CN108827286A - The wearable Low Altitude Target Detection technology of distribution based on pupil tracking - Google Patents
The wearable Low Altitude Target Detection technology of distribution based on pupil tracking Download PDFInfo
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- CN108827286A CN108827286A CN201810211734.2A CN201810211734A CN108827286A CN 108827286 A CN108827286 A CN 108827286A CN 201810211734 A CN201810211734 A CN 201810211734A CN 108827286 A CN108827286 A CN 108827286A
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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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Navigation (AREA)
Abstract
The invention discloses a kind of wearable Low Altitude Target Detection technologies of distribution based on pupil tracking, by the Eye Recognition of the height intelligence and the elaborative faculty for being different from machine of people, utilize the principle of pupil of human tracking target, intelligent glasses video camera, gyro, magnetic susceptibility meter, level meter and GPS carry out Detection location to low targets such as unmanned planes, and required equipment is combined in an intelligent helmet, observer takes the searching that the helmet carries out low target by human eye, location information of the helmet according to measured human eye data and people, the specific location of low target is calculated.The Low Altitude Target Detection technology use cost is cheap, calculation amount is few, difficulty in computation is low, calculating speed is fast, the advantages of precision is high, and data renewal speed is fast, by dependence and combines the height intelligence and flexibility of people, the specific location that can determine low target rapidly and accurately has broad application prospects in the fields such as military, civilian, anti-terrorism and security.
Description
Technical field
The present invention relates to the Detection Techniques of the low targets such as a kind of pair of unmanned plane, and the distribution for being based particularly on pupil tracking can
Wearable Low Altitude Target Detection technology.
Background technique
The development of the low flyers technology such as unmanned plane is very rapid, it just rapidly turns from the military equipment at tip at present
Enter public commercial market, becomes the ordinary consumption product in citizen's hand.However, quick with the low flyers such as unmanned plane market
Increase and technology is spread unchecked, the low flyers such as increasingly advanced unmanned plane of function continue to bring out, and also bring safe and hidden
The suffering in private party face is peeped such as unmanned plane and invades citizen's right of privacy；It is wantonly black winged in unsafe place, pole is caused to society
Big danger；Cause in the sensitizing ranges flight hazard national security such as government offices and camp and unmanned plane misoperation
Safety accident etc..The U.S. once occurred amateurish unmanned plane operator operation unmanned plane and flies into White House's initiation fear；Britain once had
Criminal passes through the events such as prisoner's transport drugs, the gun that unmanned plane is in prison.The low price of unmanned plane, easy to operate etc.
Feature, anyone can buy repacking and use, if by criminal for smuggling, traffic in drugs, implement violence terrorist activity etc.
Serious security risk and challenge will be brought to social stability and security work.Due to the negative shadow of the low flyers such as unmanned plane
Sound gradually shows, and the low flyers industry such as corresponding anti-unmanned plane is quietly risen.
Currently, the low flyers technology such as anti-unmanned plane in various countries is broadly divided into three classes.First is that interference blocks class, mainly pass through
The technologies such as signal interference, sound wave interference are realized.Second is that directly destroying class, including uses laser weapon, breaks through nothing with unmanned plane
It is man-machine etc..Third is that monitoring control class, is mainly realized by kidnapping the modes such as radio control.But no matter which kind of anti-unmanned plane
Etc. technologies, will establish can carry out blocking, explosion on the basis of detecting the low targets such as unmanned plane or injure processing.Institute
With the technology detected to low targets such as unmanned planes is only the most key part.
