CN103376455A - Sensor posture coordinate recording device applicable to low-altitude unpiloted remote sensing platform - Google Patents
Sensor posture coordinate recording device applicable to low-altitude unpiloted remote sensing platform Download PDFInfo
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- CN103376455A CN103376455A CN2012101196481A CN201210119648A CN103376455A CN 103376455 A CN103376455 A CN 103376455A CN 2012101196481 A CN2012101196481 A CN 2012101196481A CN 201210119648 A CN201210119648 A CN 201210119648A CN 103376455 A CN103376455 A CN 103376455A
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Abstract
The invention discloses a sensor posture coordinate recording device of a small-size low-altitude unpiloted remote sensing platform. A GPS or a Beidou navigation satellite system is used for determining the spatial three-dimensional coordinates of a sensor. The postures of the sensor are measured through a high precision IMU. Posture coordinate data collection recording and sensor data collection are carried out simultaneously. A recording device and the sensor are fastened into a whole. The recording device records the high precision posture coordinates of the sensor in real time when the sensor obtains remote sensing data and provides high precision outer orientation parameters for aerial triangulation and processing in the image data later period. According to the sensor posture coordinate recording device, the posture coordinate data obtained by the small-size unmanned aerial vehicle low-altitude sensing platform can be more precise, and therefore the aerial survey precision of a small zone without ground control points is improved.
Description
Technical field: the present invention relates to a kind of attitude coordinate record device, be particularly useful for recording the attitude coordinate of low latitude remote sensor that unmanned remote-sensing flatform carries.
Background technology: the unmanned remote-sensing flatform in existing low latitude, obtain ground boat sheet by institute's set sensor, then utilize aerotriangulation software to be processed into figure, accurate sensor attitude coordinate data is the key that high-quality becomes figure.The attitude coordinate data comprises time, longitude and latitude, GPS height, roll angle, the angle of pitch, the course angle that the boat sheet is taken.Boat sheet attitude coordinate data has been arranged, just can determine three-dimensional space position and outer orientation parameter thereof when sensor is taken.Be conducive to the to navigate later stage aerotriangulation of sheet of high-precision attitude coordinate data is processed, and improves the precision of measurement data product.
Existing miniature self-service is driven low altitude remote sensing platform and be there is no independently attitude coordinate record device, and the boat sheet attitude coordinate data that institute's set sensor obtains is the aspect coordinate data of self-driving instrument record.Because sensor and self-driving instrument are installed on respectively the diverse location of aircraft, therefore there is system deviation in the gps data with the self-driving instrument with the attitude coordinate data of attitude data as sensor of navigating.In addition, self-driving instrument and sensor all adopt the bumper and absorbing shock measure, and the in-flight vibrations of unmanned plane can further cause the dynamic error of both relative attitudes.Simultaneously, sensor is to send instruction to relay by the self-driving instrument, relay is finished by control sensor shutter device and is taken action, exists the regular hour poor between the time that this process can cause record attitude coordinate data and the sensor shooting time of reality.Therefore, attitude coordinate data and the fict sensor attitude coordinate data of self-driving instrument record.
Summary of the invention: for the deficiency of above-mentioned airborne sensor attitude coordinate record existence, invent a kind of high-precision sensor attitude coordinate data pen recorder, this device is made of airborne high-precision GPS and IMU (Inertial Measure Unit, Inertial Measurement Unit).Pen recorder and sensor have been realized integral structure, reduce to greatest extent to disperse to install the system deviation of bringing; Pen recorder and sensor reduce time error to greatest extent by same signal controlling; Pen recorder and sensor are fastened as a whole, and calibration is unified to demarcate in its locus.
Description of drawings:
Fig. 1 is the orthogonal projection synoptic diagram.
Fig. 2 is the remote sensor scheme of installation.
Fig. 3 is SUAV (small unmanned aerial vehicle) aerial survey structural representation.
Embodiment:
As shown in Figure 1, if testee is vertical with the sensor optical axis, namely with the picture plane parallel, according to the perspective projection relation, imaging and goal satisfaction similarity relation.When actual aerophotogrammetric field work, can not accomplish that optical axis is perpendicular to the ground all the time, this needs later stage software to process, and the foundation that software is processed is exactly the angle of optical axis relative measurement face.The space angle of optical axis can obtain with the attitude coordinate of sensor.
By spatial trangulation method and optical measurement principle as can be known, calibration parameter based on optical axis angle and sensor, aerial triangle is photogrammetric can to obtain digital elevation model (Digital Elevation Model by large degree of overlapping aerial photographs are carried out, abbreviation DEM) data and digital orthophoto map (Digital Orthophoto Map, abbreviation DOM), then realize the splicing in whole survey district.
IMU belongs to strapdown inertia, this system has three acceleration transducers and three speed pickups (gyro) to form, accelerometer is used for experiencing moving object with respect to the component of acceleration of ground vertical line, speed pickup is used for experiencing the angle information of moving object, and this subassembly mainly contains two A/D converters and storer consists of.A/D converter adopts the analog variable of each sensor of IMU, calculate last luffing angle, lift-over angle and the course heading of exporting remote sensor through CPU after being converted to numerical information, storer has mainly been stored piece number and the sequence number of linear diagram and each sensor of IMU of each sensor of IMU, extracts for CPU.Simultaneously, the space-time position of GPS real time record remote sensor, and be stored in the storer.When CPU receives the shooting instruction, gather immediately up-to-date data in each storer, be stored in the storage card through encrypting compiling.
