt motion control.
- an airborne GNSS receiver and an antenna 43 are disposed above the body of the drone 41, and a pan/tilt head 45 and a photographing device (not shown) are disposed under the body of the drone 41.
- the photographing device is usually loaded on the pan/tilt 45.
- the first position vector from the target 47 to the antenna phase center (for example, the geometric center of the antenna) is A 1
- the direction vector from the antenna phase center to the pan-tilt motion center (for example, the center of rotation of the pan-tilt) is dA'.
- the second position vector of the target 47 to the PTZ motion center is A 2 .
- the second position vector obtained by correcting the first position vector by the direction vector is a vector representation of the actual pan-tilt motion center and the target, and the position difference actually existing between the GNSS antenna and the pan-tilt motion center can be eliminated.
- step 201 may include:
- Step 2011 Obtain location information of the target in a geographic coordinate system from a GNSS beacon of the target;
- Step 2012 Obtain location information of the aircraft in a geographic coordinate system from a GNSS receiver and an antenna of the aircraft;
- Step 2013 Establish a reference coordinate system according to the target information and position information of the aircraft in the geographic coordinate system, to obtain the first position vector.
- the step 2013 may include: according to the position information P t (lon t , lat t , hei t ) of the target in the geographic coordinate system, and the aircraft Position information P u (lon u , lat u , hei u ) in the geographic coordinate system, using the following formula 1 and formula 2 to establish a reference coordinate system, such as a Cartesian coordinate system, obtained from the referenced coordinate system Taking a first position vector A 1 (x 1 , y 1 , hei u - hei t ) of the target to the aircraft,
- lon0 2* ⁇ *a/360
- lat0 (2* ⁇ *c+4*(ac))/360
- ⁇ is the pi
- a is the long axis radius of the earth
- c is the short axis radius of the earth
- lon is The longitude
- lat represents the dimension
- hei represents the height
- t represents the subject
- u represents the aircraft
- cos() represents the cosine function
- x 1 , y 1 , z 1 represent the coordinate values in the reference coordinate system.
- step 202 may include:
- Step 2021 Obtain current attitude information of the aircraft from an attitude sensor.
- Step 2022 Calculate a direction vector from the antenna phase center of the aircraft to the motion center of the pan-tilt in the reference coordinate system according to the current posture information of the aircraft.
- the step 2022 may include: calculating, according to the current posture information Atti u (Pitch u , Roll u , Yaw u ) of the aircraft, using Equations 8, 4 and 5 below The direction vector dA'(dx',dy',dz') from the antenna phase center of the aircraft to the motion center of the gimbal in the reference coordinate system,
- Pitch u represents the current pitch angle of the aircraft u
- Roll u represents the current roll angle of the aircraft u
- Yaw u represents the current yaw angle of the aircraft u
- sin() represents a sine function
- dA(dx, dy, dz) represents the antenna
- the direction vector of the phase center to the motion center of the pan-tilt is in the coordinate system of the aircraft body coordinate system.
- step 203 may include:
- Step 2031 calculating, according to the first position vector A 1 (x 1 , y 1 , hei u -hei t ) and the direction vector dA′ (dx′, dy′, dz′), from the target
- Step 2032 Convert the second position vector into the target posture information Atti c (Pitch c , Roll c , Yaw c ) of the aircraft in the body coordinate system by using Equation 6 below:
- arcsin() is an inverse sine function.
- the step 204 may include: obtaining the target of the three-axis pan/tilt according to the following formula 7 according to the current attitude information Atti u (Pitch u , Roll u , Yaw u ) and the target attitude information of the aircraft.
- Control quantity Output
- the target tracking method of the embodiment calculates the relative spatial pointing relationship according to the acquired position information, and combines the attitude of the aircraft obtained by the unmanned aerial vehicle sensor to determine the camera pan/tilt output to achieve tracking of the target, since the fuselage is considered.
- the height has a high impact on the tracking algorithm, and the tracking accuracy is high, enabling all-weather autonomous tracking.
- the present embodiment uses high-precision GNSS positioning results to obtain accurate position information of the target and the drone, and obtains an accurate relative positional relationship between the target and the optical axis of the camera through a simple calculation method, and the sensor information of the drone. Tight coupling is achieved to control the camera pan/tilt, which ensures that the accuracy of the calculation is further improved and the tracking of the target is achieved.
- FIG. 3 is a flow chart showing a target tracking method according to another embodiment of the present invention.
- the GNSS technology is used to implement the photographic tracking method.
- the same formulas in the embodiment have the same meanings and are not described here.
