CN110030988A - A kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement - Google Patents
A kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement Download PDFInfo
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- CN110030988A CN110030988A CN201910159472.4A CN201910159472A CN110030988A CN 110030988 A CN110030988 A CN 110030988A CN 201910159472 A CN201910159472 A CN 201910159472A CN 110030988 A CN110030988 A CN 110030988A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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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
- G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
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Abstract
The present invention is a kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement, it is in the measuring system based on three linear array imaging cameras, the multiple illuminated beacon space mounting arrangements of reasonable Arrangement, impulse modulation timing is designed to the illuminated beacon of multiple specific bands, three line-scan digital cameras are completed to the synchronous acquisition of the image of illuminated beacon, then the processing of frame difference is done to adjacent two field pictures, determine the regional scope of each illuminated beacon, the image coordinate of each illuminated beacon is found out using gray threshold centroid method to each frame image is collected, then neighborhood search matching is carried out in the regional scope of illuminated beacon using apart from nearest principle, it can not find the serial number of the corresponding beacon extinguished of illuminated beacon of location matches, record position information, correspond to the picture frame of illuminated beacon all light, each letter that shines can be recognized It is marked on while the position in the image that is acquired when lighting.
Description
Technical field
The present invention is a kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement, is related to that photo-electric is non-to be connect
Touch high dynamic field of measuring technique.
Background technique
Multi-beacon high-speed synchronous for high dynamic pose measurement identifies, is the technology base of moving-target high dynamic pose measurement
Plinth, recognizer provide position of the beacon under image coordinate system, the position letter of at least three beacons under image coordinate system
Breath input imaging model, can calculate the posture information of tested moving platform, can be widely applied to moving platform such as space intersection pair
It connects, automatic air refuelling, unmanned plane landing assisting navigation, robot for space navigation, the fields such as space manipulator crawl, for thereafter
Continuous control guidance provides high-accuracy metrical information.Currently, needing to arrange on moving-target multiple in the pose measurement of moving-target
(at least three) beacon realizes the pose measurement of moving-target by the identification measurement to multi-beacon, and wherein multi-beacon identification is main
There are problems in terms of following four:
1, higher real-time, the position of each beacon and posture change over time, and to obtain its posture information in real time, need
Higher measurement frequency is maintained while guaranteeing measurement accuracy；
2, multi-beacon tracks, for the posture information for obtaining testee, need to place on the rigid body of tested moving-target to
Few three Beacon Points resolve posture information by the three-dimensional coordinate of multiple Beacon Points；
3, on the one hand synchronous identification between multi-beacon point is required to synchronize between multiple recognition units, on the other hand be required more
A Beacon Point synchronizes identified, is generated empty due to asynchronous in measurement timing during the motion to avoid multiple Beacon Points
Between on offset, and then increase dynamic measurement error；
4, stronger anti-interference even results in device and is saturated and nothing to avoid the strong illumination interference based on sunlight
Method work.
The technological difficulties of above four aspect, limit the use of existing object space three-dimensional coordinate measuring technology.It is such as existing normal
Though area array cameras can realize the synchronous identification measurement of multi-beacon, frame frequency also may be up to frames up to a hundred, image data amount at present
Greatly, Processing Algorithm is complicated, and increasing with number of beacons, and algorithm operation quantity is multiplied, and causes recognition speed to decline, furthermore
Area array cameras is imaged on different moments, and by the serious interference of strong illumination, image quality degradation causes to identify different zones
Algorithm needs to consider that illumination is interfered, or even unrecognized situation occurs.
Summary of the invention
The present invention exactly designs in view of the above-mentioned deficiencies in the prior art and provides one kind for high dynamic pose
The multi-beacon high-speed synchronous recognition methods of measurement, it is big the purpose is to solve area array cameras recognizer complexity, operand, and be easy
The shortcomings that being interfered by strong illumination, causing image quality degradation.
