CN109618134A - A kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system and method - Google Patents
A kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system and method Download PDFInfo
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- CN109618134A CN109618134A CN201811505245.4A CN201811505245A CN109618134A CN 109618134 A CN109618134 A CN 109618134A CN 201811505245 A CN201811505245 A CN 201811505245A CN 109618134 A CN109618134 A CN 109618134A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C1/00—Measuring angles
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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
-
- 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
- G01S19/52—Determining velocity
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- General Physics & Mathematics (AREA)
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Abstract
The embodiment of the invention discloses a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system and methods, this includes: the first acquisition module, for acquire without during split plane unmanned plane position and configuration space data；Second acquisition module, for acquiring the unmanned plane dynamic video data of load holder on unmanned plane；Spatial position settlement module is merged in three-dimensional geographic information scene for obtaining unmanned plane position and configuration space data, and by unmanned plane position and configuration space data by projection；Video dynamic fusion module, for by projection, merging in three-dimensional geographic information scene unmanned plane dynamic video data；Synchronization module, for according to same time shaft standard, proofreading the unmanned plane dynamic video data after merging and unmanned plane position and configuration space data after fusion；Matching module, for matching the location information of the unmanned plane dynamic video data after proofreading and the unmanned plane position after check and correction and configuration space data.
Description
Technical field
The present invention relates to technical field of virtual reality, and in particular to a kind of unmanned plane dynamic video three-dimensional geographic information is real-time
Emerging system and method.
Background technique
Referred to as " unmanned plane ", english abbreviation is " UAV " to UAV, is using radio robot and to provide for oneself
The not manned aircraft of presetting apparatus manipulation.With the reduction of the maturation and application difficulty of unmanned air vehicle technique, in various fields
Reused rapidly, instead of the mankind complete it is many before be difficult to the work completed.
Unmanned plane is widely used the fields such as scouting, mapping on site.In recent years, China's natural calamity takes place frequently, with
The fast development of unmanned air vehicle technique, unmanned aerial vehicle remote sensing be the condition of a disaster acquisition of information, decision commanding, rescue and relief work, restore weight after calamity
It the work such as builds and provides new technological means.In addition, unmanned aerial vehicle remote sensing has maneuverability, with strong points, high-efficient, cost
It is low, applied widely etc. a little, thus, unmanned aerial vehicle remote sensing is more and more be widely applied to police, agriculture, Traffic monitoring,
The various industries such as rescue and relief work, video capture field gradually becomes the important supplement means of Aeronautics and Astronautics remote sensing.Wherein, nobody
Machine monitoring function has obtained especially deep industrial application, and plays significance.
Such as in police fields, police unmanned plane in anti-terrorism monitoring, anxious emergency event investigation, anti-riot track down and arrest, assemble a crowd to drive
It dissipates, large-scale party monitoring, rescue the application of the fields such as search, traffic monitoring.Police unmanned plane Heterosis exists: rapid reaction, energy
Scene is reached rapidly, observes the development of the entire state of affairs in commanding elevation；It records impact development process in time with best angle, is thing
Post-processing provides best evidence；In some pernicious violent conflicts, directly enters cluttered area with unmanned plane and is warned,
Casualties is avoided as far as possible；During the violent confrontations or military force with ruffian are seized on both sides by the arms, it can understand ruffian's with being free from risk
Specific actual conditions；In some encirclement capture processes, unmanned helicopter can monitor situation in the ring of encirclement with high-altitude, for commander people
Member provides real-time efficient message.
The isolated video for shooting unmanned plane but in unmanned plane application process and three-dimensional geographic information field
Scape is unified, and by the position and video coverage of combining target regional location and unmanned plane, more intuitive more accurately control is moved
State picture is at present around one of the problem of unmanned plane application.
Summary of the invention
The embodiment of the present invention is designed to provide a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system
And method, to solve problems of the prior art.
To achieve the above object, the embodiment of the present invention provides a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion
System, which includes: an acquisition module, the second acquisition module, sky
Between position settlement module and video dynamic fusion module, synchronization module and matching module；Wherein, the first acquisition module, for adopting
Collect without during split plane unmanned plane position and configuration space data；Second acquisition module is uploaded for acquiring unmanned plane
The unmanned plane dynamic video data of lotus holder；Spatial position settlement module, for obtaining unmanned plane position and configuration space data,
And unmanned plane position and configuration space data are merged in three-dimensional geographic information scene by projection；Video dynamic fusion mould
Block, for by projection, merging in three-dimensional geographic information scene unmanned plane dynamic video data；Synchronization module is used for basis
Same time shaft standard proofreads the unmanned plane dynamic video data after merging and unmanned plane position and posture after fusion
Spatial data；Matching module, for matching the unmanned plane dynamic video data after proofreading and the unmanned plane position after check and correction
With the location information of configuration space data.
