CN104102218B - The perception of view-based access control model servo and bypassing method and system - Google Patents

Abstract

The present invention provides a kind of perception of view-based access control model servo and avoidance system, including unmanned plane, image capturing system, Visual servoing control system and navigation positioning system, the vision servo system includes sensation target detection and tracking module, safe envelope module and Visual servoing control device.The present invention also provides a kind of based on the bypassing method perceived with avoidance system, present invention achieves the quick sensing to ambient airspace environment, and do not installing any distance measuring sensor additional and be not required in the case that ground handling operator intervened and operated, the independent evasion manoeuvre completed to space flight target；Loading demands of the present invention are low, control accuracy is high, with higher intelligent, it is possible to increase the spatial domain flight safety ability of unmanned plane.

Description

The perception of view-based access control model servo and bypassing method and system

Technical field

The present invention relates to Navigation of Pilotless Aircraft and control field, the perception of more particularly to a kind of view-based access control model servo and the side of evading Method and system.

Background technology

Recently, as Military Application and civil area are increasingly strong to the demand of unmanned plane, add the civilian spatial domain neck of China Domain further opens, and following spatial domain will be presented the unmanned plane of polytype function, have that man-machine to carry out spatial domain shared and integrated Situation, spatial domain will be increasingly intensive.In the case, unmanned plane perceives and evades (Sense and Avoid, i.e. SAA) ability and incites somebody to action Become into spatial domain flight, ensure the prerequisite of unmanned plane during flying safety.Unmanned plane is perceived and refers to that unmanned plane is utilized with evading Airborne sensor or surface surveillance system complete the monitoring to spatial domain flight environment of vehicle and the state of airbound target is obtained, and touch to potential The target for hitting threat carries out evading path planning, completes evasion manoeuvre action, so as to ensure the Route reform safety of unmanned plane.

SAA technologies are current unmanned air vehicle technique field key technology difficulties urgently to be resolved hurrily.2013, in U.S. FAA In the integrated route map in UAS spatial domain that (Federal Aviation Administration) is issued, SAA is clearly proposed Ability is the pre-requisite abilities that unmanned plane carries out national spatial domain flight.Its major function is divided into：Object detecting and tracking, collision threat Estimate, evade path planning, evasion manoeuvre.

Unmanned aerial vehicle onboard SAA sensors include T-CAS, ADS-B, radar, laser radar, photoelectricity, infrared sensor etc..Its In, photoelectric sensor as and effectively perceive extremely important to noncooperative target with evade means, particularly it is small-sized nobody Machine system load, task, cost are limited, it is impossible to when carrying large-scale awareness apparatus such as radar, laser radar, based on photoelectricity Advantage of the vision SAA system of sensor in terms of quality, power consumption, cost makes which be more easy in the small-sized system integration and application； The characteristics of vision SAA passive type is perceived is applied to battlefield surroundings, stealthy task dispatching particular task occasion；And with ADS-B, TCAS etc. Compare, vision SAA is not against acknowledgement mechanism, it is not necessary to Ground Control Information and satellite positioning information, i.e., can provide to non-conjunction Make perception and the dodging ability of target independence.Therefore, vision SAA system of the research based on photoelectric sensor is significant.

The content of the invention

It is an object of the invention to provide a kind of perception of view-based access control model servo and bypassing method and system, existing to solve Sensor bulk is big, power consumption is larger, the problem of the integrated application being unfavorable in small-sized UAS, and energy of the present invention The quick sensing to ambient airspace environment is enough realized, Visual Feedback Control model is set up by the safe envelope of angle, nobody is controlled Machine completes the perception to spatial domain target and evades.

The present invention provides a kind of perception of view-based access control model servo and avoidance system, including：

Unmanned plane, arranges automatic pilot on the unmanned plane, the automatic pilot receives flight control instruction and carries out Fly and complete avoiding action of the unmanned plane to barrier；

Image capturing system, is mounted on the unmanned plane, for gathering the flying area image information of unmanned plane, adopts The centralized array configuration of polyphaser various visual angles, and pass through camera interface real-time Transmission image information；

Visual servoing control system, is arranged on the unmanned plane, including sensation target detection and tracking module, rescue bag Network module and Visual servoing control device, the image information that sensation target detection receives image capturing system transmission with tracking module is simultaneously Realize the detection to airbound target in image, positioning and track, safe envelope module is carried out according to the target status information for obtaining The generation of the safe envelope of plane of delineation angle, and generate image based on the safe envelope and evade angle, is input at this angle to regarding Feel servo controller, Visual servoing control device output evasion manoeuvre angle, and the angle is passed through into Serial Port Transmission to automatic Pilot Instrument completes avoiding action；

Navigation positioning system, is arranged on the unmanned plane, for setting up air route retrogression mechanism, navigation positioning system detection To unmanned plane not in air route and when there is no threat, air route recurrence is carried out, make unmanned plane return to original air route.

