CN107607089A - A kind of energy-saving GPS and Beidou navigation flight control unit - Google Patents
A kind of energy-saving GPS and Beidou navigation flight control unit Download PDFInfo
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- CN107607089A CN107607089A CN201710800605.2A CN201710800605A CN107607089A CN 107607089 A CN107607089 A CN 107607089A CN 201710800605 A CN201710800605 A CN 201710800605A CN 107607089 A CN107607089 A CN 107607089A
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Abstract
In order to more accurately carry out effective monitoring by monitoring temperature and the power consumption gathered to UAV Video, the invention provides a kind of energy-saving GPS and Beidou navigation flight control unit, the flight control unit includes：Temperature monitoring unit, for monitoring GPS module and the temperature of Beidou navigation module；Video capture mode control unit, for the mode of the output control video acquisition monitored according to temperature monitoring unit.
Description
Technical field
The present invention relates to unmanned plane power consumption control techniques field, more particularly, to a kind of energy-saving GPS and Beidou navigation
Flight control unit.
Background technology
For security consideration, GPS and the investigation unmanned vehicle of Beidou navigation, especially four-axle aircraft are provided simultaneously with
As the development for science and technology of taking photo by plane has obtained suitable development and application.It is this to take photo by plane investigation in a professional environment, time length of finding a view,
Photographing request is high, operator's specialty.
The passback of existing investigation video image, most of is to be based on analog video signal, fogging image, meanwhile, nothing
It is man-machine to continuously acquire the big high-precision sequential images of degree of overlapping, but the image obtained can lose depth information.Based on image
Three-dimensional reconstruction, refer to the method and technology that scene three-dimensional structure is automatically recovered using several digital camera images.In recent years
Carry out three-dimensional reconstruction and obtain huge success in video, 3-dimensional reconstruction process field, apply it to unmanned plane figure
As process field, the full-automatic application rebuild related application, unmanned plane can be expanded is carried out to unmanned plane image, is improved
The application level of unmanned plane.But the research for unmanned plane sequential images three-dimensional reconstruction is still in the starting stage at present, mainly deposits
In problems with：(1) relative to ground image, the three-dimensional reconstruction based on unmanned plane sequential images is usually big data quantity large scene
Three-dimensional reconstruction；(2) directly algorithm ripe in computer vision is applied in unmanned plane sequential images three-dimensional reconstruction mostly；
(3) the not high auxiliary information of precision is not made full use of.
In the prior art, Application No. CN201610987031.X Chinese invention patent application discloses a kind of unmanned plane
Sequential images batch processing three-dimensional rebuilding method, comprises the following steps：Step 1: merge the image of low precision GPS/INS information
Match somebody with somebody；Step 2: establish polar figure；Step 3: calculate the rotary collecting of global coherency；Step 4: initialization image center point；Step
Rapid five, the character pair locus of points is generated；Step 6: initialization 3D structures；Step 7: bundle adjustment；Step 8: dense point cloud
Rebuild；Step 9: texture mapping；Technical scheme realizes the large scene batch to big data quantity unmanned plane sequential images
Three-dimensional reconstruction is handled, images match is carried out by using low precision GPS/IMU prior informations, establish polar figure and draws multi views
The technological means such as the track at midpoint and new bundle adjustment majorized function, improve the precision and efficiency of three-dimensional reconstruction.
However, these prior art operands are excessive, especially the operand in 3-D view processing often leads to fly
Power consumption is too high in terms of the transmission of processing and data of the device to image.
The content of the invention
Tested through applicant, because the data of UAV Communication unit transmission come from multiple modules, therefore communication unit
The reason for temperature change, is complex.In order to more accurately control power consumption during video acquisition, applicant needs to communication every time
The temperature of the generation module of navigation data to be processed, i.e. GPS module and Beidou navigation module is monitored.That is, in order to more accurate
Effective monitoring really is carried out and the power consumption gathered to UAV Video by monitoring temperature, the invention provides a kind of energy-saving
GPS and Beidou navigation flight control unit, the flight control unit include：
Temperature monitoring unit, for monitoring GPS module and the temperature of Beidou navigation module；
Video capture mode control unit, for the side of the output control video acquisition monitored according to temperature monitoring unit
Formula.