The purpose of the present invention is achieved through the following technical solutions:
This kind is used for the multi-beacon high-speed synchronous recognition methods of high dynamic pose measurement, it is characterised in that: the step of this method
It is rapid as follows:
A arranges illuminated beacon 2 on tested moving platform 1, and the quantity of illuminated beacon 2 is more than 6 and is even number, illuminated beacon
2 are divided to two groups to install in symmetric form on tested moving platform 1；
B carries out impulse modulation to the luminous signal that illuminated beacon 2 generates, and a modulation period is the same time point of illuminated beacon 2
It is bright, then T at the same timemSuccessively only extinguish one of illuminated beacon 2, until after 62 polls of illuminated beacon are complete again
It is secondary to light simultaneously；
C shines to whole using 3 line-scan digital cameras 4 on measurement moving platform 3 within the modulation period of illuminated beacon 2
Beacon 2 carries out Image Acquisition, the timing of Image Acquisition and the time interval T in 2 modulation period of illuminated beaconmIt is identical and corresponding；
D is the regional scope φ ∈ that frame difference handles each determining illuminated beacon 2 to collected adjacent two field pictures
[umin,umax], the image coordinate of each illuminated beacon 2 is found out using gray threshold centroid method to each frame image is collectedWherein i=1,2,3 represent i-th of line-scan digital camera, j=1, and 2,3,4 ... n, n >=6 represent j-th of illuminated beacon, f=1,
2,3 ... n represents the f frame acquired in a cycle, then uses apart from nearest principle in φ ∈ [umin,umax] in range into
Row neighborhood search withMatched position can not find the serial number of the corresponding beacon extinguished of illuminated beacon of location matches, record position
Confidence breath, corresponds to the picture frame of 2 all light of illuminated beacon, can recognize acquisition when each illuminated beacon 2 is lighted at the same time
Image in position.
The method of the present invention uses time reference of the GPS time synchronizer as entire algorithm, realizes beacon impulse modulation.It adopts
With a wireless aps, a wireless module being integrated on 4 sync card of line-scan digital camera and one are integrated on Beacon control
Wireless module builds cordless communication network, realizes the arteries and veins of line-scan digital camera 4, the pattern process computer of illuminated beacon, illuminated beacon
Modulated control circuit it is wireless interconnected, the pattern process computer of illuminated beacon by wireless tcp/IP network transport protocol,
Control signal is issued, 3 line-scan digital cameras 4 is controlled to illuminated beacon synchronous acquisition image and identifies illuminated beacon position.
The characteristics of technical solution of the present invention and its technical effect are as follows:
1, the equipment in technical solution of the present invention using one-dimensional line-scan digital camera 4 as acquisition 2 image of illuminated beacon, has
It is big to solve area array cameras recognizer complexity, operand for higher real-time, and is easy to be interfered by strong illumination, causes to be imaged
The shortcomings that quality degradation；
2, the modulation timing that illuminated beacon is devised in technical solution of the present invention is completed image according to the modulation timing and is adopted
Collection, provides encoded information for each illuminated beacon, and it is few to solve line-scan digital camera image-forming information amount, without obvious encoded information,
Unrecognized technical problem；
3, the matching region of search model that frame difference algorithm determines each illuminated beacon 2 is used in technical solution of the present invention
It encloses, identifies position when each illuminated beacon 2 is lighted at the same time in acquired image on 2d, realize multiple
Matching between Beacon Point and identification feature, operand is few, under the premise of same accuracy of identification, even if synchronous identification shines
Number of beacons is more, still can reach very high recognition speed, guarantees the real-time of image procossing, and it is dynamic to meet moving platform attitude measurement height
The requirement of state；
4, technical solution of the present invention can carry out the synchronous identification of high dynamic to the multi-beacon of moving platform, and have good
Anti-interference.Pose measurement suitable for moving-targets such as Technique in Rendezvous and Docking, automatic air refuelling, unmanned plane landing assisting navigations
System changes the camera parameter of linear array imaging unit and the timing week of Beacon control while basic principle remains unchanged
Phase can also realize that up to tens beacons synchronize high dynamic identification at a distance.
Detailed description of the invention
Fig. 1 is the flow diagram of the method for the present invention；
Fig. 2 is schematic layout pattern of 6 illuminated beacons on tested moving platform 1 in the embodiment of the present invention；
Fig. 3 is the positional diagram in the embodiment of the present invention between line-scan digital camera 4 and illuminated beacon 2；
Fig. 4 is the lighting timings schematic diagram of 6 illuminated beacons in a modulation period in the embodiment of the present invention；
Fig. 5 is the time diagram of the Image Acquisition of line-scan digital camera 4 in the embodiment of the present invention；
Fig. 6 is the software flow of the beacon position recognizer of the pattern process computer of illuminated beacon in the embodiment of the present invention
Cheng Tu；
Fig. 7 is the pulse of line-scan digital camera 4, the pattern process computer of illuminated beacon, illuminated beacon in the embodiment of the present invention
The schematic diagram of modulation control circuit three's timing corresponding relationship；
Fig. 8 is whole software algorithm flow diagram in the pattern process computer of illuminated beacon in the embodiment of the present invention.