Used as a kind of optimal way, heretofore described sensation target detection is with tracking module using at multi-path high-definition image Platform DM8168.

The present invention also provides the bypassing method of a kind of perception of view-based access control model servo and avoidance system, including：

Step one, realizes being completely covered to the spatial domain in the flight angle of visual field by unmanned aerial vehicle onboard image capturing system, Obtain the flying area image information of unmanned plane；

Step 2, sensation target detection and image letter in tracking module receiving step one in airborne Visual servoing control system Cease and processed, complete the detection to airbound target in spatial domain picture, positioning and track；

Step 3, according to the airbound target status information obtained in step 2, safe envelope in Visual servoing control system Module carries out the safe envelope of plane of delineation angle and generates, and determines that unmanned plane whether there is collision threat by safe envelope, for Collision threat, is calculated and evades angle under image meaning；

Step 4, the visual server evaded in angle input Visual servoing control system in step 3, vision are watched Evasion manoeuvre pitching and yaw angle that device output needs are taken, and is sent to unmanned plane automatic pilot and complete evasion manoeuvre；

Step 5, sets up air route retrogression mechanism using navigation positioning system, when unmanned plane does not have threat, makes unmanned plane Return to original air route.

Used as a kind of optimal way, the concrete methods of realizing of the step 2 is as follows：

The view data that image capturing system is obtained in step one is sent to airborne visual servo control by camera data line In system processed, sensation target detection and tracking module, wherein arrange tri- cameras of A, B, C, sensation target altogether in image capturing system Detection adopts multi-path high-definition image processing platform DM8168 with tracking module, realizes entering the multi-channel video for obtaining using DM8168 Row is processed, and obtains the positional information p of target k moment a certain camera image plane in image capturing system by detection algorithm_k =[p_xk,p_yk], obtain relative angle of the target relative to the camera：

Wherein, w and h are the width and height of the image in units of pixel respectively, and f is camera lens focal length, and μ is picture dot Size；

According to camera installation site, the relative angle that can obtain the target k moment relative to unmanned plane is Θ_k=[σ_k,γ_k], Wherein

γ_k=γ '

In formulaRepresent that the target for detecting comes from image capturing system respectively Camera A, camera B and camera C；

The angular velocity vector Ω of target is determined according to the angle change in front and back's moment_k=[ω_xk,ω_yk]=Θ_k+1-Θ_k,k>0。

As another kind of optimal way, in the step 3, the generation step of safe envelope and evade the calculation procedure of angle Including：

1. targeted security envelope circle is set up, the center of circle is impact point, chooses a radius initial value, and carried out with fixed speed Increase；

2. safe envelope is set up according to target size oval, the oval center of circle is impact point, the length and envelope of ellipse short shaft Round radius is equal, and the length of transverse is extrapolation of the length of short axle with target under current angular velocity in setting aside some time Length sum, the direction of motion of the long axis direction parallel to target；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope is by short with ellipse Axle moves reciprocal semicircle composition with along target for the semiellipse along target direction of motion of cut-off rule；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat based on safe envelope and indicate Function, judges whether collision threat with this；

5. distance principle is evaded according to minimum, is found apart from the nearest point of initial target in the safe envelope of Plane Angle.

Especially, the concrete generation step of safe envelope and evade the concrete calculation procedure of angle such as in the step 3 Under：

1. targeted security envelope circle is set up, relative angular position Θ of the target k moment relative to unmanned plane is elected in the center of circle as_k= [σ_k, γ_k], choose a radius initial value r₀, and increased with fixed speed, then

r_k+1=r_k+ ε, k=1,2,3 ...

r_k=r₀, k=0

Wherein ε is to fix growth rate, r_k+1Represent the safe envelope radius of circle at k+1 moment；

2. safe envelope ellipse is set up according to target size, the oval center of circle is impact point Θ_k=[σ_k,γ_k], long axis direction Parallel to the direction of motion of target, i.e. target angular velocity Ω_kDirection, the length of major axis and short axle selected by following equation respectively Take：

A=r_k(1+α‖Ω_k‖),

B=r_k,

In formula, a and b represents the oval major axis of envelope and short axle, r respectively_kFor the radius of k moment envelope circle, α is angular velocity The scale factor of axial length is converted into, the factor is represented to evade and set aside some time, ‖ Ω_k‖ is target angular velocity of satellite motion vector field homoemorphism；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope is by short with ellipse Axle moves reciprocal semicircle composition with along target for the semiellipse along target direction of motion of cut-off rule；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat sign letter based on time k Number l_k, work as l_k<When 0, it is believed that there is collision threat, collision threat is judged whether with this, wherein

WhereinRepresent that the major axes orientation of camera B, relative to the angle of unmanned plane major axes orientation, can generally be recognized ForIt is sign function；

5. work as l_k<When 0, distance principle is evaded according to minimum, distance is found in the safe envelope of Plane AngleNearest point s^* =[σ^*,γ^*] as minimum evasion manoeuvre point：

WhereinRepresent unit vector of the k moment perpendicular to target angular velocity vector.

