CN104748730A - Device and method for determining exposure moment of aerial survey camera in unmanned aerial vehicle - Google Patents
Device and method for determining exposure moment of aerial survey camera in unmanned aerial vehicle Download PDFInfo
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Abstract
The invention relates to the field of the aerial photogrammetry of the unmanned aerial vehicle and in particular relates to a device for determining the exposure moment of an aerial survey camera in the unmanned aerial vehicle. The device comprises an unmanned aerial vehicle flight control system, the aerial survey camera and a GNSS (Global Navigation Satellite System), which are connected sequentially, wherein the unmanned aerial vehicle flight control system generates a first exposure signal according to the preset exposure control information, the aerial survey camera is used for exposing according to the first exposure signal and generating a synchronizing signal simultaneously, and the GNSS system is used for determining the accurate exposure moment of the aerial survey camera according to the synchronizing signal. The invention also relates to a method for accurately determining the exposure moment of the aerial survey camera in the unmanned aerial vehicle. According to the device and the method, the technical problem that the exposure moment of the industrial digital camera is accurately determined is solved, and the accuracy of resolving the elements of exterior orientation of the aerially surveyed photo through post interpolation of data of the GNSS is greatly improved.
Description
Technical field
The present invention relates to unmanned plane field of aerial photography measurement, specifically a kind of device and method measuring the aerial survey camera exposure moment in unmanned plane.
Background technology
In prior art, in the work of unmanned plane photogrammetric measurement, the precise time information in digital cameral exposure moment is that the moment of the exposed pulse signal not recording or sent by system for flight control computer is as the camera exposure moment, do not consider the problem that camera exposure postpones, therefore can not accurately reflect the camera exposure moment.Do not have precise time information just effectively can not mate with accurate coordinate information to associate, this just makes photogrammetric measurement need a large amount of ground photo control points to carry out precision support, such as, GPS (Global Positioning System, GPS) frequency is generally about 4HZ, and unmanned plane normally non-stop flight in the speed of about 30m/s, this temporal information just making GPS record and coordinate information have sizable gap, and the exposure information that GPS gives implements exposure actions also for some time to camera, and now aircraft there occurs displacement aloft, so now the temporal information of GPS record is not the temporal information that camera really exposes.In patent No. CN201310012924.9, disclose a kind of unmanned plane small-sized aviation measuring camera exposure signal Real-time Obtaining and recording method, before camera shutter, curtain obtains camera exposure signal, and by the temporal information of this signal of GPS device record as the camera exposure moment, but because camera exposure signal in the method is drawn from curtain position before camera internal and is connected to GPS device, therefore structure is more complicated, and camera shutter is easily subject to signal disturbing and causes shutter operating error, thus affect the precision of logout further, therefore the method still cannot solve the technical matters of the Accurate Measurement in aerial survey camera exposure moment in unmanned plane well.
Summary of the invention
In view of this, the object of the present invention is to provide a kind of device and method measuring the aerial survey camera exposure moment in unmanned plane, to solve the above problems and not enough and provide the advantage of at least the following stated.
First aspect, embodiments provide a kind of device measuring the aerial survey camera exposure moment in unmanned plane, comprise: system for flight control computer, aviation measuring camera and GNSS (GlobalNavigation Satellite System, i.e. GLONASS (Global Navigation Satellite System)) system; This system for flight control computer, this aviation measuring camera and this GNSS system sequential series; This system for flight control computer is used for, according to the spectrum assignment information preset, generating the first exposure signal; This aviation measuring camera is used for exposing according to this first exposure signal, generates synchronizing signal simultaneously; This GNSS system is used for the accurate time of exposure determining this aviation measuring camera according to this synchronizing signal.
Preferably, this GNSS system comprises base modules and correction verification module; This system for flight control computer is used for, when generating this first exposure signal, generating the second exposure signal simultaneously, and this second exposure signal being sent to this base modules; This base modules is used for the benchmark time of exposure determining this aviation measuring camera according to this second exposure signal, and this benchmark is sent to this correction verification module the time of exposure; When this correction verification module time difference be used between the described benchmark time of exposure and the moment getting described synchronizing signal is less than default standard time difference, using the accurate time of exposure of the moment of described synchronizing signal as this aviation measuring camera.
