CN108255201A - Unmanned machine head attitude adjusting method and its system - Google Patents
Unmanned machine head attitude adjusting method and its system Download PDFInfo
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- CN108255201A CN108255201A CN201611248495.5A CN201611248495A CN108255201A CN 108255201 A CN108255201 A CN 108255201A CN 201611248495 A CN201611248495 A CN 201611248495A CN 108255201 A CN108255201 A CN 108255201A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D3/12—Control of position or direction using feedback
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Abstract
The present invention relates to unmanned plane fields, disclose a kind of unmanned machine head attitude adjusting method and its system.In the present invention, which includes the following steps：Realtime graphic is shot using the camera on holder；Image analysis is carried out to realtime graphic, obtains the horizon information in image；Horizon information with the horizontal line information obtained by unmanned plane inertial navigation is filtered and is merged, the posture of unmanned machine head is adjusted according to the result of filtering fusion.Solve the problem of that in unmanned plane accelerator holder posture is not easy accurately to keep holder posture in Z axis to there is integrator drift.
Description
Technical field
The present invention relates to unmanned plane field, more particularly to unmanned machine head attitude regulating technology.
Background technology
With the development of unmanned air vehicle technique, the application field of unmanned plane is more and more extensive.By using the contained cloud of unmanned plane
When camera on platform shoots ground, holder needs to keep stablizing, then obtains the posture letter of loaded camera
Breath is very important.If posture is inaccurate, then will influence the shooting experience of user.It is embodied in and shoots what is come
Video is crooked or camera lens is unable to alignment target.
The Attitude Algorithm of holder largely uses the collected angular velocity datas of IMU and acceleration to be merged at present
Obtain posture.Part holder additionally uses geomagnetic sensor to participate in data fusion, to obtain more accurately attitude data.
But having significant limitation using the blending algorithm of IMU data, posture can be generated by holder motion process
Acceleration influences, bigger than normal so as to cause posture arithmetic eror.At this stage, the development of unmanned plane is more next to the maneuverability requirement of flight
Higher, the posture of holder is increasingly difficult to survey standard by the fusion of IMU data merely.The posture come out using IMU data fusions is in Z
Integrator drift can be generated on axis (plane for being parallel to the earth).Data fusion is participated in using geomagnetic sensor, movement can be broken away from
The interference of acceleration, but geomagnetic sensor is easily interfered in itself by ferromagnetic material or motor, is difficult to use middle-size and small-size
On holder.
Therefore, it can solve to accelerate in unmanned plane there is an urgent need for a kind of preferably unmanned machine head attitude adjusting method at present
Holder posture is not easy accurately to keep in journey, and holder posture is in Z axis to there is the problem of integrator drift.
Invention content
The purpose of the present invention is to provide a kind of unmanned machine head attitude adjusting method and its systems, solve to add in unmanned plane
Holder posture is not easy accurately to keep during speed, and holder posture is in Z axis to there is the problem of integrator drift.
In order to solve the above technical problems, embodiments of the present invention disclose a kind of unmanned machine head attitude adjusting method,
Include the following steps：
Realtime graphic is shot using the camera on holder；
Image analysis is carried out to realtime graphic, obtains the horizon information in image；
Horizon information with the horizontal line information obtained by unmanned plane inertial navigation is filtered and is merged, is merged according to filtering
Result adjust the posture of unmanned machine head.
In another preference, filtering fusion is Extended Kalman filter.
In another preference, filter in the step of merging, horizontal line information is made to Horizon using gradient descent algorithm
Line information is approached.
In another preference, filtering is fused to complementary filter.
In another preference, " horizon information and the horizontal line information obtained by unmanned plane inertial navigation are filtered
In the step of wave fusion, according to the posture of the unmanned machine head of result adjustment of filtering fusion ", led by filtering fusion inertia
The horizontal attitude that horizontal attitude Step wise approximation horizon information obtained by navigating represents.
Embodiments of the present invention also disclose a kind of unmanned machine head form regulation system, including：
Camera, on holder, for captured in real-time image；
Image analyzing unit, the image for being shot to camera carry out image analysis, obtain the horizon letter in image
Breath；
Control unit is melted for horizon information to be filtered with the horizontal line information obtained by unmanned plane inertial navigation
It closes, the posture of unmanned machine head is adjusted according to the result of filtering fusion.
In another preference, control unit include extended Kalman filter, the extended Kalman filter according to
The horizon information and horizontal line information of input are extended Kalman filtering, the result tune exported according to Extended Kalman filter
The posture of whole unmanned machine head.
In another preference, control unit includes gradient descent algorithm module, for being made using gradient descent algorithm
Horizontal line information is approached to horizon information.
In another preference, control unit is complementary filter.