Used as another optimal way, in the step 4, the concrete calculation procedure of evasion manoeuvre pitching and yaw angle is such as Under：

1. defining Interactive matrix is

Speed control is set up in the Visual servoing control device of Visual servoing control system, feedback quantity is The exponential damping of error is completed, output speed controlled quentity controlled variable V, Visual servoing control device are expressed as

In formula, λ is error extension attenuation quotient,Represent L_ePseudoinverse；

Due in Interactive matrix L_eIn cannot obtain the information apart from d of target and the machine, Interactive matrix is split It is as follows：

In formula, L_ωRepresent L_eIn Angle ambiguity component, L_tRepresent speed motor control component；

Obtain apart from unrelated Visual servoing control device：

In formula,Represent L_ωPseudoinverse；

To eliminate steady-state error, Visual servoing control device is compensated, it is as follows：

In formula, Ω represents the angular velocity of target motion,Represent the direction vector of error, ω_x、ω_y、ω_zRepresent respectively Three components of ω；

2. the angle of pitch and yaw angle for exporting be

In formula,And φ_cK () represents the angle of pitch and yaw angle of automatic pilot output attitude,And φ K () represents the angle of pitch and yaw angle of unmanned plane current pose, Δ t represents Visual servoing control device output time interval steps, ω_y(k) and ω_zK () represents the rate of pitch controlled quentity controlled variable and yaw rate of current time Visual servoing control device output respectively Controlled quentity controlled variable, g represent acceleration of gravity, and V (k) represents the speed of current time unmanned plane.

Used as another optimal way, in the step 5, the concrete establishment step of air route retrogression mechanism is as follows：

1. unmanned plane is determined whether in air route by the machine navigation positioning system, when the machine not in air route when, navigated Road returns；

2. confirm the recurrence air route angle of moment k

In formula,Represent minimum evasive maneuvering point position when air route returns；

Wherein P_dIt is position of the machine on script air route when there is no evasion manoeuvre, P_d12And P_d13It is the machine respectively In the two-dimensional position of XY and XZ planes；

P_sIt is the machine current location obtained by the machine navigation positioning system, P_s12And P_s13It is the machine respectively in XY and XZ The two-dimensional position of plane；

e_sIt is the machine direction vector obtained by the machine navigation positioning system, e_s12And e_s13It is the machine respectively in XY and XZ The two-dimensional directional vector of plane.

Present invention achieves the quick sensing to ambient airspace environment, and do not installing any distance measuring sensor additional and be not required to In the case that ground handling operator is intervened and is operated, the independent evasion manoeuvre completed to space flight target；This Bright loading demands are low, control accuracy is high, with higher intelligent, it is possible to increase the spatial domain flight safety ability of unmanned plane.

Description of the drawings

Fig. 1 is the perception of the view-based access control model servo of the present invention and avoidance system structured flowchart；

Fig. 2 is the bypassing method flow chart of the perception with avoidance system of the view-based access control model servo of the present invention；

Fig. 3 a are the image capturing system camera array layout drawing of the present invention；

Fig. 3 b are the image capturing system camera array field of view angle schematic diagram of the present invention；

Fig. 4 is the safe envelope schematic diagram of plane of delineation angle of the present invention.

Specific embodiment

The present invention will be further described with reference to the accompanying drawings and examples.

As shown in figure 1, the present invention provides a kind of perception of view-based access control model servo and avoidance system, including：

Unmanned plane, arranges automatic pilot on the unmanned plane, the automatic pilot receives flight control instruction and carries out Fly and complete avoiding action of the unmanned plane to barrier；

Image capturing system, is mounted on the unmanned plane, for gathering the flying area image information of unmanned plane, adopts The centralized array configuration of polyphaser various visual angles, and pass through camera interface real-time Transmission image information；

Visual servoing control system, is arranged on the unmanned plane, including sensation target detection and tracking module, rescue bag Network module and Visual servoing control device, the image information that sensation target detection receives image capturing system transmission with tracking module is simultaneously Realize the detection to airbound target in image, positioning and track, safe envelope module is carried out according to the target status information for obtaining The generation of the safe envelope of plane of delineation angle, and generate image based on the safe envelope and evade angle, is input at this angle to regarding Feel servo controller, Visual servoing control device output evasion manoeuvre angle, and the angle is passed through into Serial Port Transmission to automatic Pilot Instrument completes avoiding action；

Navigation positioning system, is arranged on the unmanned plane, for setting up air route retrogression mechanism, navigation positioning system detection To unmanned plane not in air route and when there is no threat, air route recurrence is carried out, make unmanned plane return to original air route.

