CN109521781A - Unmanned plane positioning system, unmanned plane and unmanned plane localization method - Google Patents
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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Abstract
The invention discloses a kind of unmanned plane positioning system, unmanned plane and unmanned plane localization methods, comprising: the vision processing module with image acquisition unit, its relevant information for being used to obtain the visual pattern on vision map, and the position of unmanned plane is obtained according to the relevant information of the visual pattern, and the vertex of adjacent visual pattern is connected according to pre-defined rule, the junction on two vertex forms an angle point；The vision processing module determines the position coordinates and posture information of the unmanned plane.The present invention can position in insecure environment in gps or noninertia navigation system under conditions of realizes the high accuracy positioning and real-time navigation of unmanned plane, and only need to be constructed by machine vision by two dimensional code, bar code etc. the vision map that can be identified can achieve the purpose that in real time position and control unmanned plane during flying posture, it is simple and practical, simultaneously, also working efficiency can be improved according to contexture by self flight path.
Description
Technical field
The present invention relates to positioning and navigation fields, and in particular to a kind of unmanned plane positioning system, unmanned plane and unmanned plane are fixed
Position method.
Background technique
Currently, the positioning of the motion carriers such as unmanned plane and navigation can only rely on GPS and inertial navigation system, but used
Property navigation system in, due to its sensor be easy by external environmental interference, cause positioning accuracy low；In GPS positioning system
In system, due to the limitation of the factors such as landform, Fabricated structures, some areas GPS signal is weaker or without GPS signal, therefore this
A little regions also can not realize independent navigation by GPS.
Summary of the invention
In view of the foregoing drawbacks, the present invention provides a kind of unmanned plane positioning system, unmanned plane and unmanned plane localization method,
It constructs identifiable vision map by visual patterns such as two dimensional codes, even if thus positioning insecure environment or nothing in gps
The high accuracy positioning and real-time navigation of unmanned plane are realized under conditions of inertial navigation system.
The technical solution that the present invention is proposed with regard to above-mentioned technical problem is as follows:
On the one hand, a kind of unmanned plane positioning system is provided comprising: the visual processes mould with image acquisition unit
Block is used to obtain the relevant information of the visual pattern on vision map, and is obtained according to the relevant information of the visual pattern
The location information of unmanned plane, and the vertex of adjacent visual pattern is connected according to pre-defined rule, the junction on two vertex forms one
Angle point；
The vision processing module determines the position coordinates of the unmanned plane according to following equation (1)-(7)；
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are formed
The pixel coordinate of angle point, XYZ are three-dimensional world coordinate；xc=0, yc=0, zc=0, three is image acquisition unit in image
Coordinate in acquiring unit coordinate system, Xc, Yc, ZcFor coordinate of the image acquisition unit in three-dimensional world coordinate system.
Preferably, the vision processing module determines that the posture of the unmanned plane is believed also according to following equation (8)-(11)
Breath；
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix.
Preferably, the localizing environment is indoor environment or the insecure environment of global positioning system signal.
Preferably, the vision map has at least one visual pattern, and each visual pattern is identical more
Side shape, and have the relevant information of the visual pattern in each visual pattern.
Preferably, the unmanned plane positioning system further include:
Path planning module, according to the vision of path feature and acquisition between beginning and end, Origin And Destination
Cartographic information independently constructs the path of connection source and position；
And motion-control module, it is used to it is expected the desired locations of destination, the desired speed of desired course using target
The flight attitude information generation of vector, the Desired Height of unmanned plane and unmanned plane entirety is guidanceed command, and is referred to according to the guidance
Enable the flight attitude of the position for adjusting the unmanned plane and/or the control unmanned plane.
Preferably, the method in the path of the autonomous building connection source and terminal includes simulated annealing, artificial gesture
Field method, fuzzy logic algorithm, tabu search algorithm, visual map space, Grid Method, ant group algorithm, neural network algorithm, heredity are calculated
One or more of method.
On the other hand, a kind of unmanned thermomechanical components are also provided comprising: body and above-mentioned unmanned plane positioning system.
Preferably, the unmanned thermomechanical components further include:
Sample detection module comprising at least one monitoring sensor is used to acquire ring during unmanned plane during flying
The monitoring information to obtain sample monitoring information, and is sent to the end at user by the sample in border, and analyzing it
End is shown；
And object identification module, it is used to obtain and is attached to the object information of body surface to be monitored, and by the object
Body information is sent to the terminal at user and shows.
