CN106871902A - A kind of method of Navigation of Pilotless Aircraft, device and system - Google Patents
A kind of method of Navigation of Pilotless Aircraft, device and system Download PDFInfo
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- CN106871902A CN106871902A CN201710083349.XA CN201710083349A CN106871902A CN 106871902 A CN106871902 A CN 106871902A CN 201710083349 A CN201710083349 A CN 201710083349A CN 106871902 A CN106871902 A CN 106871902A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
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Abstract
The invention discloses a kind of method of Navigation of Pilotless Aircraft, device and system, by obtaining the target area image that the binocular image harvester being arranged on unmanned plane is gathered；The characteristic point of above-mentioned target area image is extracted respectively；Features described above point is detected and matching operation, three-dimensional reconstruction is carried out to above-mentioned target area image according to features described above point, drawn the threedimensional model of the three-dimensional coordinate information comprising target area；According to default flight path and above-mentioned threedimensional model, the flight model comprising flight path information is set up, so that above-mentioned unmanned plane is navigated according to above-mentioned flight model.Based on the target area image for obtaining, the flight path in target area of unmanned plane is determined using image processing techniques, will not be disturbed by destabilizing factor, with anti-interference higher.It can be seen that, the application is conducive to improving the stability of Navigation of Pilotless Aircraft.
Description
Technical field
The present invention relates to unmanned air vehicle technique field, more particularly to a kind of method of Navigation of Pilotless Aircraft, device are with system.
Background technology
With the progress of unmanned air vehicle technique, plant protection unmanned plane has also obtained quick development.
Plant protection unmanned plane has many advantages, such as that small volume, flight adjustment are short, flight efficiency is high and operating cost is low.
Sprayed insecticide relative to Traditional Man, plant protection unmanned plane can carry out pesticide spraying to crops higher easily；And relative to having
People's aircraft pesticide spraying operation, plant protection unmanned plane possesses the characteristics of being adapted to haggard.
Existing Navigation of Pilotless Aircraft technology is mainly GPS navigation, i.e., using the geographical location information for obtaining unmanned plane in real time,
Real-time navigation is carried out according to geographical location information.The GPS navigation technology of plant protection unmanned plane is applied to, typically firstly the need of acquisition agriculture
The gps data in field, is then navigated according to the gps data for obtaining.But, the intensity of gps signal, precision are mainly by satellite
What the factors such as the quality of quantity and receiver were determined, further, the intensity and precision of gps signal also have one to Navigation of Pilotless Aircraft
Fixed interference so that the stability of Navigation of Pilotless Aircraft is relatively low.
The content of the invention
It is an object of the invention to provide a kind of method of Navigation of Pilotless Aircraft, device and system, it is therefore intended that solve existing
Unmanned plane causes the relatively low problem of the stability of navigation using GPS navigation in technology.
In order to solve the above technical problems, the present invention provides a kind of method of unmanned navigation, the method includes：
Acquisition is arranged at the target area image of the binocular image harvester collection on unmanned plane；
The characteristic point of the target area image is extracted respectively；
The characteristic point is detected and matching operation, three are carried out to the target area image according to the characteristic point
Dimension is rebuild, and draws the threedimensional model of the three-dimensional coordinate information comprising target area；
According to default flight path and the threedimensional model, the flight model comprising flight path information is set up, with
The unmanned plane is set to be navigated according to the flight model.
Alternatively, it is described according to default flight path and the threedimensional model, set up comprising flight path information
Flight model, so as to the unmanned plane carries out navigation according to the flight model include：
According to the three-dimensional coordinate information, the model of plane where the target area is calculated；
The artificial flight path chosen is obtained, the flight path includes flight path and flying height；
According to the flight path and the model, the flight model comprising the flight path information is set up, so that
The unmanned plane is navigated according to the flight model.
Alternatively, the characteristic point that the target area image is extracted respectively includes：
Construct the metric space of the target area image；
Detect all characteristic points in the metric space；
Remove the weak characteristic point of anti-interference in the characteristic point；
Determine the principal direction of the remaining characteristic point；
Generate description of the remaining characteristic point.
Alternatively, the acquisition is arranged at the target area image bag of the binocular image harvester collection on unmanned plane
Include：
The binocular image harvester on the unmanned plane is gathered after the target area image, receives described
The target area image that unmanned plane is sent by communication link.