Optionally, configuration space data include: Pitch pitch angle, Roll roll angle and Yaw yaw angle.
Optionally, unmanned plane position data includes: GPS/ Beidou location data (longitude, latitude, height, the speed of a ship or plane).
Optionally, GPS/ Beidou location data includes: longitude, latitude, height and the speed of a ship or plane.
Optionally, spatial position settlement module is specifically used for: obtaining Pitch pitch angle, Roll roll angle, Yaw yaw angle
With GPS/ Beidou location data, and will acquire Pitch pitch angle, Roll roll angle, Yaw yaw angle and GPS/ Beidou positioning number
According to fusion in three-dimensional geographic information scene.
Optionally, video dynamic fusion module, is specifically used for: resolving unmanned plane dynamic video data, and by clearing
Orientation, pitching angular dimensions and the lens focus of data and load holder are merged in three-dimensional geographic information scene by projection.
Realize that above-mentioned purpose, the embodiment of the present invention provide a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion side
Method, the unmanned plane dynamic video three-dimensional geographic information real time integrating method include: acquisition without the unmanned plane during split plane
Position and configuration space data；Acquire the unmanned plane dynamic video data of load holder on unmanned plane；Obtain unmanned plane position and
Configuration space data, and unmanned plane position and configuration space data are merged in three-dimensional geographic information scene by projection；It will
Unmanned plane dynamic video data is merged in three-dimensional geographic information scene by projection；According to same time shaft standard, check and correction is melted
Unmanned plane dynamic video data after conjunction and unmanned plane position and configuration space data after fusion；After matching check and correction
The location information of unmanned plane position and configuration space data after unmanned plane dynamic video data and check and correction.
Optionally, unmanned plane dynamic video data is merged in three-dimensional geographic information scene by projection, comprising: resolve
Unmanned plane dynamic video data, and the data of clearing and the orientation, pitching angular dimensions and lens focus of load holder are passed through
Projection is merged in three-dimensional geographic information scene.
The embodiment of the present invention has the advantages that
The application of unmanned plane dynamic video is browsed in three-dimensional geographic information scene, solving cannot obtain in the prior art
With display video in captured target position the problem of, realize dynamic video in real time with three-dimensional geographic information scene space-time datum
It is unified to control, real scene environment is restored, synchronous perceive of situation of battlefield for reaching over the horizon is commanded with space correlation, will be divided rapidly
Scattered Information Superiority is converted into system decision superiority.Preferably it is used for track of issues and emergency command.
Detailed description of the invention
Fig. 1 is a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system that the embodiment of the present invention 1 provides
Structural schematic diagram.
Fig. 2 is a kind of unmanned plane dynamic video three-dimensional geographic information real time integrating method that the embodiment of the present invention 2 provides
Structural schematic diagram.
Specific embodiment
Embodiments of the present invention are illustrated by particular specific embodiment below, those skilled in the art can be by this explanation
Content disclosed by book is understood other advantages and efficacy of the present invention easily.
It should be clear that this specification structure depicted in this specification institute accompanying drawings, ratio, size etc., only to cooperate specification to be taken off
The content shown is not intended to limit the invention enforceable qualifications so that those skilled in the art understands and reads, therefore
Do not have technical essential meaning, the modification of any structure, the change of proportionate relationship or the adjustment of size are not influencing the present invention
Under the effect of can be generated and the purpose that can reach, it should all still fall in disclosed technology contents and obtain the model that can cover
In enclosing.Meanwhile cited such as "upper", "lower", " left side ", the right side in this specification ", the term of " centre ", be merely convenient to chat
That states is illustrated, rather than to limit the scope of the invention, relativeness is altered or modified, and is changing skill without essence
It is held in art, when being also considered as the enforceable scope of the present invention.
Embodiment 1
The embodiment of the present invention 1 provides a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system and method.
The system finally realizes that the dynamic video picture during unmanned plane during flying is merged with three-dimensional geographic information scene real-time matching.Solution
Certainly UAV Video picture isolate, fail to understand location information the problems such as, accomplish three-dimensional geographic space data and dynamic video space-time
It is unified, the intuitive control and interpretation efficiency of video pictures are improved, is had in fields such as urban safety, emergency command, disaster monitorings
Significant application value.