- the target tracking method may specifically include the following steps:
- Step 301 The GNSS beacon receives the GNSS signal for precise positioning, and obtains the position P t (lon t , lat t , hei t ) of the target (usually lat t , lon t is in degrees, and hei t is in meters).
- Step 302 The communication device encodes and modulates the position of the target to 433 MHz wireless Transmitting on an electrical signal
- Step 303 The PTZ controller receives the position P t of the target object transmitted from the communication device, and obtains the UW position P u (lon u , lat u , hei u ) from the airborne GNSS receiver and the antenna.
- P t and P u are coordinate values in the geographic coordinate system. Then, use P t as the dot and establish the right-hand coordinate system in the positive east direction for the x-axis (in this case, it can be assumed that the target and the drone movement area are planes instead of ellipsoids), and the coordinate system can also be called local Cartesian coordinate system.
- the parameters in the above formula may also adopt other standards similar to the WGS-84 standard such as Xi'an 54, Beijing 84, CGCS2000, etc., and the values calculated by different standards may be slightly different, and the present invention does not limit the specific calculation standard.
- Step 304 the controller obtains the posture sensor head measured vehicle attitude Atti u (Pitch u, Roll u , Yaw u), the direction vector can be onboard GNSS receiver antenna phase center and the antenna module to the center of the head movement
- the representation in the aircraft coordinate system: dA(dx, dy, dz) (determined by the installation position on the aircraft), then the direction vector can be expressed in the coordinate system established in step 303 as: dA'(dx', dy' , dz'), wherein dA'(dx', dy', dz') can be calculated by referring to Equation 8, Formula 4 and Formula 5 of Example 2.
- the target control amount is output to the pan-tilt motor by, for example, a second-order control loop by the pan-tilt controller to achieve tracking of the target.
- the target tracking method of the embodiment can use a high-precision GNSS positioning technology, such as PPP technology, to acquire the precise position of the target and the drone, and then calculate the relative spatial pointing relationship, and combine the aircraft attitude obtained by the unmanned aerial vehicle sensor.
- the camera pan/tilt output is determined to achieve tracking of the target, and the tracking accuracy is high, and the tracking can be achieved all the time.
- the existing visual tracking technology it has the characteristics of simple calculation, high real-time performance and wide application environment.
- the existing target tracking method based on GPS positioning it has the characteristics of high tracking precision and stable tracking.
- FIG. 4 is a block diagram showing the structure of a target tracking device according to an embodiment of the invention. As shown in FIG. 4, the target tracking device may include:
- a first position vector module 51 configured to establish a reference coordinate system according to the position information of the object and the aircraft, to obtain a first position vector from the object to the aircraft in the reference coordinate system;
- a direction vector module 53 configured to calculate, according to current attitude information of the aircraft, a direction vector from an antenna position of the aircraft to a pan/tilt position in the reference coordinate system;
- a second position vector module 55 configured to calculate, according to the first position vector and the direction vector, a second position vector from the object to the position of the head in the reference coordinate system, and Converting the second position vector to target attitude information of the aircraft;
- the control quantity module 57 is configured to obtain a target control amount according to the current attitude information and the target attitude information of the aircraft, and the target control quantity is used to indicate an adjustment amount for the pan/tilt motion control.
- the first location vector module 51 is further configured to acquire location information of the target in a geographic coordinate system from a GNSS beacon of the target; from the fly The GNSS receiver and the antenna of the row obtain the position information of the aircraft in the geographic coordinate system; and establish the reference coordinate system according to the target and the position information of the aircraft in the geographic coordinate system, and obtain the The first position vector is described.
- the first location vector module 51 is further configured to: according to the location information P t (lon t , lat t , hei t ) of the target in the geographic coordinate system, and Position information P u (lon u , lat u , hei u ) in the geographic coordinate system of the aircraft, and establishing the reference coordinate system by using Equations 1 and 2 below to obtain the first position vector A 1 (x 1 , y 1 , hei u -hei t ),
- the direction vector module 53 is further configured to obtain current attitude information of the aircraft from the attitude sensor; and calculate, according to the current posture information of the aircraft, from the reference coordinate system The direction vector of the antenna phase center of the aircraft to the motion center of the gimbal.
- the direction vector module 53 is further configured to calculate according to the current attitude information Atti u (Pitch u , Roll u , Yaw u ) of the aircraft by using Equations 8, 4 and 5 below. a direction vector dA'(dx',dy',dz') from the antenna phase center of the aircraft to the motion center of the gimbal in the reference coordinate system,
- Pitch u represents the current pitch angle of the aircraft u
- Roll u represents the current roll angle of the aircraft u
- Yaw u represents the current yaw angle of the aircraft u
- sin() represents a sine function
- dA(dx, dy, dz) represents the coordinate value of the direction vector of the antenna phase center to the motion center of the pan-tilt in the body coordinate system of the aircraft.