Additionally, present invention also offers a kind of device of Navigation of Pilotless Aircraft, the device includes：
Acquisition module, the target area image for obtaining the binocular image harvester being arranged on unmanned plane collection；
Extraction module, the characteristic point for extracting the target area image respectively；
Three-dimensional reconstruction module, for being detected and matching operation to the characteristic point, according to the characteristic point to described
Target area image carries out three-dimensional reconstruction, draws the threedimensional model of the three-dimensional coordinate information comprising target area；
Flight model sets up module, for according to default flight path and the threedimensional model, setting up comprising flight
The flight model of route information, so that the unmanned plane is navigated according to the flight model.
Alternatively, the flight model is set up module and is included：
Model sets up unit, for according to the three-dimensional coordinate information, calculating plane where the target area
Model；
Acquiring unit, the flight path for obtaining artificial selection, the flight path include flight path and
Flying height；
Unit is set up, for according to the flight path and the model, setting up comprising the flight path information
Flight model, so that the unmanned plane is navigated according to the flight model.
Alternatively, the extraction module includes：
Structural unit, the metric space for constructing the target area image；
Detection unit, for detecting all characteristic points in the metric space；
Removal unit, the characteristic point weak for removing anti-interference in the characteristic point；
Determining unit, the principal direction for determining the remaining characteristic point；
Generation unit, description for generating the remaining characteristic point.
Alternatively, the acquisition module includes：
Receiving unit, the target area image is gathered for the binocular image harvester on the unmanned plane
Afterwards, the target area image that the unmanned plane is sent by communication link is received.
Present invention also offers a kind of system of Navigation of Pilotless Aircraft, the system includes：
Binocular image harvester, is arranged on unmanned plane, for gathering target area image；
Image processing apparatus, for obtaining the target area image；The feature of the target area image is extracted respectively
Point；The characteristic point is detected and matching operation, Three-dimensional Gravity is carried out to the target area image according to the characteristic point
Build, draw the threedimensional model of the three-dimensional coordinate information comprising target area；According to the artificial flight path chosen and institute in advance
Threedimensional model is stated, the flight model comprising flight path information is set up, so that the unmanned plane is carried out according to the flight model
Navigation.
A kind of method of Navigation of Pilotless Aircraft provided by the present invention, device and system, unmanned plane is arranged at by obtaining
On binocular image harvester collection target area image；The characteristic point of above-mentioned target area image is extracted respectively；To upper
State characteristic point to be detected and matching operation, three-dimensional reconstruction is carried out to above-mentioned target area image according to features described above point, draw
The threedimensional model of the three-dimensional coordinate information comprising target area；According to default flight path and above-mentioned threedimensional model, set up
Flight model comprising flight path information, so that above-mentioned unmanned plane is navigated according to above-mentioned flight model.Based on what is obtained
Target area image, the flight path in target area of unmanned plane is determined using image processing techniques, will not be subject to shakiness
The interference of factor is determined, with anti-interference higher.It can be seen that, the application is conducive to improving the stability of Navigation of Pilotless Aircraft.
Brief description of the drawings
For the clearer explanation embodiment of the present invention or the technical scheme of prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for technology description is briefly described, it should be apparent that, drawings in the following description are only this hair
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
A kind of flow of specific embodiment of the Navigation of Pilotless Aircraft method that Fig. 1 is provided by the embodiment of the present invention is illustrated
Figure；
The structural schematic block diagram of the Navigation of Pilotless Aircraft device that Fig. 2 is provided by the embodiment of the present invention；
The system architecture schematic block diagram of the UAV Navigation System that Fig. 3 is provided by the embodiment of the present invention.
Specific embodiment
In order that those skilled in the art more fully understand the present invention program, with reference to the accompanying drawings and detailed description
The present invention is described in further detail.Obviously, described embodiment is only a part of embodiment of the invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
Fig. 1 is referred to, a kind of specific embodiment of the Navigation of Pilotless Aircraft method that Fig. 1 is provided by the embodiment of the present invention
Schematic flow sheet, the method is comprised the following steps：
Step 101：Acquisition is arranged at the target area image of the binocular image harvester collection on unmanned plane；
It should be noted that above-mentioned binocular image harvester can refer to binocular camera, or other types
Binocular image harvester.
Above-mentioned target area image can refer to the image in Navigation of Pilotless Aircraft region, for example, when unmanned plane be plant protection nobody
During machine, target area image can refer to a certain piece of general image in farmland；Certainly, above-mentioned target area image is not limited to
Mentioned by stating.And the quantity of above-mentioned target area image can be more than 2 width or 2 width.