Further, the video capture mode control unit includes：
First method control unit, for being used when the temperature of GPS module and Beidou navigation module is less than predetermined threshold value
First method controls video acquisition power consumption；
Second method control unit, for when the temperature of GPS module and Beidou navigation module is higher than predetermined threshold value, using
Second method controls video acquisition power consumption.
Further, the first method control unit includes the first two dimensional image collecting device, for collection and nobody
A two dimensional image on machine heading identical direction；
The second method control unit includes：
Second two dimensional image collecting device, for gathering two positioned at different height and the image of different angle；
Image pre-processing unit, for being pre-processed to image；
Communication unit, for sending the images to monitoring client.
Further, described image pretreatment unit includes：
Training unit, for the training image compressed coefficient；
Compression unit, for the view data of the multiple directions according to different altitude height, carry out image Compression.
Further, the training unit includes：
First acquisition control subelement, for based on the second two dimensional image collecting device, at the θ angles relative to heading
Degree is in the first moment of first level direction t1 to the second moment t2 collection image video signal I1 (t) of α angles and relative
Believe in the θ angles of heading in the second horizontal direction of β angles in the 3rd moment t1 to the 4th moment t2 collection image/videos
Number I2 (t), α are different from β；
First height collection subelement, for gathering altitude information h1 corresponding to first level direction and the second horizontal direction
Corresponding altitude information h2；
First conversion subelement, for makingTo the signal collected
I1 (t) and I2 (t) carries out such as down conversion respectively：
Obtain J1 (t) and J2 (t)；
Frequency spectrum difference determination subelement, for carrying out Fourier transform respectively to J1 (t) and J2 (t) and determining that the two is different
Spectrum component；
Second conversion subelement, for the different frequency content to be carried out into inverse Fourier transform, and carry out binomial
Expansion, obtains its constant term coefficient C and obtains the phase angle ψ after inverse transformation；
Compressed coefficient determination subelement, the compressed coefficient is calculated to I1 (t) and I2 (t)：
P in formulaijRepresent image video signal I1 (t) pixel, P 'ijRepresent image video signal I2 (t) pixel；
Further, the compression unit includes：
Second acquisition control subelement, for based on the second two dimensional image collecting device, at the θ angles relative to heading
Spend the 3rd horizontal direction at angle γ and relative to heading θ angles in ξ angles the 4th horizontal direction the 4th
The 5th moment t3 to the 6th moment t4 collection image video signal I3 (t) and I4 (t), γ and ξ after moment t2 is different, collection
Altitude information h4 corresponding to altitude information h3 corresponding to 3rd horizontal direction and the 4th horizontal direction；
Basic function determination subelement, for calculating I3 (t) and I4 (t) wavelet transformation basic function：
Wherein, QijWith Q 'ijCorrespond respectively to I3 (t) and I4 (t) pixel；
Wavelet transformation subelement, for using w1 and w2 as basic function, carrying out wavelet transformation to I3 (t) and I4 (t) respectively, obtaining
To V3 and V4；
3rd conversion subelement, for makingTo the letter collected
Number I3 (t) and I4 (t) carries out such as down conversion respectively：
Obtain J ' 1 (t) and J ' 2 (t)；
To J ' 1 (t) and J ' 2 (t) carry out binomial expansion respectively, obtain constant term C '1With C '2；
Subelement is normalized, for making V3 for C '1It is normalized, makes V4 for C '2It is normalized；
Inverse transformation subelement, for carrying out inverse wavelet transform for the result after normalization, and by the knot of inverse wavelet transform
Fruit is sent to the communication unit of the equipment.
Further, the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
Further, the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be added based on chaos encryption algorithm
It is close.
Further, the angle [alpha] determines with β and γ and ξ according to thermoinduction tracking direction.