- the second position vector is converted into the target posture information Atti c (Pitch c , Roll c , Yaw c ) of the aircraft in the body coordinate system:
- the module 57 is further configured to control the amount of the current attitude information of the aircraft Atti u (Pitch u, Roll u, Yaw u) and the target attitude information obtained using the following equation 7 triaxial Target control quantity of Yuntai,
- Each module of the target tracking device of the embodiment can be implemented by a PTZ controller of the UAV, and the relative spatial pointing relationship is calculated according to the acquired position information, and the attitude of the aircraft obtained by the UAV onboard sensor is determined, and the camera is determined.
- the cloud platform output realizes the tracking of the target. Because of the influence of the height of the fuselage on the tracking algorithm, the tracking accuracy is high, and the all-weather autonomous tracking can be realized.
- FIG. 5 is a block diagram showing the structure of a target tracking device according to an embodiment of the present invention.
- the target The trace device 1100 can be a host server with computing power, a personal computer PC, or a portable computer or terminal that can be carried.
- the specific embodiments of the present invention do not limit the specific implementation of the computing node.
- the target tracking device 1100 includes a processor 1110, a communications interface 1120, a memory 1130, and a bus 1140.
- the processor 1110, the communication interface 1120, and the memory 1130 complete communication with each other through the bus 1140.
- Communication interface 1120 is for communicating with network devices, including, for example, a virtual machine management center, shared storage, and the like.
- the processor 1110 is configured to execute a program.
- the processor 1110 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.
- ASIC Application Specific Integrated Circuit
- the memory 1130 is used to store files.
- the memory 1130 may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
- Memory 1130 can also be a memory array.
- the memory 1130 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
- the above program may be program code including computer operating instructions.
- the program can be specifically used to: perform the operations of the steps in Embodiment 2 or 3.
- the function is implemented in the form of computer software and sold or used as a stand-alone product, it is considered to some extent that all or part of the technical solution of the present invention (for example, a part contributing to the prior art) is It is embodied in the form of computer software products.
- the computer software The product is typically stored in a computer readable non-volatile storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods of various embodiments of the present invention. .
- the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