As shown in Figure 2, this device is anchored on the remote sensor, can glued joint in remote sensor surface, the 1/4 inch tripod interface that perhaps utilizes remote sensor to carry.
Device adopts modular design, is integrated in pcb board, is installed in the can.Be provided with shutter signal input, shutter signal output, gps antenna, power supply, data transmission interface and CF card plug.
As shown in Figure 3, device (3) is anchored on the remote sensor (2), is installed in the relevant position of remote-sensing flatform by damping (5), and self-driving instrument (1) independently is installed on the relevant position.
The present invention is mainly used in the remote sensing aerial survey, and the coordinate of this device and remote sensor is that the foundation of attitude data is level surface take gps coordinate as the basis, needs to do corresponding demarcation and calibration before and after the device work.
Claims (8)
1. an optical sensor attitude pen recorder that is applicable to SUAV (small unmanned aerial vehicle) is characterized in that, device adopts GPS time service location, IMU attitude detection, by the unified control of self-driving instrument output signal.
2. as claimed in claim 1, this device acquisition and recording time and coordinate attitude data and encryption are stored in the device institute tape storage.
3. as claimed in claim 1, this device adopts special construction to be anchored on the remote sensor, and constitute remotely-sensed data with remote sensor and obtain system,
Remote sensor can be: digital camera, Digital Video, laser radar etc.
4. as claimed in claim 1 or 2, this device institute composition data obtains system and adopts gravitational method to demarcate, and demarcates content and comprises coordinate, attitude, drift value.
5. as described in claim 3 and 4, the used gravitational method of this device is demarcated, and the optical sensor optical axis can be the terrestrial coordinate arbitrary axis.
6. as claimed in claim 1, the used navigation positioning system of this device can be Big Dipper navigation positioning system.
7. as described in claim 1 and 7, this device can be simultaneously with GPS and the two navigation positioning systems of the Big Dipper.
8. the unmanned remote-sensing flatform in described low latitude comprises unmanned fixed-wing flying platform, rotor flying platform, dirigible.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012101196481A CN103376455A (en) | 2012-04-23 | 2012-04-23 | Sensor posture coordinate recording device applicable to low-altitude unpiloted remote sensing platform |
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| CN2012101196481A CN103376455A (en) | 2012-04-23 | 2012-04-23 | Sensor posture coordinate recording device applicable to low-altitude unpiloted remote sensing platform |
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Cited By (8)
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| CN103759751A (en) * | 2014-01-17 | 2014-04-30 | 中国地质大学（北京） | Underwater towed type multi-parameter posture recording device and method |
| CN104050649A (en) * | 2014-06-13 | 2014-09-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| CN104237922A (en) * | 2014-09-19 | 2014-12-24 | 北京中科嘉宏科技有限公司 | GNSS/IMU integrated unmanned aerial vehicle surveying and mapping method and system |
| CN105389777A (en) * | 2015-10-23 | 2016-03-09 | 首都师范大学 | Unmanned aerial vehicle sequential image rapid seamless splicing system |
| CN105717500A (en) * | 2016-02-24 | 2016-06-29 | 深圳乐行天下科技有限公司 | Laser radar and data correcting method thereof |
| CN107065511A (en) * | 2017-04-28 | 2017-08-18 | 四川腾盾科技有限公司 | A kind of unmanned plane during flying parameter markers processing method |
| CN107479082A (en) * | 2017-09-19 | 2017-12-15 | 广东容祺智能科技有限公司 | A kind of unmanned plane makes a return voyage method without GPS |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家***昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103759751A (en) * | 2014-01-17 | 2014-04-30 | 中国地质大学（北京） | Underwater towed type multi-parameter posture recording device and method |
| CN104050649A (en) * | 2014-06-13 | 2014-09-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| WO2015188464A1 (en) * | 2014-06-13 | 2015-12-17 | 北京农业信息技术研究中心 | Agricultural remote sensing system |
| CN104237922A (en) * | 2014-09-19 | 2014-12-24 | 北京中科嘉宏科技有限公司 | GNSS/IMU integrated unmanned aerial vehicle surveying and mapping method and system |
| CN105389777A (en) * | 2015-10-23 | 2016-03-09 | 首都师范大学 | Unmanned aerial vehicle sequential image rapid seamless splicing system |
| CN105717500A (en) * | 2016-02-24 | 2016-06-29 | 深圳乐行天下科技有限公司 | Laser radar and data correcting method thereof |
| CN107065511A (en) * | 2017-04-28 | 2017-08-18 | 四川腾盾科技有限公司 | A kind of unmanned plane during flying parameter markers processing method |
| CN107479082A (en) * | 2017-09-19 | 2017-12-15 | 广东容祺智能科技有限公司 | A kind of unmanned plane makes a return voyage method without GPS |
| CN107807365A (en) * | 2017-10-20 | 2018-03-16 | 国家***昆明勘察设计院 | Small-sized digital photography there-dimensional laser scanning device for the unmanned airborne vehicle in low latitude |
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Application publication date: 20131030 |