Wherein, in the present invention, sensation target detection adopts multi-path high-definition image processing platform DM8168 with tracking module.

As shown in Fig. 2 the present invention also provides the bypassing method of a kind of perception of view-based access control model servo and avoidance system, bag Include：

Step one, realizes being completely covered to the spatial domain in the flight angle of visual field by unmanned aerial vehicle onboard image capturing system, Obtain the flying area image information of unmanned plane.

Specified according to International Civil Aviation Organization, the angle of visual field of aircraft space must meet respectively：Horizontal field of view>± 110 °, Vertical field of view>± 15 °, it is therefore necessary to which above-mentioned spatial domain can be completely covered, and should obtain clear accurate as far as possible Information.Image capturing system, from for the angle of camera that is, must is fulfilled for using the centralized array configuration of polyphaser various visual angles Big market and remote high-resolution imaging, and single camera lens are difficult to take into account in terms of the angle of visual field and focal length.Therefore, adopt The centralized array configuration of polyphaser as shown in Figure 3 a, in figure, A, B, C are and are arranged on the camera increased on steady head, increase steady head Ensure that the clear, acquisition of horizontal view angle image.Big field of view angle, tool are obtained using the focal length splicing of multiple telephoto lenses Body field of view angle as shown in Figure 3 b, while improving detectivity to distant object.

Step 2, sensation target detection and image letter in tracking module receiving step one in airborne Visual servoing control system Cease and processed, complete the detection to airbound target in spatial domain picture, positioning and track.

In small-sized unmanned plane, due to the restriction of communication bandwidth, tend not to realize the real time communication to high-definition image, The long-distance transmissions of multi-path high-definition video are difficult to realize in current small-sized UAS.

The view data that image capturing system is obtained is sent in airborne Visual servoing control system by camera data line Multi-path high-definition image processing platform DM8168, realizes processing the multi-channel video for obtaining using DM8168, is calculated by detecting Method obtains the positional information p of target k moment a certain camera image plane in image capturing system_k=[p_xk,p_yk], obtain target Relative to the relative angle of the camera：

Wherein, w and h are the width and height of the image in units of pixel respectively, and f is camera lens focal length, and μ is picture dot Size；

According to camera installation site, the relative angle that can obtain the target k moment relative to unmanned plane is Θ_k=[σ_k,γ_k], Wherein

γ_k=γ '

In formulaRepresent that the target for detecting comes from image capturing system respectively Camera A, camera B and camera C.

The angular velocity vector Ω of target is determined according to the angle change in front and back's moment_k=[ω_xk,ω_yk]=Θ_k+1-Θ_k,k>0。

Step 3, according to the airbound target status information obtained in step 2, safe envelope in Visual servoing control system Module carries out the safe envelope of plane of delineation angle and generates, and determines that unmanned plane whether there is collision threat by safe envelope, for Collision threat, is calculated and evades angle s under image meaning^*=[σ^*,γ^*]。

Safe envelope is defined to indicate that aircraft and the smooth of target distance of minimum separation, closed curve or curved surface, is regarding In feeling avoidance system, as distance cannot be obtained, therefore safe envelope cannot be set up according to the true three-dimension space of target, such as be schemed Shown in 4, a kind of safe enveloping method based on angle is set up in the present invention, comprised the steps：

1. targeted security envelope circle is set up, the center of circle is impact point, chooses a radius initial value, and carried out with fixed speed Increase；

2. safe envelope is set up according to target size oval, the oval center of circle is impact point, the length and envelope of ellipse short shaft Round radius is equal, and the length of transverse is extrapolation of the length of short axle with target under current angular velocity in setting aside some time Length sum, the direction of motion of the long axis direction parallel to target；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope is by short with ellipse Axle moves reciprocal semicircle composition with along target for the semiellipse along target direction of motion of cut-off rule；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat based on safe envelope and indicate Function, judges whether collision threat with this；

5. distance principle is evaded according to minimum, is found apart from the nearest point of initial target in the safe envelope of Plane Angle.