It is understood that binocular image harvester is arranged on unmanned plane, when binocular image harvester to image
Afterwards, acquired image can be returned to by communication link.
In some embodiments of the invention, its process can be specially：The binocular image on the unmanned plane
Harvester is gathered after the target area image, receives the target area that the unmanned plane is sent by communication link
Image.
Specifically, surface of the control unmanned plane during flying to target area so that binocular image harvester can shoot
To the overall region of target area, and the primary optical axis of binocular image harvester is kept perpendicular to ground, for example, keeping camera
Primary optical axis perpendicular to ground, and camera is undistorted.Binocular image harvester gathers the general image of target area, example
Such as, the image of two width target areas is gathered, acquired image is the image of different angles, that is, the two images for being gathered are same
The two images of the different angles of one target area.After the completion of IMAQ, can be by between unmanned plane and host computer
Communication link acquired image, above-mentioned communication link can refer to wireless communication link.
It is understood that can be by the specified location of manual remote control unmanned plane to target area, to obtain target area
The positional information in domain, its operation is more convenient quick.
Step 102：The characteristic point of the target area image is extracted respectively；
It should be noted that features described above point can refer to Scale invariant features transform (sift, Scale-invariant
Feature transform) characteristic point, sift characteristic points are to change unrelated spy to scaling, rotation and brightness on image
Vector is levied, it is the local feature of image, there is stability to a certain extent to visual angle change, affine transformation and noise, its
The features such as typically having uniqueness, volume, high speed and scalability.The process of the extraction of sift characteristic points typically can be first
Dimensional variation is carried out to image, image is amplified and reduction operation；Then all extreme values on the metric space are detected again
Point；After extreme point is obtained, these extreme points are screened, some unstable extreme points are removed, by remaining extreme point
As characteristic point, the principal direction of characteristic point is determined, subsequently generate description of characteristic point.
In some embodiments of the invention, the extraction process of its sift characteristic point can be specially：Construct the target
The metric space of area image；Detect all characteristic points in the metric space；Anti-interference is weak in removing the characteristic point
Characteristic point；Determine the principal direction of the remaining characteristic point；Generate description of the remaining characteristic point.
It should be evident that the technology that the extraction process of sift characteristic points is well known to those skilled in the art, herein no longer
Repeat.
It is understood that features described above point can also be other types of characteristic point, its extraction process is no longer gone to live in the household of one's in-laws on getting married herein
State.
Step 103：The characteristic point is detected and matching operation, according to the characteristic point to the target area figure
As carrying out three-dimensional reconstruction, the threedimensional model of the three-dimensional coordinate information comprising target area is drawn；
Specifically, using the sift characteristic points for extracting, target area image is detected using sift matching algorithms,
The matching of characteristic point can be carried out using EMD (Earth Mover Distance) algorithms.And then three are carried out to target area
Dimension is rebuild, and calculates the threedimensional model of the three-dimensional coordinate information comprising target area.Certainly, the detection of features described above point and
With can also be realized with other algorithms, however it is not limited to above-mentioned mentioned.
It is understood that above-mentioned three-dimensional coordinate information can refer to the coordinate information of the target area of reconstruction, for example,
In the three-dimensional coordinate system for pre-building, target area any point in the plane three-dimensional coordinate point value.
Step 104：According to default flight path and the threedimensional model, the flight comprising flight path information is set up
Model, so that the unmanned plane is navigated according to the flight model.
It should be noted that the flight path that above-mentioned flight path can refer to unmanned plane when carrying out operation and corresponding
Flight parameter (such as flying height), it can be automatically generated by some special parameters, it is also possible to by artificial low selected.Flight rail
Mark can be regular, for example, Z-type track；Can also be irregular, be not limited thereto.
Above-mentioned flight parameter can include the flying height of unmanned plane, and its flying height is with the plane where target area
Be index plane, i.e., plane where present position distance objective region when the flying height of unmanned plane can refer to unmanned plane during flying
Numerical values recited.The flying height of unmanned plane can be automatically generated by parameter preset, or artificially according to the actual requirements
Choose.And flight path parameter of the above-mentioned flight model comprising unmanned plane, can refer to that flight model flies comprising unmanned plane
Row track and flying height.
When flight path is for artificial selection, can overcome carries out images match error and is navigated caused by based on algorithm
Error.By the image that binocular image harvester is collected has similitude higher, for example, when target area is one
During block farmland, binocular image harvester can get the image of the different angles in same farmland.And feature based is clicked through
The purpose of row images match is to obtain the position of current unmanned plane, therefore there may be images match mistake, is navigated caused by entering
The problem of deviation.