- the invention calculates the relative spatial pointing relationship according to the acquired position information, and combines the attitude of the aircraft obtained by the unmanned aerial vehicle sensor, determines the pan/tilt output of the photographing device, realizes the tracking of the target, and considers the height of the body to track The influence of the algorithm, high tracking accuracy, and ability to achieve all-weather autonomous tracking.
- the present embodiment uses the high-precision GNSS positioning result to obtain accurate position information of the subject and the drone, which can ensure further improvement of the calculation accuracy.
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Variable-Direction Aerials And Aerial Arrays (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
Description
Claims (16)
- 一种目标跟踪方法,其特征在于,包括:根据被摄目标和飞行器的位置信息建立参考坐标系,得到在所述参考坐标系下从所述被摄目标到所述飞行器的第一位置矢量;根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线位置到云台位置的方向矢量;根据所述第一位置矢量和所述方向矢量,计算在所述参考坐标系下从所述被摄目标到所述云台位置的第二位置矢量,并将所述第二位置矢量转换为所述飞行器的目标姿态信息;根据所述飞行器的当前姿态信息和目标姿态信息,得到目标控制量,所述目标控制量用于指示对云台运动控制的调整量。
- 根据权利要求1所述的方法,其特征在于,根据被摄目标和飞行器的位置信息建立参考坐标系,得到在所述参考坐标系下从所述被摄目标到所述飞行器的第一位置矢量,包括:从所述被摄目标的GNSS信标获取所述被摄目标在地理坐标系下的位置信息;从所述飞行器的GNSS接收机及天线获取所述飞行器在地理坐标系下的位置信息;根据所述被摄目标和所述飞行器在所述地理坐标系下的位置信息建立所述参考坐标系,得到所述第一位置矢量。
- 根据权利要求2所述的方法,其特征在于,根据所述被摄目标和所述飞行器在所述地理坐标系下的位置信息建立所述参考坐标系,得到所述第一位置矢量,包括:根据所述被摄目标在所述地理坐标系下的位置信息Pt(lont,latt,heit),和所述飞行器所述地理坐标系下的位置信息Pu(lonu,latu,heiu),采用下式1和式2建立所述参考坐标系,得到所述第一位置矢量A1(x1,y1,z1),x1=(lonu-lont)*cos(latt)*lon0 式1,y1=(latu-latt)*lat0 式2,z1=heiu-heit 式3,其中,lon0=2*π*a/360,lat0=(2*π*c+4*(a-c))/360,π为圆周率,a为地球长轴半径,c为地球短轴半径,lon表示经度、lat表示维度、hei表示高度,t表示所述被摄目标,u表示所述飞行器,cos()表示余弦函数,x1、y1、z1表示所述参考坐标系下的坐标值。
- 根据权利要求1至3中任一项所述的方法,其特征在于,根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线位置到云台位置的方向矢量,包括:从姿态传感器获得所述飞行器的当前姿态信息;根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线相位中心到云台运动中心的方向矢量。
- 根据权利要求4所述的方法,其特征在于,根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线相位中心到云台运动中心的方向矢量,包括:根据所述飞行器的当前姿态信息Attiu(Pitchu,Rollu,Yawu),采用下式8、式4和式5,计算在所述参考坐标系下从所述飞行器的天线相位中心到云台运动中心的方向矢量dA’(dx’,dy’,dz’),dx’=dx(cos(Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) 式8,dy’=dx(cos(Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) 式4,dz’=dx(-cos(Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos(Rollu)) 式5,其中,Pitchu表示飞行器u的当前俯仰角,Rollu表示飞行器u的当前翻滚 角,Yawu表示飞行器u的当前偏航角,sin()表示正弦函数;dA(dx,dy,dz)表示天线相位中心到云台运动中心的方向矢量在所述飞行器的机体坐标系下坐标值。
- 根据权利要求5所述的方法,其特征在于,根据所述第一位置矢量和所述方向矢量,计算在所述参考坐标系下从所述被摄目标到所述云台位置的第二位置矢量,并将所述第二位置矢量转换为所述飞行器的目标姿态信息,包括:根据所述第一位置矢量A1(x1,y1,heiu-heit)和所述方向矢量dA’(dx’,dy’,dz’),计算从所述被摄目标到云台运动中心的第二位置矢量A2=(x2,y2,z2)=(A1+dA’);采用下式6,将所述第二位置矢量转换为所述飞行器的在机体坐标系下的目标姿态信息Attic(Pitchc,Rollc,Yawc):Attic(Pitchc,Rollc,Yawc)=(arcsin(x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2|)) 式6,其中,arcsin()为反正弦函数。
- 根据权利要求6所述的方法,其特征在于,根据所述飞行器的当前姿态信息和目标姿态信息,得到目标控制量,包括:根据所述飞行器的当前姿态信息Attiu(Pitchu,Rollu,Yawu)和目标姿态信息,采用下式7得到三轴云台的目标控制量Output,Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) 式7。