Safe enveloping method of the above-mentioned foundation based on angle can be carried out according to following concrete steps：

1. targeted security envelope circle is set up, relative angular position Θ of the target k moment relative to unmanned plane is elected in the center of circle as_k= [σ_k,γ_k], choose a radius initial value r₀, and increased with fixed speed, then

r_k+1=r_k+ ε, k=1,2,3 ...

r_k=r₀, k=0

Wherein ε is to fix growth rate, for simulated three-dimensional space object the plane of delineation rate of expansion, r_k+1Represent k The safe envelope radius of circle at+1 moment, the r in Fig. 4 represent the radius of envelope circle；

2. safe envelope ellipse is set up according to target size, the oval center of circle is impact point Θ_k=[σ_k,γ_k], long axis direction Parallel to the direction of motion of target, i.e. target angular velocity Ω_kDirection, a and b in Fig. 4 represent the oval major axis of envelope respectively And the length of short axle, major axis and short axle is chosen by following equation respectively：

A=r_k(1+α‖Ω_k‖),

B=r_k,

In formula, a and b represents the oval major axis of envelope and short axle, r respectively_kFor the radius of k moment envelope circle, α is angular velocity The scale factor of axial length is converted into, the factor is represented to evade and set aside some time, ‖ Ω_k‖ is target angular velocity of satellite motion vector field homoemorphism, i.e., The length of major axis is extrapolation length sum of the length of short axle with target under current angular velocity in setting aside some time；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope is by short with ellipse Axle moves reciprocal semicircle composition with along target for the semiellipse along target direction of motion of cut-off rule, real in concrete such as Fig. 4 Shown in line part；

The safe envelope both considered due to target be close to and translocation error exist cause evade angle surplus, while peace Full envelope have also contemplated that the kinestate of target；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat sign letter based on time k Number l_k, work as l_k<When 0, it is believed that there is collision threat, collision threat is judged whether with this, wherein

WhereinRepresent that the major axes orientation of camera B, relative to the angle of unmanned plane major axes orientation, can generally be recognized ForIt is sign function；

5. work as l_k<When 0, distance principle is evaded according to minimum, distance is found in the safe envelope of Plane AngleNearest point s^* =[σ^*,γ^*] as minimum evasion manoeuvre point：

WhereinRepresent unit vector of the k moment perpendicular to target angular velocity vector.

Step 4, will evade angle s in step 3^*=[σ^*,γ^*] input Visual servoing control system in vision watch Device is taken, evasion manoeuvre pitching and yaw angle that visual server output needsAnd unmanned plane is sent to by serial ports Automatic pilot completes evasion manoeuvre.

1. defining Interactive matrix is

Speed control is set up in the Visual servoing control device of Visual servoing control system, feedback quantity is The exponential damping of error is completed, output speed controlled quentity controlled variable V, Visual servoing control device are expressed as

In formula, λ is error extension attenuation quotient,Represent L_ePseudoinverse；

Due in Interactive matrix L_eIn cannot obtain the information apart from d of target and the machine, Interactive matrix is split It is as follows：

In formula, L_ωRepresent L_eIn Angle ambiguity component, L_tRepresent speed motor control component；

Obtain apart from unrelated Visual servoing control device：

In formula,Represent L_ωPseudoinverse；

To eliminate steady-state error, Visual servoing control device is compensated, it is as follows：

In formula, Ω represents the angular velocity of target motion,Represent the direction vector of error, ω_x、ω_y、ω_zRepresent respectively Three components of ω；

2. the angle of pitch and yaw angle for exporting be

In formula,And φ_cK () represents the angle of pitch and yaw angle of automatic pilot output attitude,And φ K () represents the angle of pitch and yaw angle of unmanned plane current pose, Δ t represents Visual servoing control device output time interval steps, ω_y(k) and ω_zK () represents the rate of pitch controlled quentity controlled variable and yaw rate of current time Visual servoing control device output respectively Controlled quentity controlled variable, g represent acceleration of gravity, and V (k) represents the speed of current time unmanned plane.

Step 5, sets up air route retrogression mechanism using navigation positioning system, when unmanned plane does not have threat, makes unmanned plane Return to original air route.

1. unmanned plane is determined whether in air route by the machine navigation positioning system, when the machine not in air route when, navigated Road returns；

2. confirm the recurrence air route angle of moment k

In formula,Represent minimum evasive maneuvering point position when air route returns；

Wherein P_dIt is position of the machine on script air route when there is no evasion manoeuvre, P_d12And P_d13It is the machine respectively In the two-dimensional position of XY and XZ planes；

P_sIt is the machine current location obtained by the machine navigation positioning system, P_s12And P_s13It is the machine respectively in XY and XZ The two-dimensional position of plane；

e_sIt is the machine direction vector obtained by the machine navigation positioning system, e_s12And e_s13It is the machine respectively in XY and XZ The two-dimensional directional vector of plane.

The method and system that the present invention is provided can be realized in the case where any distance measuring sensor is not installed additional, without behaviour Make the evasion manoeuvre for completing to space flight target in the case that personnel intervene, loading demands are low, control accuracy is high, with higher It is intelligent, it is possible to increase the spatial domain flight safety ability of unmanned plane.