In some embodiments of the invention, its process can be specially：According to the three-dimensional coordinate information, calculate
The model of plane where the target area；The artificial flight path chosen is obtained, the flight path includes flight rail
Mark and flying height；According to the flight path and the model, the flight mould comprising the flight path information is set up
Type, so that the unmanned plane is navigated according to the flight model.
Specifically, three-dimensional system of coordinate is initially set up, the plane equation i.e. mould of plane where target area then can be obtained
Type, can finally choose flight path and flying height on target area, and the flight plan for calculating unmanned plane is flown
Model.Flight path can refer to unmanned plane the route for being flown target area projection in the plane, it specifically may be used
To show as a line segment in plane.According to calculated plane equation, flight path plane where target area is obtained
Design parameter, and then draw the mathematic(al) representation of aircraft trace, then in conjunction with the height chosen, draw final flight path
Mathematic(al) representation.
For example, using the central point of binocular image harvester as the origin of coordinates, crossing origin parallel to camera primary optical axis
Straight line be Z axis, the fore-and-aft direction of unmanned plane is X-axis, and the left and right directions of unmanned plane is Y-axis, sets up rectangular coordinate system in space
Oxyz；Then Functional Equation fs of the target plot plane α in coordinate system Oxyz is obtained, its process can be specially：In plane α
On randomly select 3 points, and according to the specific coordinate (x, y, z) of 3 points of three-dimensional reconstruction acquisition of information, and bring plane side into respectively
Journey Ax+By+Cz+D=0, and then obtain plane equation f；Flight path l, flight rail are artificially chosen on resulting plane α
Mark can be to be made up of a plurality of straightway with specific manifestation, then set up functional equation gs of the flight path l in coordinate plane XY0(x,
Y), its process can be specially：Two end points that end points is as a reference point, i.e., on certain straight line are chosen in flight path
Coordinate knows that bringing two end points on straight line into linear equation y=ax+b obtains straight line parameter, draws a certain bar
The function expression of straight line, the like, draw the function expression of other each line segments.
Flying height h of the unmanned plane relative to plane α finally can be artificially set, and according to this height h and flight road
The functional equation g of line0(x, y), the functional equation g where extrapolating the flight path of actual unmanned plane1(x, y, z), i.e.,Wherein, zαIt is the Z coordinate value of the point on plane α.And then flying for unmanned plane can be calculated
Row plan, that is, set up flight model.
It is understood that the flight path of unmanned plane is artificially chosen, can be with leading that rejection image matching error brings
Course deviation is poor, and then improves the navigation accuracy of unmanned plane,
The method of the Navigation of Pilotless Aircraft that the embodiment of the present invention is provided, by obtaining the binocular image being arranged on unmanned plane
The target area image of harvester collection；The characteristic point of above-mentioned target area image is extracted respectively；Features described above point is carried out
Detection and matching operation, three-dimensional reconstruction is carried out according to features described above point to above-mentioned target area image, is drawn comprising target area
Three-dimensional coordinate information threedimensional model；According to default flight path and above-mentioned threedimensional model, set up and include flight path
The flight model of information, so that above-mentioned unmanned plane is navigated according to above-mentioned flight model.Based on the target area image for obtaining,
The flight path in target area of unmanned plane is determined using image processing techniques, will not be disturbed by destabilizing factor,
With anti-interference higher.It can be seen that, the method is conducive to improving the stability of Navigation of Pilotless Aircraft.
Navigation of Pilotless Aircraft device provided in an embodiment of the present invention is introduced below, Navigation of Pilotless Aircraft dress described below
Putting can be mutually to should refer to above-described Navigation of Pilotless Aircraft method.
The structural schematic block diagram of the Navigation of Pilotless Aircraft device that Fig. 2 is provided by the embodiment of the present invention, the unmanned plane of reference picture 2 is led
Boat device can include：
Acquisition module 201, the target area figure for obtaining the binocular image harvester being arranged on unmanned plane collection
Picture；
Extraction module 202, the characteristic point for extracting the target area image respectively；
Three-dimensional reconstruction module 203, for being detected and matching operation to the characteristic point, according to the characteristic point to institute
Stating target area image carries out three-dimensional reconstruction, draws the threedimensional model of the three-dimensional coordinate information comprising target area；
Flight model sets up module 204, for according to default flight path and the threedimensional model, setting up comprising winged
The flight model of row route information, so that the unmanned plane is navigated according to the flight model.