Specific embodiment
Technical solution of the present invention is further described below with reference to figure embodiment:
Referring to figure 1, know described in the embodiment of the present invention for the multi-beacon high-speed synchronous of high dynamic pose measurement
The step of other method, is as follows:
A arranges illuminated beacon 2 on tested moving platform 1, and the quantity of illuminated beacon 2 is that n (n >=6) are a, and illuminated beacon 2 exists
It is divided to two groups to install in symmetric form on tested moving platform 1, which is separately positioned on two waists an of isosceles trapezoid
At position, as shown in Figure 2.
Illuminated beacon 2 selects high-power near-infrared LED lamp, the light of the service band of this kind of lamp in the CMOS of line-scan digital camera 4
In quick range, and addition and the matched optical filter of LED light service band in the imaging optical path of line-scan digital camera 4, eliminate LED work
Make the light disturbance outside wave band.Space mounting arrangement for the extraction accuracy for guaranteeing illuminated beacon 2, beacon requires every two beacon
Between as far as possible have certain space length, positional diagram such as Fig. 3 institute between line-scan digital camera 4 and illuminated beacon 2
Show.
In the actual application of moving platform, 3 one dimensional linear array of arrangement measure camera, three lines on measurement moving platform 5
Battle array, which is put, requires two sides line array sensor horizontal positioned, and intermediate line array sensor is placed vertically, and camera lens is vertical with line array sensor
It is installed on moving platform 5, in this application example, its Pixel size of one-dimensional camera is 7.04um, and effective pixel number is 8k, and interface is adopted
With CameraLink interface.In the entire algorithm course of work, it is related to three frequency values, is the work frequency of line-scan digital camera respectively
Rate fC, marker luminous frequency fS, pose measurement frequency fM, wherein pose measurement frequency fM=fC/ n, n when pose measurement by making
With the number of marker.The luminous frequency of marker and pose measurement frequency, camera exposure time, measurand movement rate etc.
Relating to parameters.If pose measurement Refresh Data rate is greater than 50Hz, beacon number is 6, the working frequency of line-scan digital camera is at least answered
Greater than 300Hz, if considering testee movement rate, the working frequency Ying Genggao of camera guarantees letter in a collection period
Cursor position variation is less than systemic resolution.Sample frequency maximum is up to 50kHz.
B carries out impulse modulation to the luminous signal that illuminated beacon 2 generates, and a modulation period is the same time point of illuminated beacon 2
It is bright, then T at the same timemSuccessively only extinguish one of illuminated beacon 2, until after 62 polls of illuminated beacon are complete again
It is secondary to light simultaneously；
In the technical program, controlled using GPS time synchronizer by wireless network output sync pulse signal to beacon
Device, under the control of lock-out pulse, continue camera work triggering needed for period after, controller start to 1~n beacon into
The different time sequential pulse modulation of row, it is specific as shown in Figure 4.
The initial time for recording a cycle is t0Moment continues to t1When the moment, the impulse modulation of illuminated beacon controls electricity
Road drives n beacon to be all lit.Wherein duration t1-t0It is the time needed for camera work triggering；
Continue to t '1The pulse modulation control circuit at moment, illuminated beacon drives n beacon to be all off.t′1-t1It is
The time that beacon is lit, the time at least should be greater than Tlr+Tlf+TlhTemporal summation, wherein Tlr、Tlh、TlfIt is beacon respectively
Rise time, retention time and fall time in ignition, beacon characteristic, system working distance of the specific value according to selection
From and the camera exposure time determine；
Continue to t2Moment, Beacon control drive A beacon to keep OFF state, drive other letters in addition to A beacon
It marks while lighting；t2-t1At least more than Tc+(t′1-t1)+TgTemporal summation, wherein TcIt is time needed for camera work triggering, Tg
It is time needed for camera acquires a frame image, t '2-t2It is the time that beacon is lit；
Continue to t '2Moment, the beacon that Beacon control driving is lighted all extinguish, t '2Moment meets t '2-t2=t '1-
t1；
There is n beacon, then continues to tnMoment, Beacon control drive (n-1)th beacon to keep OFF state, and driving removes
Other beacons other than n-1 beacon are lighted simultaneously；
Continue to tn+1At the moment, Beacon control driving illuminated beacon is all lighted again, at this point, into next
Modulation period.