Preferably, this correction verification module comprises difference unit and comparing unit; This time difference for calculating the time difference between this benchmark time of exposure and the moment getting this synchronizing signal, and is sent to this comparing unit by this difference unit; This comparing unit is used for this time difference and the standard time difference preset to compare, if this time difference is less than this standard time difference, then will get the accurate time of exposure of moment as this aviation measuring camera of this synchronizing signal, otherwise using this benchmark time of exposure accurate time of exposure as this aviation measuring camera.
Further, this GNSS system is double frequency GNSS or GNSS/IMU system.
Further, in above-mentioned Accurate Measurement unmanned plane, the device in aerial survey camera exposure moment can comprise: wirelessly draw sudden strain of a muscle device, for producing this synchronizing signal when this aviation measuring camera exposes.
Preferably, in above-mentioned Accurate Measurement unmanned plane, the device in aerial survey camera exposure moment can comprise: signal amplifier, the signal synchronously produced at hot shoe signalling contact or pc port during for being exposed by this aviation measuring camera amplifies, and exports this synchronizing signal.
Preferably, this aviation measuring camera exposes when the first heavy curtain is opened.
Preferably, this aviation measuring camera is industrial digital camera.
Second aspect, the embodiment of the present invention additionally provides the method in aerial survey camera exposure moment in a kind of Accurate Measurement unmanned plane, comprise: system for flight control computer, according to the spectrum assignment information preset, generates the first exposure signal, and this first exposure signal is sent to aviation measuring camera; This aviation measuring camera exposes according to this first exposure signal, generates synchronizing signal simultaneously, and this synchronizing signal is sent to GNSS system; This GNSS system, according to this synchronizing signal, determines the accurate time of exposure of this aviation measuring camera.
Preferably, said method also comprises, and system for flight control computer, according to the accurate time of exposure of this aviation measuring camera, calculates the elements of exterior orientation of aerial survey photo.
The device and method in aerial survey camera exposure moment in the Accurate Measurement unmanned plane that the embodiment of the present invention provides, the signal produced in camera external sync when utilizing aviation measuring camera to perform exposure actions also sends to GNSS system after processing it, thus accurate time of exposure of aviation measuring camera can be gone out by Accurate Measurement, substantially increase the precision of logout, as the initial value of the elements of exterior orientation of image, considerably reducing the degree of dependence affected to ground control point in processing procedure, can accomplishing without controlling or a small amount of reference mark.
For making above-mentioned purpose of the present invention, feature and advantage become apparent, preferred embodiment cited below particularly, and coordinate appended accompanying drawing, be described in detail below.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme of the embodiment of the present invention, be briefly described to the accompanying drawing used required in embodiment below, be to be understood that, the following drawings illustrate only some embodiment of the present invention, therefore the restriction to scope should be counted as, for those of ordinary skill in the art, under the prerequisite not paying creative work, other relevant accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 shows a kind of device measuring the aerial survey camera exposure moment in unmanned plane in prior art;
Fig. 2 shows the device in aerial survey camera exposure moment in a kind of Accurate Measurement unmanned plane that the embodiment of the present invention provides;
Fig. 3 shows the device in aerial survey camera exposure moment in the second Accurate Measurement unmanned plane that the embodiment of the present invention provides;
Fig. 4 (a) and (b) respectively illustrate the waveform of a kind of first exposure signal that the embodiment of the present invention provides and synchronizing signal;
Fig. 5 shows the method in aerial survey camera exposure moment in a kind of Accurate Measurement unmanned plane that the embodiment of the present invention provides.
1 system for flight control computer
2 GNSS system
3 aviation measuring cameras
11 IMU/GNSS systems
12 base modules
13 correction verification modules
14 difference unit
15 comparing units
Embodiment
Below in conjunction with accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.The assembly of the embodiment of the present invention describing and illustrate in usual accompanying drawing herein can be arranged with various different configuration and design.Therefore, below to the detailed description of the embodiments of the invention provided in the accompanying drawings and the claimed scope of the present invention of not intended to be limiting, but selected embodiment of the present invention is only represented.Based on embodiments of the invention, the every other embodiment that those skilled in the art obtain under the prerequisite not making creative work, all belongs to the scope of protection of the invention.