It should be noted that Navigation of Pilotless Aircraft device can specifically show as the host computer being adapted with unmanned plane, i.e. profit
With this above machine can carry out image procossing to the image that collects, and flight model foundation.
Alternatively, the flight model is set up module and is included：
Model sets up unit, for according to the three-dimensional coordinate information, calculating plane where the target area
Model；
Acquiring unit, the flight path for obtaining artificial selection, the flight path include flight path and
Flying height；
Unit is set up, for according to the flight path and the model, setting up comprising the flight path information
Flight model, so that the unmanned plane is navigated according to the flight model.
Alternatively, the extraction module includes：
Structural unit, the metric space for constructing the target area image；
Detection unit, for detecting all characteristic points in the metric space；
Removal unit, the characteristic point weak for removing anti-interference in the characteristic point；
Determining unit, the principal direction for determining the remaining characteristic point；
Generation unit, description for generating the remaining characteristic point.
Alternatively, the acquisition module includes：
Receiving unit, the target area image is gathered for the binocular image harvester on the unmanned plane
Afterwards, the target area image that the unmanned plane is sent by communication link is received.
The device of the Navigation of Pilotless Aircraft that the embodiment of the present invention is provided, based on the target area image for obtaining, extracts feature
Point, the flight path in target area of unmanned plane is determined using image processing techniques, will not be done by destabilizing factor
Disturb, with anti-interference higher.It can be seen that, the device is conducive to improving the stability of Navigation of Pilotless Aircraft.
Refer to Fig. 3, the system architecture schematic block diagram of the UAV Navigation System that Fig. 3 is provided by the embodiment of the present invention,
The system includes：
Binocular image harvester 301, is arranged on unmanned plane, for gathering target area image；
Image processing apparatus 302, for obtaining the target area image；The spy for extracting the target area image respectively
Levy a little；The characteristic point is detected and matching operation, three-dimensional is carried out to the target area image according to the characteristic point
Rebuild, draw the threedimensional model of the three-dimensional coordinate information comprising target area；According to the flight path chosen artificial in advance and
The threedimensional model, sets up the flight model comprising flight path information, so that the unmanned plane enters according to the flight model
Row navigation.
The system of the Navigation of Pilotless Aircraft that the embodiment of the present invention is provided, based on the target area image for obtaining, extracts feature
Point, the flight path in target area of unmanned plane is determined using image processing techniques, will not be done by destabilizing factor
Disturb, with anti-interference higher.It can be seen that, the system is conducive to improving the stability of Navigation of Pilotless Aircraft.
Each embodiment is described by the way of progressive in this specification, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment same or similar part mutually referring to.For being filled disclosed in embodiment
For putting, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is referring to method part
Illustrate.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, generally describes the composition and step of each example according to function in the above description.These
Function is performed with hardware or software mode actually, depending on the application-specific and design constraint of technical scheme.Specialty
Technical staff can realize described function to each specific application using distinct methods, but this realization should not
Think beyond the scope of this invention.
The step of method or algorithm for being described with reference to the embodiments described herein, directly can be held with hardware, processor
Capable software module, or the two combination is implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In field in known any other form of storage medium.
Method above to Navigation of Pilotless Aircraft provided by the present invention, device and system are described in detail.Herein
In apply specific case principle of the invention and implementation method be set forth, the explanation of above example is only intended to side
Assistant solves the method for the present invention and its core concept.It should be pointed out that for those skilled in the art, not
On the premise of departing from the principle of the invention, some improvement and modification can also be carried out to the present invention, these are improved and modification also falls into
In the protection domain of the claims in the present invention.
Claims (9)
1. a kind of method of Navigation of Pilotless Aircraft, it is characterised in that including：
Acquisition is arranged at the target area image of the binocular image harvester collection on unmanned plane；
The characteristic point of the target area image is extracted respectively；
The characteristic point is detected and matching operation, Three-dimensional Gravity is carried out to the target area image according to the characteristic point
Build, draw the threedimensional model of the three-dimensional coordinate information comprising target area；
According to default flight path and the threedimensional model, the flight model comprising flight path information is set up, so that institute
Unmanned plane is stated to be navigated according to the flight model.