Claims (7)

1. a kind of perception of view-based access control model servo and avoidance system, it is characterised in that include：

Unmanned plane, arranges automatic pilot on the unmanned plane, the automatic pilot receives flight control instruction and flown And complete avoiding action of the unmanned plane to barrier；

Image capturing system, is mounted on the unmanned plane, for gathering the flying area image information of unmanned plane, using multiphase The centralized array configuration of machine various visual angles, and pass through camera interface real-time Transmission image information；

Visual servoing control system, is arranged on the unmanned plane, including sensation target detection and tracking module, safe envelope mould Block and Visual servoing control device, sensation target detection receive the image information of image capturing system transmission with tracking module and realize Detection, positioning and tracking to airbound target in image, safe envelope module carry out image according to the target status information for obtaining The generation of the safe envelope of Plane Angle, and angle is evaded based on safe envelope generation image, it is input into vision at this angle and watches Controller, Visual servoing control device output evasion manoeuvre angle are taken, and it is complete to automatic pilot that the angle is passed through Serial Port Transmission Into avoiding action；

Navigation positioning system, is arranged on the unmanned plane, and for setting up air route retrogression mechanism, navigation positioning system detects nothing It is man-machine to carry out air route recurrence not in air route and when there is no threat, make unmanned plane return to original air route.

2. the perception of view-based access control model servo according to claim 1 and avoidance system, it is characterised in that the sensation target Detection adopts multi-path high-definition image processing platform DM8168 with tracking module.

3. the bypassing method of a kind of perception of view-based access control model servo and avoidance system, it is characterised in that include：

Step one, realizes being completely covered to the spatial domain in the flight angle of visual field by unmanned aerial vehicle onboard image capturing system, obtains The flying area image information of unmanned plane；

Step 2, sensation target detection in airborne Visual servoing control system receive image letter in the step one with tracking module Cease and processed, complete the detection to airbound target in spatial domain picture, positioning and track；

The concrete methods of realizing of the step 2 is as follows：

The view data that image capturing system is obtained in the step one is sent to airborne visual servo control by camera data line In system processed, sensation target detection and tracking module, wherein arrange tri- cameras of A, B, C, sensation target altogether in image capturing system Detection adopts multi-path high-definition image processing platform DM8168 with tracking module, realizes entering the multi-channel video for obtaining using DM8168 Row is processed, and obtains the positional information p of target k moment a certain camera image plane in image capturing system by detection algorithm_k =[p_xk,p_yk], obtain relative angle of the target relative to the camera：

${\mathrm{\&sigma;}}^{\&prime;}={\tan }^{-1}\frac{p_{xk}-\frac{w}{2}}{f/\mathrm{\&mu;}}$

${\mathrm{\&gamma;}}^{\&prime;}={\tan }^{-1}\frac{p_{yk}-\frac{h}{2}}{f/\mathrm{\&mu;}}$

Wherein, w and h are the width and height of the image in units of pixel respectively, and f is camera lens focal length, and μ is picture dot chi It is very little；

According to camera installation site, the relative angle that can obtain the target k moment relative to unmanned plane is Θ_k=[σ_k,γ_k], wherein

${\mathrm{\&sigma;}}_k=\left\{\begin{array}{cc}{\mathrm{\&sigma;}}^{\&prime;}-\frac{4}{9}\mathrm{\&pi;},& p_k\&Subset;A\\ {\mathrm{\&sigma;}}^{\&prime;},& p_k\&Subset;B\\ {\mathrm{\&sigma;}}^{\&prime;}+\frac{4}{9}\mathrm{\&pi;},& p_k\&Subset;C\end{array}\right.$

γ_k=γ '

In formulaRepresent that the target for detecting comes from the phase in image capturing system respectively Machine A, camera B and camera C；

The angular velocity vector Ω of target is determined according to the angle change in front and back's moment_k=[ω_xk,ω_yk]=Θ_k+1-Θ_k,k>0；

Step 3, according to the airbound target status information obtained in the step 2, safe envelope in Visual servoing control system Module carries out the safe envelope of plane of delineation angle and generates, and determines that unmanned plane whether there is collision threat by safe envelope, for Collision threat, is calculated and evades angle under image meaning；

Step 4, the visual server evaded in angle input Visual servoing control system in the step 3, vision are watched Evasion manoeuvre pitching and yaw angle that device output needs are taken, and is sent to unmanned plane automatic pilot and complete evasion manoeuvre；

Step 5, sets up air route retrogression mechanism using navigation positioning system, when unmanned plane does not have threat, returns unmanned plane Original air route.