- 一种目标跟踪装置,其特征在于,包括:第一位置矢量模块,用于根据被摄目标和飞行器的位置信息建立参考坐标系,得到在所述参考坐标系下从所述被摄目标到所述飞行器的第一位置矢量;方向矢量模块,用于根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线位置到云台位置的方向矢量;第二位置矢量模块,用于根据所述第一位置矢量和所述方向矢量,在所述参考坐标系下计算从所述被摄目标到所述云台位置的第二位置矢量,并将所述第二位置矢量转换为所述飞行器的目标姿态信息;控制量模块,用于根据所述飞行器的当前姿态信息和目标姿态信息,得到目标控制量,所述目标控制量用于指示对云台运动控制的调整量。
- 根据权利要求8所述的装置,其特征在于,所述第一位置矢量模块还用于从所述被摄目标的GNSS信标获取所述被摄目标在地理坐标系下的位置信息;从所述飞行器的GNSS接收机及天线获取所述飞行器在地理坐标系下的位置信息;根据所述被摄目标和所述飞行器在所述地理坐标系下的位置信息建立所述参考坐标系,得到所述第一位置矢量。
- 根据权利要求9所述的装置,其特征在于,所述第一位置矢量模块还用于根据所述被摄目标在所述地理坐标系下的位置信息Pt(lont,latt,heit),和所述飞行器所述地理坐标系下的位置信息Pu(lonu,latu,heiu),采用下式1和式2建立所述参考坐标系,得到所述第一位置矢量A1(x1,y1,heiu-heit),x1=(lonu-lont)*cos(latt)*lon0 式1,y1=(latu-latt)*lat0 式2,z1=heiu-heit 式3,其中,lon0=2*π*a/360,lat0=(2*π*c+4*(a-c))/360,π为圆周率,a为地球长轴半径,c为地球短轴半径,lon表示经度、lat表示维度、hei表示高度,t表示所述被摄目标,u表示所述飞行器,cos()表示余弦函数,x1、y1、z1表示所述参考坐标系下的坐标值。
- 根据权利要求8至10中任一项所述的装置,其特征在于,所述方向矢量模块还用于从姿态传感器获得所述飞行器的当前姿态信息;根据所述飞行器的当前姿态信息,计算在所述参考坐标系下从所述飞行器的天线相位中 心到云台运动中心的方向矢量。
- 根据权利要求11所述的装置,其特征在于,所述方向矢量模块还用于根据所述飞行器的当前姿态信息Attiu(Pitchu,Rollu,Yawu),采用下式8、式4和式5,计算在所述参考坐标系下从所述飞行器的天线相位中心到云台运动中心的方向矢量dA’(dx’,dy’,dz’),dx’=dx(cos(Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) 式8,dy’=dx(cos(Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) 式4,dz’=dx(-cos(Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos(Rollu)) 式5,其中,Pitchu表示飞行器u的当前俯仰角,Rollu表示飞行器u的当前翻滚角,Yawu表示飞行器u的当前偏航角,sin()表示正弦函数;dA(dx,dy,dz)表示天线相位中心到云台运动中心的方向矢量在所述飞行器的机体坐标系下坐标值。
- 根据权利要求12所述的装置,其特征在于,所述第二位置矢量模块还用于根据所述第一位置矢量A1(x1,y1,heiu-heit)和所述方向矢量dA’(dx’,dy’,dz’),计算从所述被摄目标到云台运动中心的第二位置矢量A2=(x2,y2,z2)=(A1+dA’);采用下式6,将所述第二位置矢量转换为所述飞行器的在机体坐标系下的目标姿态信息Attic(Pitchc,Rollc,Yawc):Attic(Pitchc,Rollc,Yawc)=(arcsin(x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2|)) 式6,其中,arcsin()为反正弦函数。
- 根据权利要求13所述的装置,其特征在于,所述控制量模块还用于根据所述飞行器的当前姿态信息Attiu(Pitchu,Rollu,Yawu)和目标姿态信息,采用下式7得到三轴云台的目标控制量Output,Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) 式7。
- 一种无人驾驶飞行器的目标跟踪系统,其特征在于,包括设置于所述无人驾驶飞行器的云台控制器和设置于被摄目标的定位装置,其中,所述云台控制器,采用如权利要求8至14中任一项所述的目标跟踪装置。
- 根据权利要求15所述的系统,其特征在于,所述被摄目标的定位装置为GNSS信标,所述GNSS信标用于获取所述被摄目标的位置信息;所述目标跟踪系统还包括:机载GNSS接收机及天线,通过接收GNSS信号获得所述无人驾驶飞行器的位置信息;姿态传感器,用于检测所述无人驾驶飞行器的姿态信息;云台和拍摄设备,所述云台用于控制安装于所述云台上的拍摄设备的拍摄姿态;所述云台控制器与所述GNSS接收机及天线、所述GNSS信标和所述姿态传感器相通信,用于从所述GNSS接收机及天线接收所述无人驾驶飞行器的位置信息,从所述GNSS信标接收所述被摄目标的位置信息,从姿态传感器接收所述无人驾驶飞行器的姿态信息;所述云台控制器还与所述云台连接,用于向所述云台发送目标控制量,以控制所述云台上的所述拍摄设备的拍摄姿态。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201610225109.4 | 2016-04-12 | ||
CN201610225109.4A CN105676865B (zh) | 2016-04-12 | 2016-04-12 | 目标跟踪方法、装置和系统 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2017177542A1 true WO2017177542A1 (zh) | 2017-10-19 |
Family
ID=56310229
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2016/086312 WO2017177542A1 (zh) | 2016-04-12 | 2016-06-17 | 目标跟踪方法、装置和系统 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN105676865B (zh) |
WO (1) | WO2017177542A1 (zh) |
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108510833A (zh) * | 2018-05-31 | 2018-09-07 | 中国人民解放军第四军医大学 | 模拟夜视镜下飞行的训练器材和提高夜间作训能力的方法 |