Be illustrated in figure 1 a kind of device measuring the aerial survey camera exposure moment in unmanned plane in prior art, in this device, system for flight control computer 1 is according to the spectrum assignment information preset, export the camera exposure pulse signal that two-way is synchronous, wherein riches all the way gives camera 3 and carries out exposure actions for controlling camera 3, riches all the way in addition gives GNSS system, records the arrival moment of this pulse, and using the arrival moment of this pulse as the camera exposure moment.This device does not consider the transmission delay of exposed pulse signal in system line, and also do not consider the problem that the exposure that the production technology of camera own causes postpones, the arrival moment of therefore this pulse accurately can not reflect the actual exposure moment of camera.
The device in aerial survey camera exposure moment in a kind of Accurate Measurement unmanned plane provided according to the embodiment of the present invention is provided, comprise: system for flight control computer 1, aviation measuring camera 3 and GNSS system 2, and system for flight control computer 1, aviation measuring camera 3 and GNSS system 2 sequential series, wherein in system for flight control computer 1, people is the spectrum assignment information setting aviation measuring camera 3 in advance, system for flight control computer 1 generates the first exposure signal according to this spectrum assignment information, and this first exposure signal is sent to aviation measuring camera 3, aviation measuring camera 3 carries out exposure actions according to this first exposure signal, generate the synchronizing signal identical with the moment performing exposure actions simultaneously, and this synchronizing signal is sent to GNSS system 2, GNSS system 2 is according to the moment receiving this synchronizing signal, determine the accurate time of exposure of aviation measuring camera 3, the present embodiment preferably can receive the accurate time of exposure of moment as aviation measuring camera 3 of this synchronizing signal.Wherein, GNSS system 2 can be such as double frequency GNSS system, or IMU/GNSS (IMU, Inertia Measurement Unit, Inertial Measurement Unit) system, can also be gps system, Glonass (GLOBAL NAVIGATIONSATELLITE SYSTEM, GLONASS satellite navigation system), Galileo (GalileoPositioning System, GALILEO positioning system), Beidou satellite navigation system.
Fig. 3 shows the device in aerial survey camera exposure moment in the second Accurate Measurement unmanned plane that the embodiment of the present invention provides, and is described in this embodiment for IMU/GNSS system.IMU/GNSS system 11 such as can comprise base modules 12 and correction verification module 13.System for flight control computer 1 is when generation the first exposure signal, also generate second exposure signal synchronous with this first exposure signal simultaneously, and this second exposure signal is sent to this base modules 12, base modules 12 is for the benchmark time of exposure according to this second exposure signal determination aviation measuring camera 3, and this benchmark is sent to correction verification module 13 time of exposure, correction verification module 13 is for verifying according to this benchmark moment to the above-mentioned synchronizing signal got time of exposure, to determine the accurate time of exposure of aviation measuring camera 3, when time difference between this benchmark time of exposure and the moment getting this synchronizing signal is less than default standard time difference, using the accurate time of exposure of the moment of this synchronizing signal as aviation measuring camera 3.In the present embodiment, correction verification module 13 such as can also comprise difference unit 14 and comparing unit 15, wherein difference unit 14 is for calculating the time difference between this benchmark time of exposure and the moment getting this synchronizing signal, and this time difference is sent to comparing unit 15, comparing unit 15 is for comparing this time difference and the standard time difference preset, if this time difference is less than this standard time difference, then the accurate time of exposure of moment as aviation measuring camera 3 of this synchronizing signal will be got, otherwise using this benchmark time of exposure accurate time of exposure as aviation measuring camera 3.