T in the stepm=Tn-Tn-1, TmIt is required that at least more than Tc+(t′n-tn)+TgTemporal summation, wherein TcIt is camera work
Time needed for triggering, TgIt is time needed for camera acquires a frame image, t 'n-tnIt is the time interval that beacon is lit；
The time interval that beacon is lit in the step is t 'n-tn, which at least should be greater than Tlr+Tlf+TlhTime it is total
With wherein Tlr、Tlh、TlfRise time, retention time and the fall time during beacon is lighted respectively, specific value according to
It is determined according to the beacon characteristic of selection, system operating distance and camera exposure time.
C shines to whole using 3 line-scan digital cameras 4 on measurement moving platform 3 within the modulation period of illuminated beacon 2
Beacon 2 carries out Image Acquisition, the timing of Image Acquisition and the time interval T in 2 modulation period of illuminated beaconmIt is identical and corresponding,
As shown in Figure 5.
Continue to (t '1-t1At the moment of)/2, pattern process computer 3 one-dimensional cameras of linear array of control of illuminated beacon, which synchronize, to be adopted
Collect first frame beacon images, which is respectively stored in the Memory of the pattern process computer of illuminated beacon1、Memory2、
Memory3In, it is denoted as M respectively1F1、M2F1、M3F1Frame；
Continue to (t '2-t2At the moment of)/2, pattern process computer 3 one-dimensional cameras of linear array of control of illuminated beacon, which synchronize, to be adopted
Collect the second frame beacon images, which is respectively stored in Memory1、Memory2、Memory3In, it is denoted as M respectively1F2、M2F2、
M3F2Frame；
If there is n beacon, continue to (t 'n-tnThe pattern process computer at the moment of)/2, illuminated beacon controls 3 linear arrays
One-dimensional camera synchronous acquisition n-th frame beacon images, are respectively stored in Memory1、Memory2、Memory3In, it is denoted as respectively
M1Fn+1、M2Fn+1、M3Fn+1Frame；
D is the regional scope φ ∈ that frame difference handles each determining illuminated beacon 2 to collected adjacent two field pictures
[umin,umax], the image coordinate of each illuminated beacon 2 is found out using gray threshold centroid method to each frame image is collectedWherein i=1,2,3 represent i-th of line-scan digital camera, j=1, and 2,3,4 ... n, n >=6 represent j-th of illuminated beacon, f=1,
2,3 ... n represents the f frame acquired in a cycle, then uses apart from nearest principle in φ ∈ [umin,umax] in range into
Row neighborhood search withMatched position can not find the serial number of the corresponding beacon extinguished of illuminated beacon of location matches, record position
Confidence breath, corresponds to the picture frame of 2 all light of illuminated beacon, can recognize acquisition when each illuminated beacon 2 is lighted at the same time
Image in position, it is specific as shown in Figure 6.
Following steps are carried out until completing an image frame grabber until next image frame grabber:
A. sub-pix image procossing is carried out using threshold Centroid method to the image in 3 memory respectively first, extracted
The location information of each illuminated beacon in every frame imageWherein i=1,2,3 represent i-th of line-scan digital camera, j=1, and 2,3,
4 ... n, n >=6 represent j-th of illuminated beacon, f=1, and 2,3 ... n represents the f frame acquired in a cycle；
B. judge in a modulation period in first frame image whether illuminated beacon number is n, and the second frame is to n-th frame figure
Whether number of beacons is n-1 as in, if so, continuing to execute in next step；If it is not, then shutting down procedure；
C. within a modulation period, for the adjacent two field pictures M in each memoryiFjAnd MiFj+1Wherein i=1,
2,3 respectively represent the image of i-th of line-scan digital camera, j=1, and 2,3 ... n-1 respectively represents jth frame image, using neighbor frame difference
Method determines the regional scope φ ∈ [u of each illuminated beacon on+1 frame of jthmin,umax]；
D., on j+1 frame, in each region of search φ ∈ [umin,umax] in, using apart from nearest principle to each hair
Light beacon carries out neighborhood search matching, finds that location matches between consecutive frame are corresponding, the beacon lost between two frames it is corresponding with
The illuminated beacon sequence of extinguishing, identifies the position in the image acquired when each illuminated beacon 2 is lighted at the same time；
E. judge whether to perform n frame here n be one embodiment illuminated beacon number, such as if so, turning to terminate journey
Sequence entrance, as if it is not, if return step a.