On the other hand, a kind of localization method of unmanned plane is also provided comprising following steps:
S1, vision map is set in the environment；
S2, the visual pattern on the vision map is grabbed by the image acquisition unit of vision processing module, obtaining should
The relevant information of visual pattern, and determine that the vertex of two visual patterns connection is formed by angle according to the relevant information of visual pattern
The position coordinates of point, the position coordinates of the unmanned plane are determined according to following equation (1)-(7)；
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are formed
The pixel coordinate of angle point, XYZ are three-dimensional world coordinate；xc=0, yc=0, zc=0, three is image acquisition unit in image
Coordinate in acquiring unit coordinate system, Xc, Yc, ZcFor coordinate of the image acquisition unit in three-dimensional world coordinate system；
And the posture information of the unmanned plane is determined according to following equation (8)-(11)；
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix.
Preferably, further includes:
S3, path planning module are according to the characteristics of path between beginning and end, Origin And Destination and the vision of acquisition
Cartographic information independently constructs the path of connection source and terminal；
And S4, motion-control module using the target expectation desired locations of destination, desired course desired speed vector,
The flight attitude information generation of Desired Height and the unmanned plane entirety of unmanned plane is guidanceed command, and guidances command adjustment according to described
The position of the unmanned plane and/or the flight attitude of the control unmanned plane.
The present invention can position in insecure environment in gps or noninertia navigation system under conditions of realizes the height of unmanned plane
Precision positioning and real-time navigation, and only need to be constructed by machine vision by two dimensional code, bar code etc. and can identify visually
Figure can reach the purpose of positioning in real time and control unmanned plane during flying posture, simple and practical, meanwhile, it can also be flown according to contexture by self
Walking along the street line improves working efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of unmanned plane positioning system in embodiment one；
Fig. 2 a is the structural schematic diagram of unmanned plane, vision map in embodiment one；
Fig. 2 b is the schematic diagram of angle point in embodiment one；
Fig. 3 is the structural schematic diagram of unmanned plane in embodiment two；
Fig. 4 is the structural schematic diagram of unmanned plane and object to be monitored in embodiment two.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Embodiment one:
As shown in Fig. 1-2 a, unmanned plane positioning system includes: in the present embodiment
Vision processing module 1 is used to obtain 21 information of visual pattern on visually Fig. 2, and according to the vision figure
The relevant information of case 21 obtains position and the posture information of the unmanned plane 100；The vision map is set in localizing environment；
Wherein, the localizing environment is indoor environment or the insecure environment of global positioning system (GPS) signal；Preferably, the view
Feel that ground Fig. 2 has at least one visual pattern 21, and each 21 color of the visual pattern is identical, in the present embodiment, Mei Yisuo
Stating visual pattern 21 is identical polygon (including regular polygon, such as square, diamond shape, equilateral triangle)；Meanwhile as schemed
Shown in 2b, has the visual pattern by modes such as two dimensional code, bar code, AprilTag, QR codes in each visual pattern
Relevant information (the corresponding number of such as visual pattern, shape, size, apex coordinate), and different visual pattern 21
Vertex connected according to pre-defined rule, for example, a certain vertex of a visual pattern 21 is only correspondingly connected with adjacent, another vision figure
The junction on a certain vertex of case 21, two vertex forms an angle point 22；
Specifically, the vision processing module 1 includes that image acquisition unit 11, position determination unit 12 and posture determine list
Member 13；
Wherein, described image acquiring unit 11 (such as camera) is for grabbing the visual pattern 21, and passes through identification two
The modes such as dimension code, bar code, AprilTag, QR code obtain the relevant information of the visual pattern,
The position determination unit 12 connects described image acquiring unit 11, for the relevant information according to visual pattern 21
Determine that the vertex of two visual patterns connection is formed by the position coordinates of angle point 22, such as two visual patterns connected according to vertex
Number obtains the coordinate information for being formed by angle point 22, so that it is determined that at least one angle point 22 (preferably 4 or more angle points 22)
Position coordinates；And the position coordinates of the unmanned plane are determined according to following equation (1)-(7):
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are formed
The pixel coordinate of angle point, XYZ are three-dimensional world coordinate (i.e. the practical flight coordinate of unmanned plane)；xc=0, yc=0, zc=0, three
Person is coordinate of the image acquisition unit in image acquisition unit coordinate system, Xc, Yc, ZcIt is image acquisition unit in three-dimensional generation
Coordinate in boundary's coordinate system；
It is as a result, that can determine that unmanned plane is whole to exist obtaining image acquisition unit after the coordinate in three-dimensional world coordinate system
Physical location in three-dimensional world coordinate system；
The posture determination unit 13 connects described image acquiring unit 11, for being determined according to following equation (8)-(11)
The posture information of the unmanned plane:
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix；
It can determine the flight attitude letter of unmanned plane entirety after the three axis rotation angles for obtaining image acquisition unit 11 as a result,
Breath.