In another preference, control unit is when filtering fusion so that the horizontal attitude obtained by inertial navigation is gradually
Approach the horizontal attitude that horizon information represents.
Embodiment of the present invention compared with prior art, at least with following difference and effect：
The realtime graphic clapped cradle head camera carries out image analysis, obtains horizon information therein, passes through filtering
The horizontal attitude for so that the horizon information of the horizontal attitude Step wise approximation obtained by inertial navigation represents is merged, so that nobody
The horizontal attitude of machine head is more accurate, the accuracy of holder posture is still kept in unmanned plane accelerator, while can also
Offset holder posture Z axis to integrator drift, especially at sea, under the scenes such as grassland, effect is especially pronounced.
Further, as Extended Kalman filter can effectively blending image analysis gained horizon information and be used to
Property navigation gained horizontal line information.
It is appreciated that within the scope of the present invention in, above-mentioned each technical characteristic of the invention and below (such as embodiment with
Example) in specifically describe each technical characteristic between can be combined with each other, so as to form new or preferred technical solution.Limit
In length, not repeated them here.
Description of the drawings
Fig. 1 is a kind of flow diagram of unmanned machine head attitude adjusting method in first embodiment of the invention；
Fig. 2 is a kind of structure diagram of unmanned machine head form regulation system in second embodiment of the invention.
Specific embodiment
In the following description, in order to make the reader understand this application better, many technical details are proposed.But this
Even if the those of ordinary skill in field is appreciated that without these technical details and many variations based on the following respective embodiments
And modification, it can also realize the application technical solution claimed.
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with implementation of the attached drawing to the present invention
Mode is described in further detail.
First embodiment of the invention is related to a kind of unmanned machine head attitude adjusting method.Fig. 1 is the unmanned machine head appearance
The flow diagram of state method of adjustment.
Specifically, as shown in Figure 1, the unmanned machine head attitude adjusting method includes the following steps：
In a step 101, realtime graphic is shot using the camera on holder.
Then into step 102, image analysis is carried out to realtime graphic, obtains the horizon information in image.
There are many ways to the horizon information in image is obtained by image analysis.
For example, following method can be adopted：
1. segmentation image is the wide row band of multistage；
2. several frame image averaging gray scales before being asked in each row band, as background image, to be extracted to background image
Horizontal edge information；
3. on each marginal point extracted, the horizon in this row band is set as the horizontal line by the marginal point
Section, asks for making sky image and the corresponding horizontal line section position of ground image inter- object distance minimum value；
4. obtaining all horizon line segments of the row with image, these horizon line segments are combined be whole image Horizon
Line.
For another example, can horizon be determined according to the boundary with the boundary of blue portion in analysis chart.
Then into step 103, horizon information and the horizontal line information obtained by unmanned plane inertial navigation are filtered
Fusion adjusts the posture of unmanned machine head according to the result of filtering fusion.
In this step, the horizontal attitude Step wise approximation horizon information obtained by inertial navigation is merged by filtering and is represented
Horizontal attitude.
Filtering is merged there are many realization method, for example,
In one embodiment, filtering fusion is Extended Kalman filter.It can be effective by Extended Kalman filter
Horizontal line information obtained by the horizon information and inertial navigation of ground blending image analysis gained.
In one embodiment, horizontal line information is made to be approached to horizon information using gradient descent algorithm.
In one embodiment, filtering is fused to complementary filter.
The realtime graphic clapped cradle head camera carries out image analysis, obtains horizon information therein, passes through filtering
The horizontal attitude for so that the horizon information of the horizontal attitude Step wise approximation obtained by inertial navigation represents is merged, so that nobody
The horizontal attitude of machine head is more accurate, the accuracy of holder posture is still kept in unmanned plane accelerator, while can also
Offset holder posture Z axis to integrator drift, especially at sea, under the scenes such as grassland, effect is especially pronounced.
In the preference of the present invention before above-mentioned steps 101 to 103, one can also be increased and determine whether to enable
Step 101 to 103 methods of adjustment judgment step.In the judgment step, global positioning system (Global is first passed through
The positioning devices such as Position System, referred to as " GPS ") obtain the current position of unmanned plane, according to the position judgment of unmanned plane
Whether unmanned plane, if yes then enter step 101, is otherwise skipped step 101 to 103, is not started in preset region
Auxiliary pose adjustment based on image analysis.Region setting can be carried out according to the area type on electronic map, for example, for
Built-up city does not enable the method for adjustment of step 101 to 103, in big lake, marine, the regions such as seashore then enable
The method of adjustment of step 101 to 103.