Further, the angle [alpha] should meet with β and γ and ξ：
The beneficial effects of the invention are as follows：
(1) present invention can determine different video acquisition moulds by GPS and Beidou navigation module operating temperature state
Formula, the power consumption that communication unit needs to pay in data transfer is reduced indirectly；
(2) present invention by the way of different angle and different height obtain image, is reduced using based on multiple cameras
The situation of the higher picture pick-up device of cost is relied on during to obtaining 3 D video, significantly reduce the buying of video capture device into
Sheet and O＆M cost, improve the science between power consumption monitoring and power consumption dynamic adjustment.
(3) mode of the present invention creatively based on data training obtains the compressed coefficient of acceptable definition, Jin Ertong
Overcompression coefficient reduces the data volume for the video data for needing to transmit, and avoids and carries out angle for video data in the prior art
A large amount of operands of the routine operations such as conversion.
(4) present invention improves the supply of electric power stability of monitoring process by way of data processing amount reduction, favorably
In improving monitor duration, so as to advantageously in the endurance for improving MAV formula investigation equipment.
(5) video acquisition direction of the invention is according to thermo-responsive tracking direction, drastically increases the video that collects
Definition and practicality.
Brief description of the drawings
Fig. 1 shows the structured flowchart of the flight control unit according to the present invention.
Embodiment
As shown in figure 1, according to a preferred embodiment of the invention, the invention provides a kind of energy-saving GPS and Beidou navigation
Flight control unit, the flight control unit include：
Temperature monitoring unit, for monitoring GPS module and the temperature of Beidou navigation module；
Video capture mode control unit, for the side of the output control video acquisition monitored according to temperature monitoring unit
Formula.
Preferably, the video capture mode control unit includes：
First method control unit, for being used when the temperature of GPS module and Beidou navigation module is less than predetermined threshold value
First method controls video acquisition power consumption；
Second method control unit, for when the temperature of GPS module and Beidou navigation module is higher than predetermined threshold value, using
Second method controls video acquisition power consumption.
Preferably, the first method control unit includes the first two dimensional image collecting device, for collection and unmanned plane
A two dimensional image on heading identical direction；
The second method control unit includes：
Second two dimensional image collecting device, for gathering two positioned at different height and the image of different angle；
Image pre-processing unit, for being pre-processed to image；
Communication unit, for sending the images to monitoring client.
Preferably, described image pretreatment unit includes：
Training unit, for the training image compressed coefficient；
Compression unit, for the view data of the multiple directions according to different altitude height, carry out image Compression.
Preferably, the training unit includes：
First acquisition control subelement, for based on the second two dimensional image collecting device, at the θ angles relative to heading
Degree is in the first moment of first level direction t1 to the second moment t2 collection image video signal I1 (t) of α angles and relative
Believe in the θ angles of heading in the second horizontal direction of β angles in the 3rd moment t1 to the 4th moment t2 collection image/videos
Number I2 (t), α are different from β；
First height collection subelement, for gathering altitude information h1 corresponding to first level direction and the second horizontal direction
Corresponding altitude information h2；
First conversion subelement, for makingTo the signal collected
I1 (t) and I2 (t) carries out such as down conversion respectively：
Obtain J1 (t) and J2 (t)；
Frequency spectrum difference determination subelement, for carrying out Fourier transform respectively to J1 (t) and J2 (t) and determining that the two is different
Spectrum component；
Second conversion subelement, for the different frequency content to be carried out into inverse Fourier transform, and carry out binomial
Expansion, obtains its constant term coefficient C and obtains the phase angle ψ after inverse transformation；
Compressed coefficient determination subelement, the compressed coefficient is calculated to I1 (t) and I2 (t)：
P in formulaijRepresent image video signal I1 (t) pixel, P 'ijRepresent image video signal I2 (t) pixel；
Preferably, the compression unit includes：
Second acquisition control subelement, for based on the second two dimensional image collecting device, at the θ angles relative to heading
Spend the 3rd horizontal direction at angle γ and relative to heading θ angles in ξ angles the 4th horizontal direction the 4th
The 5th moment t3 to the 6th moment t4 collection image video signal I3 (t) and I4 (t), γ and ξ after moment t2 is different, collection
Altitude information h4 corresponding to altitude information h3 corresponding to 3rd horizontal direction and the 4th horizontal direction；
Basic function determination subelement, for calculating I3 (t) and I4 (t) wavelet transformation basic function：
Wherein, QijWith Q 'ijCorrespond respectively to I3 (t) and I4 (t) pixel；
Wavelet transformation subelement, for using w1 and w2 as basic function, carrying out wavelet transformation to I3 (t) and I4 (t) respectively, obtaining
To V3 and V4；
3rd conversion subelement, for makingTo the letter collected
Number I3 (t) and I4 (t) carries out such as down conversion respectively：
Obtain J ' 1 (t) and J ' 2 (t)；
To J ' 1 (t) and J ' 2 (t) carry out binomial expansion respectively, obtain constant term C '1With C '2；
Subelement is normalized, for making V3 for C '1It is normalized, makes V4 for C '2It is normalized；
Inverse transformation subelement, for carrying out inverse wavelet transform for the result after normalization, and by the knot of inverse wavelet transform
Fruit is sent to the communication unit of the equipment.