The waveform of a kind of preferred first exposure signal of the system for flight control computer generation that (a) provides for the embodiment of the present invention in Fig. 4, this first exposure signal can be negative edge or the rising edge of the such as 0-3.3V square-wave pulse that aviation measuring camera 3 and GNSS system 2 can receive, preferred negative edge, as shown in Fig. 4 (a), also can be other forms of pulse, the embodiment of the present invention specifically limit this.In Fig. 4, (b) wirelessly accordingly with (a) in Fig. 4 draws the waveform dodging a kind of synchronizing signal that device sends.Wherein transverse axis is time shaft, and the longitudinal axis is voltage axis.The present embodiment, by composition graphs 4 on the basis of Fig. 3, describes in detail the device in aerial survey camera exposure moment in provided the second Accurate Measurement unmanned plane.
As shown in Figure 3, system for flight control computer 1, aviation measuring camera 3 and IMU/GNSS system 11 sequential series, in system for flight control computer 1, people is the spectrum assignment information setting aviation measuring camera 3 in advance, system for flight control computer 1 generates the first exposure signal in Fig. 4 (a) according to this spectrum assignment information, and this first exposure signal is sent to aviation measuring camera 3, during t1 moment, the negative edge of this first exposure signal is sent by system for flight control computer 1, after the delay of one △ t period, aviation measuring camera 3 receives the negative edge of this first exposure signal in the t2 moment, shutter such as first heavy curtain of aviation measuring camera 3 is opened and carries out exposure actions simultaneously, generate the signal with the timing synchronization performing this exposure actions at its such as hot shoe signalling contact or pc port place simultaneously, such as Nikon D800 camera, this signal is a 0-0.6V square wave, this signal dodges device extraction through wireless drawing, and draw the synchronizing signal of dodging and becoming 0-3.3V after device transmitter amplifies through wireless, as shown in Fig. 4 (b), by drawing wireless the signalling contact position external wire dodging device transmitter, or utilize the wireless wireless transmitting function drawing sudden strain of a muscle device transmitter itself, this synchronizing signal is drawn and sends to the difference unit 14 in correction verification module 13.This signal also can be amplified by such as signal amplifier in addition, identifies to facilitate IMU/GNSS system 11.System for flight control computer 1 is when generation the first exposure signal, also generate second exposure signal synchronous with this first exposure signal simultaneously, and this second exposure signal is sent to base modules 12, base modules 12 is according to the benchmark time of exposure of this second exposure signal determination aviation measuring camera 3, and this benchmark is sent to the difference unit 14 in correction verification module 13 time of exposure, difference unit 14 is according to this benchmark time of exposure and the above-mentioned synchronizing signal that gets, calculate the time difference between this benchmark time of exposure and the moment getting this synchronizing signal, and this time difference is sent to comparing unit 15.This time difference and the standard time difference preset compare by comparing unit 15, to determine the accurate time of exposure of aviation measuring camera 3, the standard time difference such as preset is 30ms, then comparing unit 15 can be set to: when this time difference is not more than 30ms, the accurate time of exposure of moment as aviation measuring camera 3 of this synchronizing signal will be got, otherwise when this time difference is greater than 30ms, then IMU/GNSS system 11 thinks that the moment of the synchronizing signal obtained occurs extremely, now using this benchmark time of exposure accurate time of exposure as aviation measuring camera 3, because benchmark has determinacy but lacks accuracy the time of exposure, and the moment getting described synchronizing signal has accuracy but deficient in stability, therefore by the device of this embodiment, the precision of logout can be brought up to the rank within 30ms, for precision basis is established in follow-up work for the treatment of, greatly can promote utilize GNSS system data to carry out accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo.
In the embodiment of the present invention, aviation measuring camera 3 can be such as industrial CCD digital camera, or industrial CMOS digital camera, can also be civil digital camera etc.
The process flow diagram of the method in aerial survey camera exposure moment in a kind of Accurate Measurement unmanned plane that the embodiment of the present invention provides is shown in Fig. 5, has specifically comprised the steps:
Step S102, system for flight control computer, according to the spectrum assignment information preset, generates the first exposure signal, and this first exposure signal is sent to aviation measuring camera; This first exposure control signal can be negative edge or the rising edge of the such as 0-3.3V square-wave pulse that aviation measuring camera 3 and GNSS system 2 can receive, preferred negative edge, as shown in Fig. 4 (a), can be also other forms of pulse, the embodiment of the present invention specifically limit this.