CN110337624A (zh) * | 2018-05-31 | 2019-10-15 | 深圳市大疆创新科技有限公司 | 姿态转换方法、姿态显示方法及云台系统 |
CN110622091A (zh) * | 2018-03-28 | 2019-12-27 | 深圳市大疆创新科技有限公司 | 云台的控制方法、装置、系统、计算机存储介质及无人机 |
CN110637268A (zh) * | 2018-01-23 | 2019-12-31 | 深圳市大疆创新科技有限公司 | 目标检测方法、装置和可移动平台 |
CN111596693A (zh) * | 2020-06-17 | 2020-08-28 | 中国人民解放军国防科技大学 | 基于云台相机的无人机对地面目标跟踪控制方法及系统 |
CN111798514A (zh) * | 2020-06-29 | 2020-10-20 | 山东大学日照智能制造研究院 | 一种海洋牧场智能运动目标跟踪监测方法及系统 |
CN112486198A (zh) * | 2020-12-11 | 2021-03-12 | 西安电子科技大学 | 一种具备自主性的模块化飞行阵列控制方法 |
CN113506340A (zh) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | 一种云台位姿预测的方法、设备和计算机可读存储介质 |
CN113658225A (zh) * | 2021-08-19 | 2021-11-16 | 天之翼(苏州)科技有限公司 | 基于航拍监控的运动对象识别方法及系统 |
CN113938610A (zh) * | 2021-11-16 | 2022-01-14 | 云南电网有限责任公司电力科学研究院 | 一种无人机监管方法及系统 |
CN114285459A (zh) * | 2021-12-27 | 2022-04-05 | 北京微纳星空科技有限公司 | 一种卫星信号收发系统及其数据处理方法 |
CN114489102A (zh) * | 2022-01-19 | 2022-05-13 | 上海复亚智能科技有限公司 | 一种电力杆塔自巡检方法、装置、无人机及存储介质 |
Families Citing this family (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105676865B (zh) * | 2016-04-12 | 2018-11-16 | 北京博瑞云飞科技发展有限公司 | 目标跟踪方法、装置和系统 |
CN109564434B (zh) | 2016-08-05 | 2023-07-25 | 深圳市大疆创新科技有限公司 | 用于定位可移动物体的系统和方法 |
CN106370184A (zh) * | 2016-08-29 | 2017-02-01 | 北京奇虎科技有限公司 | 无人机自动跟踪拍摄的方法、无人机和移动终端设备 |
CN106454069B (zh) * | 2016-08-31 | 2019-11-08 | 歌尔股份有限公司 | 一种控制无人机拍摄的方法、装置和可穿戴设备 |
WO2018053877A1 (zh) * | 2016-09-26 | 2018-03-29 | 深圳市大疆创新科技有限公司 | 控制方法、控制设备和运载系统 |
KR20180080892A (ko) * | 2017-01-05 | 2018-07-13 | 삼성전자주식회사 | 전자 장치 및 그 제어 방법 |
CN106878613B (zh) * | 2017-01-13 | 2021-04-20 | 河北雄安远度科技有限公司 | 数据通信装置、方法及无人机 |
CN106814753B (zh) * | 2017-03-20 | 2020-11-06 | 成都通甲优博科技有限责任公司 | 一种目标位置矫正方法、装置及系统 |
WO2018205133A1 (en) * | 2017-05-09 | 2018-11-15 | Zepp Labs, Inc. | Direction finding of wireless communication devices |
CN107908195B (zh) * | 2017-11-06 | 2021-09-21 | 深圳市道通智能航空技术股份有限公司 | 目标追踪方法、装置、追踪器及计算机可读存储介质 |
CN107992068A (zh) * | 2017-11-29 | 2018-05-04 | 天津聚飞创新科技有限公司 | 目标跟踪方法、装置及飞行器 |
CN109032166B (zh) * | 2018-03-08 | 2020-01-21 | 深圳中琛源科技股份有限公司 | 基于无人机即时跟踪行驶车辆的方法 |
CN108573498B (zh) * | 2018-03-08 | 2019-04-26 | 上海申雪供应链管理有限公司 | 基于无人机的行驶车辆即时跟踪系统 |
CN110262540A (zh) * | 2018-03-12 | 2019-09-20 | 杭州海康机器人技术有限公司 | 对飞行器进行飞行控制的方法和装置 |
CN108645403B (zh) * | 2018-05-15 | 2021-03-23 | 中国人民解放军海军工程大学 | 一种基于卫星导航及姿态测量的无人机自动跟拍系统 |
CN108650494B (zh) * | 2018-05-29 | 2020-08-04 | 青岛一舍科技有限公司 | 基于语音控制的可即时获取高清照片的直播系统 |
CN110225249B (zh) * | 2019-05-30 | 2021-04-06 | 深圳市道通智能航空技术有限公司 | 一种对焦方法、装置、航拍相机以及无人飞行器 |
CN110427050A (zh) * | 2019-09-09 | 2019-11-08 | 深圳市科卫泰实业发展有限公司 | 一种基于差分定位定向的云台自动跟随系统 |
CN110716579B (zh) * | 2019-11-20 | 2022-07-29 | 深圳市道通智能航空技术股份有限公司 | 目标跟踪方法及无人飞行器 |
CN114126964A (zh) * | 2020-03-31 | 2022-03-01 | 深圳市大疆创新科技有限公司 | 可移动平台的控制方法、装置、可移动平台及存储介质 |
CN111510624A (zh) * | 2020-04-10 | 2020-08-07 | 瞬联软件科技(北京)有限公司 | 目标跟踪系统及目标跟踪方法 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6650287B1 (en) * | 1999-07-29 | 2003-11-18 | Anatoly Stepanovich Karpov | Method for determining the position of reference axes in an inertial navigation system of an object in respect with the basic coordinates and embodiments thereof |