Preferably, the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
Preferably, the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be added based on chaos encryption algorithm
It is close.
Preferably, the angle [alpha] determines with β and γ and ξ according to thermoinduction tracking direction.
Preferably, the angle [alpha] should meet with β and γ and ξ：
The narration made above for presently preferred embodiments of the present invention is the purpose to illustrate, and is not intended to limit essence of the invention
It is really disclosed form, based on teaching above or learns from embodiments of the invention and make an amendment or change to be possible
, embodiment is to explain the principle of the present invention and allowing those skilled in the art to exist with various embodiments using the present invention
Selected in practical application and narration, technological thought of the invention attempt to be determined by claim and its equalization.
Claims (10)
1. a kind of energy-saving GPS and Beidou navigation flight control unit, for power consumption control of the unmanned plane during flight and shooting
System, it is characterised in that the flight control unit includes：
Temperature monitoring unit, for monitoring GPS module and the temperature of Beidou navigation module；
Video capture mode control unit, for the mode of the output control video acquisition monitored according to temperature monitoring unit.
2. flight control unit according to claim 1, it is characterised in that the video capture mode control unit bag
Include：
First method control unit, for using first when the temperature of GPS module and Beidou navigation module is less than predetermined threshold value
Mode controls video acquisition power consumption；
Second method control unit, for when the temperature of GPS module and Beidou navigation module is higher than predetermined threshold value, using second
Mode controls video acquisition power consumption.
3. flight control unit according to claim 2, it is characterised in that the first method control unit includes first
Two dimensional image collecting device, for gathering and a two dimensional image on the identical direction of unmanned plane during flying direction；
The second method control unit includes：
Second two dimensional image collecting device, for gathering two positioned at different height and the image of different angle；
Image pre-processing unit, for being pre-processed to image；
Communication unit, for sending the images to monitoring client.
4. flight control unit according to claim 3, it is characterised in that described image pretreatment unit includes：
Training unit, for the training image compressed coefficient；
Compression unit, for the view data of the multiple directions according to different altitude height, carry out image Compression.
5. flight control unit according to claim 4, it is characterised in that the training unit includes：
First acquisition control subelement, for based on the second two dimensional image collecting device, being in relative to the θ angles of heading
The first moment of first level direction t1 to the second moment t2 of α angles gathers image video signal I1 (t) and relative to winged
The θ angles of line direction are in the second horizontal direction of β angles in the 3rd moment t1 to the 4th moment t2 collection image video signals I2
(t), α is different from β；
First height collection subelement, it is corresponding for gathering altitude information h1 corresponding to first level direction and the second horizontal direction
Altitude information h2；
First conversion subelement, for makingTo the signal I collected1
And I (t)2(t) such as down conversion is carried out respectively：
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Obtain its constant term coefficient C and obtain the phase angle ψ after inverse transformation；
Compressed coefficient determination subelement, to I1And I (t)2(t) compressed coefficient is calculated：
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P in formulaijRepresent image video signal I1(t) pixel, P 'ijRepresent image video signal I2(t) pixel.