Mainly include about the technology of the low targets such as sensorcraft both at home and abroad at present：Radar detection, optical detection, biography
Sensor detection, acoustic detection, camera detection etc..The Hei Rui technology company in the U.S. can be to 500m range using miniaturized surveillance radar
Interior medium-sized unmanned plane is detected, and records the data sample of hundreds of radar reflectioies, simultaneity factor can by data sample with
Thousands of kinds of common unmanned planes, which compare, in database is just capable of determining whether to detect unmanned plane；Britain's in June, 15 researches and develops most
According to radar and optics come Detection location unmanned plane in new anti-unmanned plane system of defense；The anti-unmanned plane Detection Techniques of Israel
It is constantly in top standard, the state-of-the-art anti-UAV system Apollo shield of Israel passes through sound, light and wireless sensing at present
Device sensorcraft and low target；The unmanned plane detection system unmanned plane follower that German Dedrone Gmb H company develops
(Drone Tracker), is mainly made of photoelectricity/infrared sensor, sound wave and ultrasonic equipment and video camera；France is proposed
A set of anti-UAV system is by acoustic image detector, radar, video locator and radio frequency come Detection location；Japan is illegal in order to detect
The unmanned plane for swarming into important building overhead has developed a kind of new unmanned detector by Alsok company, which is equipped with
One audio recognition devices that can monitor any direction sound within the scope of 150m recognizes the sound of unmanned plane；Latest domestic research
Anti- unmanned plane radar and " cobweb " radar also specially control it is black fly.But radar is smaller, precision is higher, detects relatively more quasi-
Really, technical difficulty will be promoted significantly at the same time；It is poor to easily identify camouflage for optical satellite imaging clearly, high resolution
Target, but will receive weather influence；Sensor detect cost it is big, comparing calculation sample data is complex, thousands of data into
It is too big that calculation amount is found in row comparison；Camouflaged target easy to identify is not allowed in camera shooting detection；It is a variety of detect the detection cost that is collocated with each other compared with
Greatly, be not suitable for being widely applied, and capital expense is very big.
Summary of the invention
In order to solve the low targets such as current sensorcraft technology there are technology complexity, at high cost, inflexible is asked
Topic, the present invention utilize pupil of human by the Eye Recognition of the height intelligence and the elaborative faculty for being different from machine of people
Principle, intelligent glasses video camera, gyro, magnetic susceptibility meter, level meter and the GPS for tracking target carry out the low targets such as unmanned plane
Detection location, and required equipment is combined in an intelligent helmet, observer need to only take the helmet and carry out low latitude by human eye
Unmanned plane can be calculated according to the location information of measured human eye data and people in the searching of middle unmanned plane, the helmet
Specific location.
Technical solution of the present invention, its main feature is that including the following steps：
(1) using inertial coodinate system, helmet coordinate system and pupil coordinate system respectively as Observation personnel pupil position, the helmet
Attitude angle and human eye angle measurement reference frame；
(2) navigation system combined by gyro, magnetic susceptibility meter, level meter and GPS module is installed in the helmet, by GPS
Module measures coordinate position of the Observation personnel pupil under inertial coodinate system, is combined and is measured by gyro, magnetic susceptibility meter and level meter
The drift angle of direction, it is opposite to measure pupil by intelligent glasses video camera immediately ahead of the pitch angle and the helmet of helmet relative inertness coordinate system
The elevation angle of the helmet and drift angle；
(3) pupil coordinate system is transformed by inertial coodinate system using transformation matrix of coordinates, pupil is calculated and is sat in inertia
Mark is lower elevation angle and drift angle；
(4) step (3) step (4) is repeated, observation data (the same target at least two of different location Observation personnel is measured
A Observation personnel is seen), according to the elevation angle of the coordinate position and pupil of each Observation personnel pupil under inertial coodinate system and
Each Observation personnel pupil is established to the linear equation of low target in drift angle；
(5) simultaneous solution linear equation group obtains intersection point, causes straight line when calculating to have no intersection point, foundation if there is error
Principle of least square method acquires the specific location of an optimal solution, the optimal solution meet this o'clock to three straight lines vertical line square
With shortest condition, which is the specific location of low target under inertial coodinate system.
By above 5 steps, the more specific location information of low target under inertial coodinate system can be acquired.With low latitude mesh
The variation of cursor position, the system in the helmet makes corresponding data acquisition, data calculate the position for acquiring the low target of variation
Carry out trace trap.
The beneficial effects of the invention are as follows：There is this kind the helmet of measurement data function to be convenient for carrying, low in cost to be suitble to extensively
General application, and calculation amount is few, and difficulty in computation is low, and calculating speed is fast, and precision is high, and data renewal speed is fast, by relying on and tying
The advantages of closing the height intelligence and flexibility of people, can determine rapidly and accurately the specific location of low target.In the military, people
With fields such as, anti-terrorism and securities, the present invention calculates the whole series and detection device is installed among the helmet, and low-cost high-efficiency is just
It takes the helmet and provides efficient feasible solution for the demand in market, while also dual-use being answered with boundless
Use prospect.