4. bypassing method according to claim 3, it is characterised in that in the step 3 generation step of safe envelope and The calculation procedure for evading angle includes：

1. targeted security envelope circle is set up, the center of circle is impact point, chooses a radius initial value, and increased with fixed speed It is long；

2. safe envelope ellipse is set up according to target size, the oval center of circle is impact point, the length and envelope circle of ellipse short shaft Radius is equal, and the length of transverse is extrapolation length of the length of short axle with target under current angular velocity in setting aside some time Sum, the direction of motion of the long axis direction parallel to target；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope by with ellipse short shaft is The semiellipse along target direction of motion of cut-off rule moves reciprocal semicircle composition with along target；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat sign letter based on safe envelope Number, judges whether collision threat with this；

5. distance principle is evaded according to minimum, is found apart from the nearest point of initial target in the safe envelope of Plane Angle.

5. bypassing method according to claim 4, it is characterised in that the concrete generation step of safe envelope in the step 3 Concrete calculation procedure that is rapid and evading angle is as follows：

1. targeted security envelope circle is set up, relative angular position Θ of the target k moment relative to unmanned plane is elected in the center of circle as_k=[σ_k, γ_k], choose a radius initial value r₀, and increased with fixed speed, then

r_k+1=r_k+ ε, k=1,2,3 ...

r_k=r₀, k=0

Wherein ε is that the fixed of safe envelope radius of circle increases length, r_k+1Represent the safe envelope radius of circle at k+1 moment；

2. safe envelope ellipse is set up according to target size, the oval center of circle is impact point Θ_k=[σ_k,γ_k], long axis direction is parallel In the direction of motion of target, i.e. target angular velocity Ω_kDirection, the length of major axis and short axle chosen by following equation respectively：

A=r_k(1+α‖Ω_k‖),

B=r_k,

In formula, a and b represents the oval major axis of envelope and short axle, r respectively_kFor the radius that k moment envelope is justified, α is that angular velocity is converted For the scale factor of axial length, the factor is represented to evade and is set aside some time, ‖ Ω_k‖ is target angular velocity of satellite motion vector field homoemorphism；

3. the envelope circle and envelope of aforementioned generation are oval forms the safe envelope of Plane Angle, and the safe envelope by with ellipse short shaft is The semiellipse along target direction of motion of cut-off rule moves reciprocal semicircle composition with along target；

4. Target threat estima tion is carried out based on the safe envelope of aforesaid plane angle, sets up the threat sign function l based on time k_k, Work as l_k<When 0, there is collision threat, collision threat is judged whether with this, wherein

$l_k=\left\{\begin{array}{cc}\mathrm{sgn}\left({\left(\widetilde{\mathrm{\&sigma;}}-{\mathrm{\&sigma;}}_k\right)}^2+{\left(\widetilde{\mathrm{\&gamma;}}-{\mathrm{\&gamma;}}_k\right)}^2-r_k\right)& \left(\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\right)\&CenterDot;{\mathrm{\&Omega;}}_k<0\\ \mathrm{sgn}\left(\frac{{\left(\widetilde{\mathrm{\&sigma;}}-{\mathrm{\&sigma;}}_k\right)}^2}{a}+\frac{{\left(\widetilde{\mathrm{\&gamma;}}-{\mathrm{\&gamma;}}_k\right)}^2}{b}-1\right)& \left(\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\right)\&CenterDot;{\mathrm{\&Omega;}}_k\&GreaterEqual;0\end{array}\right.,$

WhereinThe angle of the major axes orientation relative to unmanned plane major axes orientation of camera B is represented, wherein, Sgn () is sign function；

5. work as l_k<When 0, distance principle is evaded according to minimum, distance is found in the safe envelope of Plane AngleNearest point s^*= [σ^*,γ^*] as minimum evasion manoeuvre point：

$s^{*}=\left\{\begin{array}{cc}{\mathrm{\&Theta;}}_k+\frac{\left(\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\right)}{\left|\right|\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\left|\right|}{r}_k,& \left(\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\right)\&CenterDot;{\mathrm{\&Omega;}}_k<0\\ {\mathrm{\&Theta;}}_k\&PlusMinus;e^{\&perp;{\mathrm{\&Omega;}}_k}{r}_k,& \left(\widetilde{\mathrm{\&Theta;}}-{\mathrm{\&Theta;}}_k\right)\&CenterDot;{\mathrm{\&Omega;}}_k\&GreaterEqual;0\end{array}\right.,$

WhereinRepresent unit vector of the k moment perpendicular to target angular velocity vector.