6. flight control unit according to claim 5, it is characterised in that the compression unit includes：
Second acquisition control subelement, for based on the second two dimensional image collecting device, being in relative to the θ angles of heading
3rd horizontal direction of γ angles and relative to heading θ angles in ξ angles the 4th horizontal direction at the 4th moment
t2The 5th moment t afterwards3To the 6th moment t4Gather image video signal I3And I (t)4(t), γ and ξ is different, gathers the 3rd water
Square to corresponding altitude information h3With the 4th horizontal direction corresponding to altitude information h4；
Basic function determination subelement, for calculating I3And I (t)4(t) wavelet transformation basic function：
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Wherein, QijAnd Q'ijCorrespond respectively to I3And I (t)4(t) pixel；
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And I (t)4(t) such as down conversion is carried out respectively：
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<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>6</mn>
<msup>
<mi>&pi;</mi>
<mn>3</mn>
</msup>
</mrow>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>Y</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>Y</mi>
</mrow>
</msubsup>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>X</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>X</mi>
</mrow>
</msubsup>
<mfrac>
<mrow>
<msub>
<mi>I</mi>
<mn>1</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>&times;</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>3</mn>
</msub>
<mo>&times;</mo>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<msup>
<mi>iH</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
</mrow>
</msup>
<mi>d</mi>
<mi>x</mi>
<mi>d</mi>
<mi>y</mi>
</mrow>
<mrow>
<msub>
<msup>
<mi>J</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
<mo>=</mo>
<mo>-</mo>
<mfrac>
<mn>1</mn>
<mrow>
<mn>6</mn>
<msup>
<mi>&pi;</mi>
<mn>3</mn>
</msup>
</mrow>
</mfrac>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>Y</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>Y</mi>
</mrow>
</msubsup>
<msubsup>
<mo>&Integral;</mo>
<mrow>
<mo>-</mo>
<mi>X</mi>
</mrow>
<mrow>
<mo>+</mo>
<mi>X</mi>
</mrow>
</msubsup>
<mfrac>
<mrow>
<msub>
<mi>I</mi>
<mn>2</mn>
</msub>
<mrow>
<mo>(</mo>
<mi>t</mi>
<mo>)</mo>
</mrow>
</mrow>
<mrow>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
</mrow>
</mfrac>
<mo>&times;</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>2</mn>
</msub>
<mo>&times;</mo>
<msup>
<mi>e</mi>
<mrow>
<mo>-</mo>
<msub>
<msup>
<mi>H</mi>
<mo>,</mo>
</msup>
<mn>1</mn>
</msub>
<mo>+</mo>
<msub>
<msup>
<mi>iH</mi>
<mo>,</mo>
</msup>
<mn>3</mn>
</msub>
</mrow>
</msup>
<mi>d</mi>
<mi>x</mi>
<mi>d</mi>
<mi>y</mi>
</mrow>
Obtain J '1And J ' (t)2(t)；
To J '1And J ' (t)2(t) binomial expansion is carried out respectively, obtains constant term C '1With C '2；
Subelement is normalized, for making V3For C '1It is normalized, makes V4For C '2It is normalized；
Inverse transformation subelement, for carrying out inverse wavelet transform for the result after normalization, and the result of inverse wavelet transform is sent out
It is sent to the communication unit of the equipment.
7. flight control unit according to claim 3, it is characterised in that the communication unit includes：
Encryption sub-unit operable, for being encrypted to sent image；
Transmission subelement, for the data after encryption to be sent into monitoring client.
8. flight control unit according to claim 7, it is characterised in that the encryption sub-unit operable includes：
Analog-to-digital conversion subelement, for picture material to be sent to be carried out into analog-to-digital conversion；
Chaos encryption subelement, for the digital information obtained after analog-to-digital conversion to be encrypted based on chaos encryption algorithm.
9. flight control unit according to claim 6, it is characterised in that the angle [alpha] and β and γ and ξ according to
Thermoinduction tracking direction determines.
10. flight control unit according to claim 8, it is characterised in that the angle [alpha] should expire with β and γ and ξ
Foot：
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