2. the method for claim 1, it is characterised in that described according to default flight path and the three-dimensional mould
Type, sets up the flight model comprising flight path information, so as to the unmanned plane carries out navigation according to the flight model include：
According to the three-dimensional coordinate information, the model of plane where the target area is calculated；
The artificial flight path chosen is obtained, the flight path includes flight path and flying height；
According to the flight path and the model, the flight model comprising the flight path information is set up, so that described
Unmanned plane is navigated according to the flight model.
3. the method for claim 1, it is characterised in that the characteristic point bag for extracting the target area image respectively
Include：
Construct the metric space of the target area image；
Detect all characteristic points in the metric space；
Remove the weak characteristic point of anti-interference in the characteristic point；
Determine the principal direction of the remaining characteristic point；
Generate description of the remaining characteristic point.
4. the method as described in any one of claims 1 to 3, it is characterised in that the acquisition is arranged at the binocular on unmanned plane
The target area image of image acquisition device includes：
The binocular image harvester on the unmanned plane is gathered after the target area image, receive it is described nobody
The target area image that machine is sent by communication link.
5. a kind of device of Navigation of Pilotless Aircraft, it is characterised in that including：
Acquisition module, the target area image for obtaining the binocular image harvester being arranged on unmanned plane collection；
Extraction module, the characteristic point for extracting the target area image respectively；
Three-dimensional reconstruction module, for being detected and matching operation to the characteristic point, according to the characteristic point to the target
Area image carries out three-dimensional reconstruction, draws the threedimensional model of the three-dimensional coordinate information comprising target area；
Flight model sets up module, for according to default flight path and the threedimensional model, setting up and including flight path
The flight model of information, so that the unmanned plane is navigated according to the flight model.
6. device as claimed in claim 5, it is characterised in that the flight model sets up module to be included：
Model sets up unit, for according to the three-dimensional coordinate information, calculating the model of plane where the target area；
Acquiring unit, the flight path for obtaining artificial selection, the flight path includes flight path and flight
Highly；
Unit is set up, for according to the flight path and the model, setting up the flight comprising the flight path information
Model, so that the unmanned plane is navigated according to the flight model.
7. device as claimed in claim 5, it is characterised in that the extraction module includes：
Structural unit, the metric space for constructing the target area image；
Detection unit, for detecting all characteristic points in the metric space；
Removal unit, the characteristic point weak for removing anti-interference in the characteristic point；
Determining unit, the principal direction for determining the remaining characteristic point；
Generation unit, description for generating the remaining characteristic point.
8. the device as described in any one of claim 5 to 7, it is characterised in that the acquisition module includes：
Receiving unit, for the binocular image harvester on the unmanned plane gather the target area image it
Afterwards, the target area image that the unmanned plane is sent by communication link is received.
9. a kind of system of Navigation of Pilotless Aircraft, it is characterised in that including：
Binocular image harvester, is arranged on unmanned plane, for gathering target area image；
Image processing apparatus, for obtaining the target area image；The characteristic point of the target area image is extracted respectively；It is right
The characteristic point detected and matching operation, and three-dimensional reconstruction is carried out to the target area image according to the characteristic point, is obtained
Go out the threedimensional model of the three-dimensional coordinate information comprising target area；According to the artificial flight path and the three-dimensional chosen in advance
Model, sets up the flight model comprising flight path information, so that the unmanned plane is navigated according to the flight model.
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108305346A (en) * | 2017-12-28 | 2018-07-20 | 国网上海市电力公司 | Equipment routing inspection method, apparatus |
| CN108885467A (en) * | 2017-11-30 | 2018-11-23 | 深圳市大疆创新科技有限公司 | A kind of control method, terminal, management platform, system and storage medium |
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| CN109661631A (en) * | 2018-03-27 | 2019-04-19 | 深圳市大疆创新科技有限公司 | Control method, device and the unmanned plane of unmanned plane |
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| CN111060091B (en) * | 2019-12-13 | 2023-09-01 | 西安航空职业技术学院 | Robot navigation system |
| CN111744690A (en) * | 2020-05-29 | 2020-10-09 | 广州极飞科技有限公司 | Spraying operation control method, device, carrier and storage medium |
| CN111846222A (en) * | 2020-07-16 | 2020-10-30 | 大连理工大学 | Method and device for striking Korean pine pinecone based on unmanned aerial vehicle and airborne equipment |
| CN114924585A (en) * | 2022-05-19 | 2022-08-19 | 广东工业大学 | Safe landing method and system of rotor unmanned aerial vehicle on rugged ground surface based on vision |
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