Fig. 1 is a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system that the embodiment of the present invention 1 provides
Structural schematic diagram.As shown in Figure 1, the unmanned plane dynamic video three-dimensional geographic information real time fusion system includes: the first acquisition mould
Block 11, the second acquisition module 12, spatial position settlement module 13, video dynamic fusion module 14, synchronization module 15 and matching mould
Block 16；
First acquisition module 11, for acquiring unmanned plane position and configuration space data during unmanned plane during flying；The
Two acquisition modules 12, for acquiring the unmanned plane dynamic video data of the load holder during unmanned plane during flying；Spatial position
Module 13 is resolved, for unmanned plane position and configuration space data to be loaded into three-dimensional geographic information scene by the method projected
In, using camera perspective projection positioning calculation model, real-time video is projected to the three-dimensional spatial information where video source
On face；Video dynamic fusion module 14 obtains load for realizing to the load holder data calculation during unmanned plane during flying
Camera head orientation, pitching angular dimensions, lens focus running parameter etc. are realized geographical with three-dimensional by dynamic video Fusion Module
Information scene temporal-spatial fusion；Synchronization module 15, for same time shaft standard, to unmanned plane position and configuration space data,
The same check and correction of unmanned plane load camera head video data, realizes same time series, unified time frame, unmanned plane spatial position
It is synchronous with dynamic video to be merged with three-dimensional geographic information scene matching；Matching module 16, for realizing unmanned plane space bit confidence
Breath, is merged with dynamic video image content with the simultaneously match of three-dimensional geographic information scene.
Optionally, configuration space data include: one of Pitch pitch angle, Roll roll angle and Yaw yaw angle or more
Kind.
Optionally, unmanned plane position data includes: GPS/ Beidou location data (longitude, latitude, height, the speed of a ship or plane).
Optionally, video dynamic fusion module 14, specifically for realizing to the load holder number during unmanned plane during flying
According to resolving, load camera head orientation, pitching angular dimensions, lens focus running parameter etc. are obtained, mould is merged by dynamic video
Block is realized and three-dimensional geographic information scene temporal-spatial fusion.
Optionally, synchronization module 15 are realized based on same time shaft standard, to unmanned plane position and configuration space number
According to, the same check and correction of unmanned plane load camera head video data, same time series, unified time frame, unmanned plane space are realized
Position is synchronous with dynamic video to merge with three-dimensional geographic information scene matching.
Optionally, unmanned plane spatial positional information is realized in matching module 16, geographical with dynamic video image content and three-dimensional
The simultaneously match of information scene merges.
The embodiment of the present invention 1 is mainly used for unified management and calling to disparate modules in whole system.Three are carried out simultaneously
The creation of geographic information scene is tieed up, remote sensing image, digital elevation, map vector and threedimensional model are such as loaded, in three-dimensional geographical letter
It ceases in scene, realizes and the spatial position of unmanned plane and the dynamic realtime of video pictures covering position are matched, dynamic menu reality
When project in three-dimensional geographic information scene, realize dynamic video picture merged with three-dimensional geographic information scene real-time matching.
Video fusion technology can be generally divided into three levels, i.e. pretreatment, information fusion and application layer.Preconditioning technique
It is mainly used to carry out video image geometric correction, noise elimination, color；Brightness adjustment and registration etc..Video image registration
Refer to the maximal correlation for finding video image and three-dimensional virtual scene, to eliminate image in directions such as space, phase and resolution ratio
Information gap, reach merge truer, the more accurate purpose of information.The fusion of information fused layer, that is, video image.Video figure
As fusion can be divided into Pixel-level, feature level, decision level fusion etc. by degree of intelligence from low to high.Pixel-level fusion refers to based on image
Pixel carries out splicing fusion, is that two or more image co-registrations become an entirety.Feature-based fusion is with the bright of figure
Carried out based on aobvious feature, such as lines, building feature the splicing of image with merge.Decision level fusion uses Bayesian Method, D-S
The mathematical algorithms such as evidence act carry out Probabilistic Decision-making, carry out video or image co-registration according to this, are more suitable for subjective requirement.
A kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system that the embodiment of the present invention 1 provides is dimensionally
The application for browsing unmanned plane dynamic video in information scene is managed, solves to obtain and be shown in video in the prior art and be clapped
The problem of taking the photograph the position of target realizes dynamic video in real time with the unified control of three-dimensional geographic information scene space-time datum, and reduction is very
Real site environment, the synchronous perception of situation of battlefield for reaching over the horizon command with space correlation, rapidly convert dispersed information advantage
For system decision superiority.Preferably it is used for track of issues and emergency command.
Embodiment 2
Fig. 2 is a kind of unmanned plane dynamic video three-dimensional geographic information real time integrating method that the embodiment of the present invention 2 provides
Structural schematic diagram.As shown in Fig. 2, the unmanned plane dynamic video three-dimensional geographic information real time integrating method includes:
Step S201: acquire without during split plane unmanned plane position and configuration space data；
Step S202: the unmanned plane dynamic video data of load holder on acquisition unmanned plane；
Step S203: unmanned plane position and configuration space data are obtained, and unmanned plane position and configuration space data are led to
Projection is crossed, is merged in three-dimensional geographic information scene；
Step S204: it by unmanned plane dynamic video data by projection, merges in three-dimensional geographic information scene；
Step S205: unmanned plane dynamic video data and fusion according to same time shaft standard, after check and correction fusion
Unmanned plane position and configuration space data later；
Step S206: the unmanned plane dynamic video data after proofreading and unmanned plane position and posture after check and correction are matched
The location information of spatial data.