Therefore, it even if the positioning system in the present embodiment positions in insecure environment in gps, can also not completely depend on used
Property navigation system realize high accuracy positioning and real-time navigation, and only need to be constructed by machine vision by two dimensional code, bar code etc.
The vision map that can be identified can achieve the purpose that position and grasp unmanned plane during flying posture in real time, simple and practical.
In addition, the unmanned plane positioning system further include:
Path planning module 2, according to beginning and end (position where the i.e. described vision map), Origin And Destination it
Between path the characteristics of (whether move) and obtain including barrier quantity, barrier vision map information independence building
The path of connection source and position；Wherein, the method in the path of the autonomous building connection source and terminal includes simulated annealing
Algorithm, Artificial Potential Field Method, fuzzy logic algorithm, tabu search algorithm, visual map space, Grid Method, ant group algorithm, neural network
One or more of algorithm, genetic algorithm；
Motion-control module 3 is used to swear using the desired locations of target expectation destination, the desired speed of desired course
Amount, the flight attitude information of the Desired Height of unmanned plane and unmanned plane entirety guidance command (institute by pid control algorithm generation
State and guidance command including roll angle, pitch angle and yaw angle), and the position of the unmanned plane is adjusted according to described guidance command
And/or the flight attitude of the control unmanned plane.
Embodiment two:
A kind of unmanned thermomechanical components are present embodiments provided, as shown in Figure 3-4 comprising: body 100 ' and embodiment one
The unmanned plane positioning system；
Sample detection module 101 comprising at least one monitoring sensor is used to acquire during unmanned plane during flying
Sample (such as atmospheric sample) in environment, and analyze it, to obtain sample monitoring information, and the monitoring information is sent out
The terminal to user is sent to show, so that user carries out decision；The sample monitoring information includes PM value, temperature and pollution
One or more of object content；
And object identification module 102, as shown in figure 4, it is used to obtain the object letter for being attached to body surface to be monitored
Breath, and the object information is sent to the terminal at user and is shown；Specifically, the object information includes type, number
One or more of amount, the place of production；The object information is contained in the figures such as two dimensional code, bar code, AprilTag, QR code,
And it can be obtained by way of scanning by the object identification module 102.
Embodiment three:
A kind of localization method for the unmanned plane realized by unmanned plane positioning system described in embodiment one comprising as follows
Step:
S1, the vision map is set in the environment；
S2, the visual pattern on the vision map is grabbed by the image acquisition unit of vision processing module, and according to
The relevant information of the visual pattern obtains position and the posture information of the unmanned plane；
Specifically, the step of obtaining position and the posture information of the unmanned plane according to the relevant information of the visual pattern
Include:
S21, grab the visual pattern by image acquisition unit (such as camera), and by identification two dimensional code, bar code,
The modes such as AprilTag, QR code obtain the relevant information of the visual pattern；
S22, position determination unit determine that the vertex of two visual patterns connection is formed according to the relevant information of visual pattern
Angle point position coordinates, and determine according to following equation (1)-(7) position coordinates of the unmanned plane:
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are formed
The pixel coordinate of angle point, XYZ are three-dimensional world coordinate (i.e. the practical flight coordinate of unmanned plane)；xc=0, yc=0, zc=0, three
Person is coordinate of the image acquisition unit in image acquisition unit coordinate system, Xc, Yc, ZcIt is image acquisition unit in three-dimensional generation
Coordinate in boundary's coordinate system；
It is as a result, that can determine that unmanned plane is whole to exist obtaining image acquisition unit after the coordinate in three-dimensional world coordinate system
Physical location in three-dimensional world coordinate system；
S23, the posture determination unit determine the posture information of the unmanned plane according to following equation (8)-(11):
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix；
It can determine the flight attitude letter of unmanned plane entirety after the three axis rotation angles for obtaining image acquisition unit as a result,
Breath；
The characteristics of S3, path planning module are according to path between beginning and end, Origin And Destination (including barrier number
Amount, whether barrier move) and the path of vision map information independence building connection source and terminal that obtains；
And S4, motion-control module using the target expectation desired locations of destination, desired course desired speed vector,
The flight attitude information of Desired Height and the unmanned plane entirety of unmanned plane is guidanceed command by pid control algorithm generation, and according to
The flight attitude for guidanceing command the position for adjusting the unmanned plane and/or the control unmanned plane.
In conclusion the present invention can position in insecure environment in gps, inertial navigation system reality can also not completely depended on
Existing high accuracy positioning and real-time navigation, and only need to be constructed by the view that machine vision can identify by two dimensional code, bar code etc.