Fig. 7 is the pulse of line-scan digital camera 4, the pattern process computer of illuminated beacon, illuminated beacon in the embodiment of the present invention
The schematic diagram of modulation control circuit three's timing corresponding relationship.
In the entire algorithm course of work, the work trigger signal of line-scan digital camera 4 needs the low level of certain time
Section can be determined according to different line-scan digital camera type selectings, and after triggering, line-scan digital camera 4 enters exposure status, will be counted after the completion of to be exposed
According to reading in included memory and acquiring for image pick-up card, the arrival of next trigger signal is then waited；Image Acquisition
Card needs a rising edge then to trigger working condition, and every triggering is primary, and the pattern process computer of illuminated beacon stores a frame
Image from line-scan digital camera acquisition.Within the time for exposure of line-scan digital camera, the pulse modulation control circuit of illuminated beacon is driven
Illuminated beacon is lighted or is extinguished, and the driving signal frequency of the pulse modulation control circuit of illuminated beacon must acquire frequency with camera
Rate is equal, and to keep synchronous.
Fig. 8 is whole software algorithm flow diagram in the pattern process computer of illuminated beacon in the embodiment of the present invention.
After algorithm software starting, then initializers interface first show main menu recognizer and end program,
It is as follows to execute process difference:
A. recognizer
Firstly, the camera sync card reception GPS time service time synchronous with Beacon control.Then the impulse modulation of illuminated beacon
Timing driver beacon of the control circuit according to Fig. 4；The pattern process computer of illuminated beacon is according to Fig. 5 acquisition process beacon figure
Picture completes the position in the image acquired when each illuminated beacon is lighted at the same time according to the algorithm flow of Fig. 6, when receiving
After terminating program instruction, then end program is turned to, otherwise recycles main program according to Fig. 7 timing.
B. terminate program
Driving Beacon control first enters end program；Then successively driving wireless network enters end program；Finally
Exit primary control program.
Claims (1)
1. a kind of multi-beacon high-speed synchronous recognition methods for high dynamic pose measurement, it is characterised in that: the step of this method
It is as follows:
A arranges illuminated beacon (2) on tested moving platform (1), and the quantity of illuminated beacon (2) is more than 6 and is even number, and shine letter
Mark (2) is divided to two groups to install in symmetric form on tested moving platform (1)；
B carries out impulse modulation to the luminous signal that illuminated beacon (2) generates, and a modulation period is illuminated beacon (2) same to time point
It is bright, then T at the same timemSuccessively only extinguish one of illuminated beacon (2), until 6 illuminated beacon (2) polls are complete
It lights simultaneously again afterwards；
C is within the modulation period of illuminated beacon (2), using 3 line-scan digital cameras (4) in measurement moving platform (3) to whole hairs
Light beacon (2) carries out Image Acquisition, the timing of Image Acquisition and the time interval T in illuminated beacon (2) modulation periodmIt is identical simultaneously
It is corresponding；
D is the regional scope φ ∈ [u that frame difference handles each determining illuminated beacon (2) to collected adjacent two field picturesmin,
umax], the image coordinate of each illuminated beacon (2) is found out using gray threshold centroid method to each frame image is collected
(wherein i=1,2,3 represent i-th of line-scan digital camera, j=1, and 2,3,4 ... n, n >=6 represent j-th of illuminated beacon, f=1, and 2,
3 ... n represents the f frame acquired in a cycle), then use apart from nearest principle in φ ∈ [umin,umax] in range into
Row neighborhood search withMatched position can not find the serial number of the corresponding beacon extinguished of illuminated beacon of location matches, record position
Confidence breath, corresponds to the picture frame of illuminated beacon (2) all light, when can recognize each illuminated beacon (2) and lighting at the same time
Position in the image of acquisition.
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