Step S104, this aviation measuring camera exposes according to this first exposure signal, generates synchronizing signal simultaneously, and this synchronizing signal is sent to GNSS system, when aviation measuring camera 3 receives this first exposure signal, shutter such as first heavy curtain of aviation measuring camera 3 is opened and carries out exposure actions, generate the signal with the timing synchronization carrying out this exposure actions at its such as hot shoe signalling contact or pc port place simultaneously, such as Nikon D800 camera, this signal is a 0-0.6V square wave, this signal dodges device extraction through wireless drawing, and draw the synchronizing signal of dodging and becoming 0-3.3V after device transmitter amplifies through wireless, as shown in Fig. 4 (b), by drawing wireless the signalling contact position external wire dodging device transmitter, or utilize the wireless wireless transmitting function drawing sudden strain of a muscle device transmitter itself, this synchronizing signal is drawn and sends to this GNSS system 2.
Step S106, this GNSS system, according to this synchronizing signal, determines the accurate time of exposure of this aviation measuring camera.Particularly, GNSS system 2, according to this synchronizing signal, will receive the accurate time of exposure of moment as aviation measuring camera 3 of this synchronizing signal.Or system for flight control computer can also generate the second exposure signal while generation first exposure signal, and this second exposure signal is sent to GNSS system 2, GNSS system 2 will receive the benchmark time of exposure of moment as aviation measuring camera 3 of this second exposure signal, GNSS system 2 is by calculating the time difference between this benchmark time of exposure and the moment getting this synchronizing signal, and this time difference and the standard time difference preset are compared, if this time difference is less than this standard time difference, then the accurate time of exposure of moment as aviation measuring camera 3 of this synchronizing signal will be got, otherwise using this benchmark time of exposure accurate time of exposure as aviation measuring camera 3, because benchmark has determinacy but lacks accuracy the time of exposure, and the moment getting this synchronizing signal has accuracy but deficient in stability, therefore by the method for this embodiment, greatly can improve the precision of logout.Such as suppose the cruising flight speed 100km/h of unmanned plane, camera exposure moment of being measured by the method 50ms more accurate than prior art, the camera exposure positional precision then calculated can improve about 1.4 meters, greatly improves utilize GNSS system data to carry out accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo.。
In addition, the embodiment of the present invention additionally provides a kind of computing method of aerial survey elements of exterior orientation, comprising: the synchronizing signal produced when exposing according to aviation measuring camera 3, and the predetermined benchmark time of exposure, determines the accurate time of exposure of aviation measuring camera 3; According to the accurate time of exposure of this aviation measuring camera 3, interpolation goes out the position of aviation measuring camera 3 residing for the time of exposure and attitude information, and then calculate the elements of exterior orientation of aerial survey photo, such as IMU/GNSS system 11, IMU/GNSS system 11 receive by wireless draw dodge device send synchronizing signal time, automatically can record the raw observation in the arrival moment of this synchronizing signal, thus calculate the positional information of the antenna phase center of the IMU/GNSS system 11 in this moment, i.e. (X
0, Y
0, Z
0), and the attitude information under the navigational coordinate system of IMU observation, i.e. (r, p, y), detailed computation process is as follows:
Line element calculates:
In above formula (1): (X
p, Y
p, Z
p) be the coordinate of antenna phase center in earth axes of IMU/GNSS system 11;
(X
0, Y
0, Z
0) be the coordinate of aviation measuring camera 3 exposure station in earth axes;
for carrier coordinate system (IMU plane coordinate system) is to the rotation matrix of earth axes;
for image elements of exterior orientation;
for picture plane is to the rotation matrix of IMU plane;
(u, v, w) antenna phase center for IMU/GNSS system 11 in image space coordinate system and the eccentricity component of camera projection centre.
Angle element calculates:
In above formula (2):
for image elements of exterior orientation;
(Λ
0, Φ
0) for surveying the longitude and latitude of any point in district;
(Λ
i, Φ
i) be the longitude and latitude of the image exposure point time of exposure;
(r, p, y) is POS output roll, pitching, course value;
for navigation coordinate is tied to the transition matrix of earth axes;
for geocentric coordinate is tied to the transition matrix of navigational coordinate system;
for navigation coordinate is tied to the transition matrix of geocentric coordinate system;
for carrier coordinate system is to the conversion of navigational coordinate system.