Detailed description of the invention
Fig. 1 is the position view of ground observation personnel pupil and low target of the present invention under inertial coodinate system；
Fig. 2 is the relative positional relationship schematic diagram of inertial coodinate system and the helmet coordinate system of the present invention；
Fig. 3 is the relative positional relationship schematic diagram of helmet coordinate system of the present invention and pupil coordinate system；
Fig. 4 is the relative positional relationship schematic diagram of pupil coordinate system of the present invention and inertial coodinate system；
Fig. 5 is embodiment of the present invention flow chart.
Specific embodiment
Referring to attached drawing 1, each observer is in the suitable position for being conducive to observed object, establishes inertial coordinate system,
Using GPS module, to multiple observer's pupils, (by taking three observers as an example, when actual observation target, only needs two observers
Obtain the specific positioning of the low targets such as unmanned plane) realize positioning, obtain the position of 1 pupil of observer in inertial coodinate system Oxyz
For A (by taking observer 1 as an example).Three observers take the helmet of design respectively, and searching low target is identified by human eye.
1. inertial coodinate system Oxyz and helmet coordinate system Ox1y1z1Transformation matrix
Referring to attached drawing 2, crosses helmet position and make the reference line x parallel with x-axis in inertial coodinate system1, pass through gyroscope
It is directed toward with the magnetic sensor measurement helmet and projects relative rectilinear x in the horizontal plane1Drift angle ψ, pass through gyroscope and level measurement
The elevation angle θ of helmet relative inertness coordinate system horizontal plane out.
Inertial coodinate system Oxyz and helmet coordinate system Ox1y1z1Between transformation matrix be：
2. pupil coordinate system Ox2y2z2With helmet coordinate system Ox1y1z1Between transformation matrix
Since the change in location of pupil opposing headers is independent, so the principle based on pupil tracking algorithm passes through people's
Pupil, which realizes unmanned plane, to be accurately positioned and tracks.
Referring to attached drawing 3, crosses pupil position and make and x in helmet coordinate system1The parallel reference line x of axis2, pass through Brilliant Eyes
Mirror video camera measures pupil and is directed toward projection relative rectilinear x in the horizontal plane2Drift angle ψ ' and pupil it is horizontal with respect to helmet coordinate system
The elevation angle θ ' in face.
Pupil coordinate system Ox2y2z2With helmet coordinate system Ox1y1z1Between transformation matrix be：
According to principle of coordinate transformation, inertial coodinate system Oxyz and pupil coordinate system Ox can be obtained2y2z2Between transformation matrix
For：
L (ψ ``, θ ``)=L (ψ `, θ `) L (ψ, θ) (3)
3. inertial coodinate system Oxyz and pupil coordinate system Ox2y2z2Transformation matrix
Referring to attached drawing 4, crosses pupil position and make the reference line x parallel with x-axis in inertial coodinate system3, it is assumed that pupil refers to
To projection relative rectilinear x in the horizontal plane3Drift angle be ψ ``, the elevation angle of pupil relative inertness coordinate system horizontal plane is θ ``.
Inertial coodinate system Oxyz and pupil coordinate system Ox2y2z2Between transformation matrix be:
4. (3) formula of combination and (4) Shi Ke get：
3 × 3 matrix of above formula equal sign both sides one-to-one correspondence is listed into nine calculating formulas, according to equation group：
The pupil under inertial coodinate system can be acquired and be directed toward the value and pupil for projecting the drift angle ψ `` of relative rectilinear x in horizontal plane
The value of the elevation angle θ `` of hole relative inertness coordinate system horizontal plane obtains pupil elevation angle ψ `` and bias angle theta under inertial coodinate system
``。
5. the position of UAV targets solves under inertial coodinate system
According to above 4 steps, the pupil coordinate (x of observer 1 is measured1,y1,z1), the pupil coordinate (x of observer 22,
y2,z2), the pupil coordinate (x of observer 33,y3,z3) observer 1 observe low target drift angleElevation angleObserver 2
Observe the drift angle of low targetElevation angleThe drift angle of the observation low target of observer 3Elevation angleObservation
Person 1, and the direction vector of straight line is respectively where the pupil and low target of observer 2 and observer 3 With
Space line equation group is established according to three above direction vector：
It is solved in equation group and obtains the intersection point of three linear equations.Three straight lines when calculating are caused to have no if there is error
Intersection point then acquires the specific location of an optimal solution according to the principle of least square method, and it is straight to three which meets this o'clock
The shortest condition of the quadratic sum of the vertical line of line, i.e.,The intersection point optimal location acquired at this time is inertia seat
Mark is the specific location of lower low target.With the change in location of low target, the system in the helmet is made corresponding data and is adopted
Collection, data calculate the position progress trace trap for acquiring the low target of variation or destruction.Embodiment of the present invention flow chart is such as
Shown in attached drawing 5.