EP2144038A2 (en) * | 2008-07-10 | 2010-01-13 | Lockheed Martin Corporation | Inertial measurement using an imaging sensor and a digitized map |
CN103604427A (zh) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | 对地面移动目标动态定位的无人机系统和方法 |
CN104820434A (zh) * | 2015-03-24 | 2015-08-05 | 南京航空航天大学 | 一种无人机对地面运动目标的测速方法 |
CN105184776A (zh) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | 目标跟踪方法 |
CN105676865A (zh) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | 目标跟踪方法、装置和系统 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101344589A (zh) * | 2008-08-29 | 2009-01-14 | 北京航空航天大学 | 基于gnss反射信号的空间飞行器探测装置 |
IT1401374B1 (it) * | 2010-08-09 | 2013-07-18 | Selex Sistemi Integrati Spa | Tracciamento tridimensionale multisensore basato su tracce bidimensionali acquisite da tracciatori di sensori di localizzazione di bersagli |
CN102033222B (zh) * | 2010-11-17 | 2013-02-13 | 吉林大学 | 大范围多目标超声跟踪定位系统和方法 |
CN102522631B (zh) * | 2011-12-12 | 2014-01-29 | 中国航空无线电电子研究所 | 基于扩频和数字导引的双制式天线跟踪系统 |
US20140218242A1 (en) * | 2013-02-01 | 2014-08-07 | NanoSatisfi Inc. | Computerized nano-satellite platform for large ocean vessel tracking |
-
2016
- 2016-04-12 CN CN201610225109.4A patent/CN105676865B/zh active Active
- 2016-06-17 WO PCT/CN2016/086312 patent/WO2017177542A1/zh active Application Filing
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6650287B1 (en) * | 1999-07-29 | 2003-11-18 | Anatoly Stepanovich Karpov | Method for determining the position of reference axes in an inertial navigation system of an object in respect with the basic coordinates and embodiments thereof |
EP2144038A2 (en) * | 2008-07-10 | 2010-01-13 | Lockheed Martin Corporation | Inertial measurement using an imaging sensor and a digitized map |
CN103604427A (zh) * | 2013-12-10 | 2014-02-26 | 中国航天空气动力技术研究院 | 对地面移动目标动态定位的无人机系统和方法 |
CN104820434A (zh) * | 2015-03-24 | 2015-08-05 | 南京航空航天大学 | 一种无人机对地面运动目标的测速方法 |
CN105184776A (zh) * | 2015-08-17 | 2015-12-23 | 中国测绘科学研究院 | 目标跟踪方法 |
CN105676865A (zh) * | 2016-04-12 | 2016-06-15 | 北京博瑞爱飞科技发展有限公司 | 目标跟踪方法、装置和系统 |
Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110637268A (zh) * | 2018-01-23 | 2019-12-31 | 深圳市大疆创新科技有限公司 | 目标检测方法、装置和可移动平台 |
CN110622091A (zh) * | 2018-03-28 | 2019-12-27 | 深圳市大疆创新科技有限公司 | 云台的控制方法、装置、系统、计算机存储介质及无人机 |
CN110337624A (zh) * | 2018-05-31 | 2019-10-15 | 深圳市大疆创新科技有限公司 | 姿态转换方法、姿态显示方法及云台系统 |
CN108510833A (zh) * | 2018-05-31 | 2018-09-07 | 中国人民解放军第四军医大学 | 模拟夜视镜下飞行的训练器材和提高夜间作训能力的方法 |
CN111596693B (zh) * | 2020-06-17 | 2023-05-26 | 中国人民解放军国防科技大学 | 基于云台相机的无人机对地面目标跟踪控制方法及系统 |
CN111596693A (zh) * | 2020-06-17 | 2020-08-28 | 中国人民解放军国防科技大学 | 基于云台相机的无人机对地面目标跟踪控制方法及系统 |
CN111798514A (zh) * | 2020-06-29 | 2020-10-20 | 山东大学日照智能制造研究院 | 一种海洋牧场智能运动目标跟踪监测方法及系统 |
CN112486198A (zh) * | 2020-12-11 | 2021-03-12 | 西安电子科技大学 | 一种具备自主性的模块化飞行阵列控制方法 |
CN112486198B (zh) * | 2020-12-11 | 2022-03-04 | 西安电子科技大学 | 一种具备自主性的模块化飞行阵列控制方法 |