6. bypassing method according to claim 3, it is characterised in that evasion manoeuvre pitching and yaw angle in the step 4 The concrete calculation procedure of degree is as follows：

1. defining Interactive matrix is

$L_e=\left[\begin{array}{cccccc}\frac{-{\mathrm{cos\&sigma;}}_k{\mathrm{cos\&gamma;}}_k}{d}& \frac{-{\mathrm{cos\&sigma;}}_k{\mathrm{sin\&gamma;}}_k}{d}& {\mathrm{sin\&sigma;}}_k& {\mathrm{sin\&gamma;}}_k& -{\mathrm{cos\&gamma;}}_k& 0\\ \frac{{\mathrm{sin\&gamma;}}_k}{d{\mathrm{sin\&sigma;}}_k}& \frac{-{\mathrm{cos\&gamma;}}_k}{d{\mathrm{sin\&sigma;}}_k}& 0& \frac{{\mathrm{cos\&gamma;}}_k{\mathrm{cos\&sigma;}}_k}{{\mathrm{sin\&sigma;}}_k}& \frac{{\mathrm{sin\&gamma;}}_k{\mathrm{cos\&sigma;}}_k}{{\mathrm{sin\&sigma;}}_k}& -1\end{array}\right],$

Speed control is set up in the Visual servoing control device of Visual servoing control system, feedback quantity is The exponential damping of error is completed, output speed controlled quentity controlled variable V, Visual servoing control device are expressed as

$V=\&lsqb;v,w\&rsqb;=-{\mathrm{\&lambda;L}}_e^{+}e,$

In formula, λ is error extension attenuation quotient,Represent L_ePseudoinverse；

Due in Interactive matrix L_eIn cannot obtain the information apart from d of target and the machine, Interactive matrix is carried out splitting as follows：

$L_e=\&lsqb;\frac{1}{d}{L}_t,L_{\mathrm{\&omega;}}\&rsqb;,$

In formula, L_ωRepresent L_eIn Angle ambiguity component, L_tRepresent speed motor control component；

Obtain apart from unrelated Visual servoing control device：

$\mathrm{\&omega;}=-{\mathrm{\&lambda;L}}_{\mathrm{\&omega;}}^{+}e,$

In formula,Represent L_ωPseudoinverse；

To eliminate steady-state error, Visual servoing control device is compensated, it is as follows：

$\mathrm{\&omega;}=-{\mathrm{\&lambda;L}}_{\mathrm{\&omega;}}^{+}e+L_{\mathrm{\&omega;}}^{+}(\mathrm{\&Omega;}+\frac{s^{*}}{\left|\right|s^{*}\left|\right|}\mathrm{\&epsiv;})=\left[\begin{array}{ccc}{\mathrm{\&omega;}}_x& {\mathrm{\&omega;}}_y& {\mathrm{\&omega;}}_z\end{array}\right],$

In formula, Ω represents the angular velocity of target motion,Represent the direction vector of error, ω_x、ω_y、ω_zRepresent ω's respectively Three components；

2. the angle of pitch and yaw angle for exporting be

${\mathrm{\&phi;}}_c\left(k\right)=\mathrm{\&phi;}\left(k\right)+\tan \frac{V\left(k\right){\mathrm{\&omega;}}_z\left(k\right)}{g}$

In formula,And φ_cK () represents the angle of pitch and yaw angle of automatic pilot output attitude,Represent with φ (k) The angle of pitch and yaw angle of unmanned plane current pose, Δ t represent Visual servoing control device output time interval steps, ω_y(k) and ω_zK () represents the rate of pitch controlled quentity controlled variable and yaw rate controlled quentity controlled variable of current time Visual servoing control device output respectively, G represents acceleration of gravity, and V (k) represents the speed of current time unmanned plane.

7. bypassing method according to claim 3, it is characterised in that air route retrogression mechanism specifically builds in the step 5 Vertical step is as follows：

1. unmanned plane is determined whether in air route by the machine navigation positioning system, when the machine not in air route when, carry out air route and return Return；

2. confirm the recurrence air route angle of moment k

${\mathrm{\&gamma;}}_d^{*}={\cos }^{-1}\frac{\left(P_{d12}\right(k)-P_{s12})\&CenterDot;e_{s12}}{\left|\right|P_{d12}-P_{s12}\left|\right|}+\frac{\mathrm{\&pi;}}{2},$

${\mathrm{\&sigma;}}_d^{*}={\cos }^{-1}\frac{(P_{d13}-P_{s13})\&CenterDot;e_{s13}}{\left|\right|P_{d13}-P_{s13}\left|\right|}+\frac{3\mathrm{\&pi;}}{4},$

In formula,Represent minimum evasive maneuvering point position when air route returns；

Wherein P_dIt is position of the machine on script air route when there is no evasion manoeuvre, P_d12And P_d13The machine respectively in XY and The two-dimensional position of XZ planes；

P_sIt is the machine current location obtained by the machine navigation positioning system, P_s12And P_s13It is the machine respectively in XY and XZ planes Two-dimensional position；

e_sIt is the machine direction vector obtained by the machine navigation positioning system, e_s12And e_s13It is the machine respectively in XY and XZ planes Two-dimensional directional vector.