It further, can also be from gyro in determining whether to enable judgment step of the step 101 to 103 methods of adjustment
The directional information of unmanned plane is obtained on instrument, therefrom obtains the direction of camera on holder, according to the direction and the position of unmanned plane,
Determine whether to enter step 101.Specifically, if the position of unmanned plane is in preset region, and the direction is pre-
In the range of first setting, then 101 are entered step, otherwise skips step 101 to 103.
The each method embodiment of the present invention can be realized in a manner of software, hardware, firmware etc..No matter the present invention be with
Software, hardware or firmware mode realize that instruction code may be stored in any kind of computer-accessible memory
In (such as permanent either revisable volatibility is either non-volatile solid or non-solid, it is fixed or
Replaceable medium of person etc.).Equally, memory may, for example, be programmable logic array (Programmable Array
Logic, referred to as " PAL "), random access memory (Random Access Memory, referred to as " RAM "), programmable read-only deposit
Reservoir (Programmable Read Only Memory, referred to as " PROM "), read-only memory (Read-Only Memory, letter
Claim " ROM "), electrically erasable programmable read-only memory (Electrically Erasable Programmable ROM, referred to as
" EEPROM "), disk, CD, digital versatile disc (Digital Versatile Disc, referred to as " DVD ") etc..
Second embodiment of the invention is related to a kind of unmanned machine head form regulation system.Fig. 2 is the unmanned machine head appearance
State adjusts the structure diagram of system.
Specifically, as shown in Fig. 2, the unmanned machine head form regulation system includes：
Camera, on holder, for captured in real-time image.
Image analyzing unit, the image for being shot to camera carry out image analysis, obtain the horizon letter in image
Breath.
Control unit is melted for horizon information to be filtered with the horizontal line information obtained by unmanned plane inertial navigation
It closes, the posture of unmanned machine head is adjusted according to the result of filtering fusion.
Control unit is when filtering fusion so that the horizontal attitude Step wise approximation horizon information obtained by inertial navigation represents
Horizontal attitude.
There are many realization methods for described control unit：
In one embodiment, control unit include extended Kalman filter, the extended Kalman filter according to
The horizon information and horizontal line information of input are extended Kalman filtering, the result tune exported according to Extended Kalman filter
The posture of whole unmanned machine head.
In one embodiment, control unit includes gradient descent algorithm module, for being made using gradient descent algorithm
Horizontal line information is approached to horizon information.
In one embodiment, control unit is complementary filter.
In a preference, one is further included for judging unit, for being exported according to positioning device on unmanned plane
Location information and the directional information that is obtained from gyroscope, it is determined whether to enable the image analysis work(of described image analytic unit
It can be with the filtering fusion function of described control unit.Specifically, then if location information is in preset region, and root
It is directed toward within the preset range according to the camera that the directional information obtained on gyroscope obtains, then opens described image analysis
Otherwise the image analysis function of unit and the filtering fusion function of described control unit are closed with preferably controlling the posture of holder
The image analysis function of described image analytic unit and the filtering fusion function of described control unit are to save electric energy.
First embodiment is can to implement with the corresponding method embodiment of present embodiment, present embodiment with first
Mode is worked in coordination implementation.The relevant technical details mentioned in first embodiment are still effective in the present embodiment, in order to
It reduces and repeats, which is not described herein again.Correspondingly, the relevant technical details mentioned in present embodiment are also applicable in the first implementation
In mode.
It should be noted that each unit mentioned in each equipment embodiment of the present invention is all logic unit, physically,
One logic unit can be a part for a physical unit or a physical unit, can also be with multiple physics
The combination of unit realizes that the Physical realization of these logic units in itself is not most important, these logic units institute is real
The combination of existing function is only the key for solving the technical issues of proposed by the invention.In addition, in order to protrude the innovation of the present invention
Part, the above-mentioned each equipment embodiment of the present invention not will with to solve the technical issues of proposed by the invention relationship less close
Unit introduce, this does not indicate above equipment embodiment and there is no other units.
It should be noted that in the application documents of this patent, relational terms such as first and second and the like are only
For distinguishing one entity or operation from another entity or operation, without necessarily requiring or implying these entities
Or there are any actual relationship or orders between operation.Moreover, term " comprising ", "comprising" or its any other
Variant is intended to non-exclusive inclusion, so that process, method, article or equipment including a series of elements are not only
Including those elements, but also including other elements that are not explicitly listed or further include as this process, method, object
Product or the intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence " including one ", not
Also there are other identical elements in the process, method, article or apparatus that includes the element for exclusion.The application of this patent
In file, if it is mentioned that certain behavior is performed according to certain element, then refers to perform the meaning of the behavior according at least to the element, wherein
Include two kinds of situations：The behavior is performed according only to the element and the behavior is performed according to the element and other elements.