Optionally, unmanned plane dynamic video data is merged in three-dimensional geographic information scene by projection, comprising: resolve
Unmanned plane dynamic video data, and the data of clearing and the orientation, pitching angular dimensions and lens focus of load holder are passed through
Projection is merged in three-dimensional geographic information scene.
Although above having used general explanation and specific embodiment, the present invention is described in detail, at this
On the basis of invention, it can be made some modifications or improvements, this will be apparent to those skilled in the art.Therefore,
These modifications or improvements without departing from theon the basis of the spirit of the present invention are fallen within the scope of the claimed invention.
Claims (8)
1. a kind of unmanned plane dynamic video three-dimensional geographic information real time fusion system, which is characterized in that the system comprises: first
Acquisition module, the second acquisition module, spatial position settlement module and video dynamic fusion module, synchronization module and matching module；
Wherein,
First acquisition module, for acquire without during split plane unmanned plane position and configuration space data；
Second acquisition module, for acquiring the unmanned plane dynamic video data of load holder on unmanned plane；
The spatial position settlement module, for obtaining the unmanned plane position and configuration space data, and by unmanned plane position
With configuration space data by projection, merge in three-dimensional geographic information scene；
The video dynamic fusion module, for the unmanned plane dynamic video data by projection, to be merged three-dimensional geographical letter
It ceases in scene；
The synchronization module, for according to same time shaft standard, unmanned plane dynamic video data after check and correction fusion and
Unmanned plane position and configuration space data after fusion；
The matching module, for match check and correction after unmanned plane dynamic video data and check and correction after unmanned plane position and
The location information of configuration space data.
2. system according to claim 1, which is characterized in that the configuration space data include: Pitch pitch angle,
Roll roll angle and Yaw yaw angle.
3. system according to claim 1 or 2, which is characterized in that unmanned plane position data includes: GPS/ Beidou positioning number
According to (longitude, latitude, height, the speed of a ship or plane).
4. system according to claim 3, which is characterized in that the GPS/ Beidou location data include: longitude, latitude,
Height and the speed of a ship or plane.
5. system according to claim 3, which is characterized in that the spatial position settlement module is specifically used for:
Pitch pitch angle, Roll roll angle, Yaw yaw angle and GPS/ Beidou location data are obtained, and will acquire Pitch and bow
The elevation angle, Roll roll angle, Yaw yaw angle and the fusion of GPS/ Beidou location data are in three-dimensional geographic information scene.
6. system according to claim 1, which is characterized in that the video dynamic fusion module is specifically used for:
Resolve the unmanned plane dynamic video data, and by the data of clearing and the orientation of load holder, pitching angular dimensions and
Lens focus is merged in three-dimensional geographic information scene by projection.
7. a kind of unmanned plane dynamic video three-dimensional geographic information real time integrating method, which is characterized in that the described method includes:
Acquire without during split plane unmanned plane position and configuration space data；
Acquire the unmanned plane dynamic video data of load holder on unmanned plane；
The unmanned plane position and configuration space data are obtained, and unmanned plane position and configuration space data are melted by projection
It closes in three-dimensional geographic information scene；
By the unmanned plane dynamic video data by projection, merge in three-dimensional geographic information scene；
The unmanned seat in the plane after unmanned plane dynamic video data and fusion according to same time shaft standard, after check and correction fusion
It sets and configuration space data；
The position of the unmanned plane position and configuration space data after unmanned plane dynamic video data and check and correction after matching check and correction
Confidence breath.
8. the method according to the description of claim 7 is characterized in that described pass through throwing for the unmanned plane dynamic video data
Shadow merges in three-dimensional geographic information scene, comprising:
Resolve the unmanned plane dynamic video data, and by the data of clearing and the orientation of load holder, pitching angular dimensions and
Lens focus is merged in three-dimensional geographic information scene by projection.
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| CN111415416A (en) * | 2020-03-31 | 2020-07-14 | 武汉大学 | Method and system for fusing monitoring real-time video and scene three-dimensional model |
| CN111586360A (en) * | 2020-05-14 | 2020-08-25 | 佳都新太科技股份有限公司 | Unmanned aerial vehicle projection method, device, equipment and storage medium |
| CN113415433A (en) * | 2021-07-30 | 2021-09-21 | 成都纵横大鹏无人机科技有限公司 | Pod attitude correction method and device based on three-dimensional scene model and unmanned aerial vehicle |
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Application publication date: 20190412 |