CN113506340A (zh) * | 2021-06-15 | 2021-10-15 | 浙江大华技术股份有限公司 | 一种云台位姿预测的方法、设备和计算机可读存储介质 |
CN113658225A (zh) * | 2021-08-19 | 2021-11-16 | 天之翼(苏州)科技有限公司 | 基于航拍监控的运动对象识别方法及系统 |
CN113938610A (zh) * | 2021-11-16 | 2022-01-14 | 云南电网有限责任公司电力科学研究院 | 一种无人机监管方法及系统 |
CN114285459A (zh) * | 2021-12-27 | 2022-04-05 | 北京微纳星空科技有限公司 | 一种卫星信号收发系统及其数据处理方法 |
CN114285459B (zh) * | 2021-12-27 | 2024-01-19 | 北京微纳星空科技有限公司 | 一种卫星信号收发系统及其数据处理方法 |
CN114489102A (zh) * | 2022-01-19 | 2022-05-13 | 上海复亚智能科技有限公司 | 一种电力杆塔自巡检方法、装置、无人机及存储介质 |
Also Published As
Publication number | Publication date |
---|---|
CN105676865B (zh) | 2018-11-16 |
CN105676865A (zh) | 2016-06-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2017177542A1 (zh) | 目标跟踪方法、装置和系统 | |
US11218689B2 (en) | Methods and systems for selective sensor fusion | |
US20210293977A1 (en) | Systems and methods for positioning of uav | |
US11822353B2 (en) | Simple multi-sensor calibration | |
US20200191556A1 (en) | Distance mesurement method by an unmanned aerial vehicle (uav) and uav | |
JP6138326B1 (ja) | 移動体、移動体の制御方法、移動体を制御するプログラム、制御システム、及び情報処理装置 | |
US20190385322A1 (en) | Three-dimensional shape identification method, aerial vehicle, program and recording medium | |
EP3734394A1 (en) | Sensor fusion using inertial and image sensors | |
CN111966133A (zh) | 一种云台视觉伺服控制系统 | |
US11875519B2 (en) | Method and system for positioning using optical sensor and motion sensors | |
US20080118104A1 (en) | High fidelity target identification and acquisition through image stabilization and image size regulation | |
WO2020103049A1 (zh) | 旋转微波雷达的地形预测方法、装置、系统和无人机 | |
CN107192377B (zh) | 远程测量物体坐标的方法、装置及飞行器 | |
WO2021087701A1 (zh) | 起伏地面的地形预测方法、装置、雷达、无人机和作业控制方法 | |
JPWO2018193574A1 (ja) | 飛行経路生成方法、情報処理装置、飛行経路生成システム、プログラム及び記録媒体 | |
US20210208608A1 (en) | Control method, control apparatus, control terminal for unmanned aerial vehicle | |
CN107192330A (zh) | 远程测量物体坐标的方法、装置及飞行器 | |
JPWO2021090352A1 (ja) | 航空機の飛行制御を行う制御装置、及び制御方法 | |
WO2018094576A1 (zh) | 无人飞行器的控制方法、飞行控制器及无人飞行器 | |
CN113340272B (zh) | 一种基于无人机微群的地面目标实时定位方法 | |
US20210229810A1 (en) | Information processing device, flight control method, and flight control system | |
WO2020042159A1 (zh) | 一种云台的转动控制方法、装置及控制设备、移动平台 | |
JP2019191888A (ja) | 無人飛行体、無人飛行方法及び無人飛行プログラム | |
JP2019188965A (ja) | 無人飛行体、学習結果情報、無人飛行方法及び無人飛行プログラム | |
CN114494423A (zh) | 一种无人平台载荷非中心目标经纬度定位方法及系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16898357 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16898357 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16898357 Country of ref document: EP Kind code of ref document: A1 |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/08/2019) |
|
32PN | Ep: public notification in the ep bulletin as address of the adressee cannot be established |
Free format text: NOTING OF LOSS OF RIGHTS PURSUANT TO RULE 112(1) EPC (EPO FORM 1205A DATED 08/08/2019) |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16898357 Country of ref document: EP Kind code of ref document: A1 |