The apparatus and method in aerial survey camera exposure moment in the Accurate Measurement unmanned plane provided by the embodiment of the present invention, solve the technical barrier in Accurate Measurement industry digital cameral exposure moment, greatly improve utilize GNSS system data to carry out accuracy that later stage interpolation resolves the elements of exterior orientation of aerial survey photo.
In several embodiments that the application provides, should be understood that disclosed system, apparatus and method can realize by another way.Device embodiment described above is only schematic, such as, the division of described module or unit, be only a kind of logic function to divide, actual can have other dividing mode when realizing, again such as, multiple unit or assembly can in conjunction with or another system can be integrated into, or some features can be ignored, or do not perform.
The above; be only the specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; change can be expected easily or replace, all should be encompassed within protection scope of the present invention.Therefore, protection scope of the present invention should described be as the criterion with the protection domain of claim.
Claims (10)
1. measure the device in aerial survey camera exposure moment in unmanned plane, it is characterized in that, comprising: system for flight control computer, aviation measuring camera and GNSS system;
Described system for flight control computer, described aviation measuring camera and described GNSS system sequential series;
Described system for flight control computer is used for, according to the spectrum assignment information preset, generating the first exposure signal;
Described aviation measuring camera is used for exposing according to described first exposure signal, generates synchronizing signal simultaneously;
Described GNSS system is used for the accurate time of exposure determining described aviation measuring camera according to described synchronizing signal.
2. device as claimed in claim 1, is characterized in that:
Described GNSS system comprises base modules and correction verification module;
Described system for flight control computer is used for, when generating described first exposure signal, generating the second exposure signal simultaneously, and described second exposure signal being sent to described base modules;
Described base modules is used for the benchmark time of exposure determining described aviation measuring camera according to described second exposure signal, and described benchmark is sent to described correction verification module the time of exposure;
When the described correction verification module time difference be used between the described benchmark time of exposure and the moment getting described synchronizing signal is less than default standard time difference, using the accurate time of exposure of the moment of described synchronizing signal as described aviation measuring camera.
3. device as claimed in claim 2, is characterized in that:
Described correction verification module comprises difference unit and comparing unit;
Described time difference for calculating the time difference between the described benchmark time of exposure and the moment getting described synchronizing signal, and is sent to described comparing unit by described difference unit;
Described comparing unit is used for described time difference and described standard time difference to compare, if described time difference is less than described standard time difference, then will get the accurate time of exposure of moment as described aviation measuring camera of described synchronizing signal, otherwise using described benchmark time of exposure accurate time of exposure as described aviation measuring camera.
4. the device according to any one of claim 1-3, is characterized in that, described GNSS system is double frequency GNSS or GNSS/IMU system.
5. the device according to any one of claim 1-3, is characterized in that, also comprises:
Wirelessly draw sudden strain of a muscle device, for producing described synchronizing signal when described aviation measuring camera exposes.
6. the device according to any one of claim 1-3, is characterized in that, also comprises:
Signal amplifier, the signal synchronously produced at hot shoe signalling contact or pc port during for being exposed by described aviation measuring camera amplifies, and exports described synchronizing signal.
7. the device according to any one of claim 1-3, is characterized in that, described aviation measuring camera exposes when the first heavy curtain is opened.
8. the device according to any one of claim 1-3, is characterized in that, described aviation measuring camera is industrial digital camera.
9. measure the method in aerial survey camera exposure moment in unmanned plane, it is characterized in that:
System for flight control computer, according to the spectrum assignment information preset, generates the first exposure signal, and described first exposure signal is sent to aviation measuring camera;
Described aviation measuring camera exposes according to described first exposure signal, generates synchronizing signal simultaneously, and described synchronizing signal is sent to GNSS system;
Described GNSS system, according to described synchronizing signal, determines the accurate time of exposure of described aviation measuring camera.
10. method as claimed in claim 9, is characterized in that, also comprise:
System for flight control computer, according to the accurate time of exposure of described aviation measuring camera, calculates the elements of exterior orientation of aerial survey photo.
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