Feel map be can reach in real time positioning and control unmanned plane during flying posture purpose, it is simple and practical, meanwhile, can also basis starting
Contexture by self optimal flight path in position increases the aerial residence time, improves working efficiency.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned plane positioning system comprising: the vision processing module with image acquisition unit is used to obtain vision
The relevant information of visual pattern on map, and according to the relevant information of the visual pattern obtain unmanned plane location information,
And the vertex of adjacent visual pattern is connected according to pre-defined rule, the junction on two vertex forms an angle point；
It is characterized in that, the vision processing module determines the position coordinates of the unmanned plane according to following equation (1)-(7)；
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are the angle point to be formed
Pixel coordinate, XYZ is three-dimensional world coordinate；xc=0, yc=0, zc=0, three is that image acquisition unit is obtained in image
Coordinate in unit coordinate system, Xc, Yc, ZcFor coordinate of the image acquisition unit in three-dimensional world coordinate system.
2. unmanned plane positioning system as described in claim 1, which is characterized in that the vision processing module is also according to following public affairs
Formula (8)-(11) determine the posture information of the unmanned plane；
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix.
3. unmanned plane positioning system as described in claim 1, which is characterized in that the localizing environment is indoor environment or the whole world
The insecure environment of positioning system signal.
4. unmanned plane positioning system as described in claim 1, which is characterized in that the vision map has at least one vision
Pattern, each visual pattern are identical polygon, and with the visual pattern in each visual pattern
Relevant information.
5. unmanned plane positioning system as described in claim 1, which is characterized in that the unmanned plane positioning system further include:
Path planning module, according to the vision map of path feature and acquisition between beginning and end, Origin And Destination
The path of information independence building connection source and position；
And motion-control module, the desired speed vector of the desired locations, desired course that are used to that target to be utilized it is expected destination,
The flight attitude information generation of Desired Height and the unmanned plane entirety of unmanned plane is guidanceed command, and guidances command adjustment according to described
The position of the unmanned plane and/or the flight attitude of the control unmanned plane.
6. unmanned plane positioning system as claimed in claim 5, which is characterized in that the autonomous building connection source and terminal
The method in path includes simulated annealing, Artificial Potential Field Method, fuzzy logic algorithm, tabu search algorithm, visual map space, grid
One or more of lattice method, ant group algorithm, neural network algorithm, genetic algorithm.
7. a kind of unmanned thermomechanical components characterized by comprising body and unmanned plane as claimed in any one of claims 1 to 6
Positioning system.
8. unmanned thermomechanical components as claimed in claim 7, which is characterized in that the unmanned thermomechanical components further include:
Sample detection module comprising at least one monitoring sensor is used to acquire in environment during unmanned plane during flying
Sample, and analyze it, to obtain sample monitoring information, and by the monitoring information be sent to the terminal at user into
Row display；
And object identification module, it is used to obtain the object information for being attached to body surface to be monitored, and the object is believed
The terminal being sent at user is ceased to show.
9. a kind of localization method of unmanned plane, which comprises the steps of:
S1, vision map is set in the environment；
S2, the visual pattern on the vision map is grabbed by the image acquisition unit of vision processing module, obtains the vision
The relevant information of pattern, and determine that the vertex of two visual patterns connection is formed by angle point according to the relevant information of visual pattern
Position coordinates, and determine according to following equation (1)-(7) position coordinates of the unmanned plane；
H=[h1 h2 h3]=λ K [r1 r2t] (5)；
Wherein, s is scale factor, and Z=0, H are homography matrix, and R is spin matrix, and T is translation matrix, and u, v are the angle point to be formed
Pixel coordinate, XYZ is three-dimensional world coordinate；xc=0, yc=0, Zc=0, three is that image acquisition unit is obtained in image
Coordinate in unit coordinate system, Xc, Yc, ZcFor coordinate of the image acquisition unit in three-dimensional world coordinate system；
And the posture information of the unmanned plane is determined according to following equation (8)-(11)；
θz=atan2 (r21, r11) (8)；
Wherein, θx, θy, θzFor three axis rotation angles of image acquisition unit, R is spin matrix.
10. localization method as claimed in claim 9, which is characterized in that further include:
S3, path planning module are according to the characteristics of path between beginning and end, Origin And Destination and the vision map of acquisition
The path of information independence building connection source and terminal；
And S4, motion-control module using the target expectation desired locations of destination, desired course desired speed vector, nobody
The flight attitude information generation of Desired Height and the unmanned plane entirety of machine is guidanceed command, and is guidanceed command described in adjustment according to described
The position of unmanned plane and/or the flight attitude of the control unmanned plane.
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