All references mentioned in the present invention is incorporated herein by reference, independent just as each document
It is incorporated as with reference to such.In addition, it should also be understood that, after reading the above teachings of the present invention, those skilled in the art can
To be made various changes or modifications to the present invention, such equivalent forms equally fall within the application range claimed.
Claims (15)
1. a kind of unmanned machine head attitude adjusting method, which is characterized in that include the following steps：
Realtime graphic is shot using the camera on holder；
Image analysis is carried out to the realtime graphic, obtains the horizon information in image；
The horizon information with the horizontal line information obtained by unmanned plane inertial navigation is filtered and is merged, is merged according to filtering
Result adjust the posture of unmanned machine head.
2. unmanned machine head attitude adjusting method according to claim 1, which is characterized in that described " realtime graphic carries out
Image analysis obtains the horizon information in image " include the following steps：
Segmentation image is the wide row band of multistage；
Several frame image averaging gray scales before being asked in each row band, as background image, water is extracted to background image
Flat marginal information；
On each marginal point extracted, the horizon in this row band is set as the horizontal line section by the marginal point, is asked for
Make sky image and the corresponding horizontal line section position of ground image inter- object distance minimum value；
All horizon line segments of the row with image are obtained, these horizon line segments are combined be whole image horizon.
3. unmanned machine head attitude adjusting method according to claim 1, which is characterized in that the filtering fusion is extension
Kalman filtering.
4. unmanned machine head attitude adjusting method according to any one of claim 1 to 3, which is characterized in that the filter
In the step of wave merges, the horizontal line information is made to be approached to the horizon information using gradient descent algorithm.
5. unmanned machine head attitude adjusting method according to claim 1 or 2, which is characterized in that the filtering is fused to
Complementary filter.
6. unmanned machine head attitude adjusting method according to any one of claim 1 to 3, which is characterized in that described " by
The horizon information is filtered with the horizontal line information obtained by unmanned plane inertial navigation and merges, according to the result of filtering fusion
Adjust the posture of unmanned machine head " the step of in, pass through filtering merge inertial navigation obtained by horizontal attitude Step wise approximation
The horizontal attitude that the horizon information represents.
7. unmanned machine head attitude adjusting method according to claim 1, it is characterised in that：A judgment step is further included,
The judgment step includes：
Obtain the current position of unmanned plane；
According to the position judgment unmanned plane of unmanned plane whether in preset region, " cloud is used if it is, entering step
Camera shooting realtime graphic on platform ", does not otherwise start the auxiliary pose adjustment based on image analysis.
8. unmanned machine head attitude adjusting method according to claim 7, it is characterised in that：In the judgment step,
It is that the current position of unmanned plane is obtained by GPS positioning device.
9. unmanned machine head attitude adjusting method according to claim 7, it is characterised in that：The judgment step is also wrapped
It includes：The directional information of unmanned plane is obtained from gyroscope, the direction of camera on holder is therefrom obtained, according to the direction and nobody
The position of machine, it is determined whether enter step " using the camera shooting realtime graphic on holder ".
10. a kind of unmanned machine head form regulation system, which is characterized in that including：
Camera, on holder, for captured in real-time image；
Image analyzing unit, the image for being shot to the camera carry out image analysis, obtain the horizon letter in image
Breath；
Control unit is melted for the horizon information to be filtered with the horizontal line information obtained by unmanned plane inertial navigation
It closes, the posture of unmanned machine head is adjusted according to the result of filtering fusion.
11. unmanned machine head form regulation system according to claim 10, which is characterized in that described control unit includes
Extended Kalman filter, the extended Kalman filter according to the horizon information of input and the horizontal line information into
Row Extended Kalman filter adjusts the posture of unmanned machine head according to the result that Extended Kalman filter exports.
12. unmanned machine head form regulation system according to claim 10, which is characterized in that described control unit includes
Gradient descent algorithm module, for the horizontal line information being made to be approached to the horizon information using gradient descent algorithm.
13. unmanned machine head form regulation system according to claim 10, which is characterized in that described control unit is mutual
Mend wave filter.
14. unmanned machine head form regulation system according to claim 10, which is characterized in that judging unit is further included,
For the location information exported according to positioning device on unmanned plane and the directional information obtained from gyroscope, judge whether out
Open the image analysis function of described image analytic unit and the filtering fusion function of described control unit.
15. the unmanned machine head form regulation system according to any one of claim 10 to 14, which is characterized in that described
Control unit is when filtering fusion so that the water that horizon information described in the horizontal attitude Step wise approximation obtained by inertial navigation represents
Flat posture.
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Cited By (1)
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| WO2022082441A1 (en) * | 2020-10-20 | 2022-04-28 | 深圳市大疆创新科技有限公司 | Gimbal and gimbal control method |
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