Claims (4)
1. the present invention relates to provide a kind of wearable Low Altitude Target Detection technology of the distribution based on pupil tracking, it is characterised in that
Include the following steps：
(1) using inertial coodinate system, helmet coordinate system and pupil coordinate system respectively as the appearance of Observation personnel pupil position, the helmet
The reference frame of state angle and human eye angle measurement；
(2) navigation system being combined by gyro, magnetic susceptibility meter, level meter and GPS module is installed in the helmet, by GPS mould
Block measures coordinate position of the Observation personnel pupil under inertial coodinate system, is combined by gyro, magnetic susceptibility meter and level meter and is measured head
Pupil is measured with respect to head by intelligent glasses video camera in the drift angle of direction immediately ahead of the pitch angle and the helmet of helmet relative inertness coordinate system
The elevation angle of helmet and drift angle；
(3) pupil coordinate system is transformed by inertial coodinate system using transformation matrix of coordinates, pupil is calculated in inertial coodinate system
Lower elevation angle and drift angle；
(4) step (3) step (4) is repeated, the observation data of different location Observation personnel are measured, according to the seat of Observation personnel pupil
The elevation angle and drift angle of cursor position and pupil under inertial coodinate system establish each Observation personnel pupil to the straight line of low target
Equation；
(5) simultaneous solution linear equation group obtains intersection point, causes straight line when calculating to have no intersection point if there is error, according to minimum
Square law principle acquires the specific location of an optimal solution.
2. the wearable Low Altitude Target Detection technology of the distribution according to claim 1 based on pupil tracking, it is characterized in that：
The method for building up of helmet coordinate system is：With reference to Fig. 2, using helmet position as origin, crosses the helmet and make and x-axis in inertial coodinate system
Parallel reference line x1, the helmet is measured by gyroscope, magnetic sensor and is directed toward projection relative rectilinear x in the horizontal plane1Drift angle ψ,
The elevation angle θ for going out helmet relative inertness coordinate system horizontal plane by gyroscope, level measurement, establishes helmet coordinate system；Pupil
The method for building up of coordinate system is：With reference to Fig. 3, using pupil position as origin, make and x in helmet coordinate system1The parallel ginseng of axis
Examine line x2, pupil is measured by intelligent glasses video camera and is directed toward projection relative rectilinear x in the horizontal plane2Drift angle ψ ' and pupil phase
To the elevation angle θ ' of helmet coordinate system horizontal plane, pupil coordinate system is established.
3. the wearable Low Altitude Target Detection technology of the distribution according to claim 1 based on pupil tracking, it is characterized in that：
With reference to Fig. 2, the helmet is measured by gyroscope, magnetic sensor and is directed toward projection relative rectilinear x in the horizontal plane1Drift angle ψ, pass through top
Spiral shell instrument, level measurement go out the elevation angle θ of helmet relative inertness coordinate system horizontal plane；With reference to Fig. 3, surveyed by intelligent glasses video camera
Pupil is directed toward out projects relative rectilinear x in the horizontal plane2Drift angle ψ ' and pupil with respect to helmet coordinate system horizontal plane elevation angle
θ'。
4. the wearable Low Altitude Target Detection technology of the distribution according to claim 1 based on pupil tracking, it is characterized in that：
Error occur causes straight line without intersection point, and the specific location of optimal solution is acquired according to principle of least square method.
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| CN201810211734.2A CN108827286A (en) | 2018-03-15 | 2018-03-15 | The wearable Low Altitude Target Detection technology of distribution based on pupil tracking |
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| CN107623803A (en) * | 2016-07-15 | 2018-01-23 | 李海锋 | A kind of implementation method and equipment of the augmented reality with light stream positioning function |
| CN106200679A (en) * | 2016-09-21 | 2016-12-07 | 中国人民解放军国防科学技术大学 | Single operation person's multiple no-manned plane mixing Active Control Method based on multi-modal natural interaction |
| CN106828932A (en) * | 2017-04-19 | 2017-06-13 | 四川智航慧飞无人机科技有限公司 | A kind of unmanned plane for the region of war removal of mines |
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Application publication date: 20181116 |