CN114285996A - Ground target coverage shooting method and system - Google Patents
Ground target coverage shooting method and system Download PDFInfo
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Abstract
The invention relates to a ground target coverage shooting method and system. After determining the flight reference course angle, the invention determines the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position by combining the flight velocity, the flight course angle and other parameters of the fixed-wing unmanned aerial vehicle on the basis in sequence, determines the pan-tilt course angle according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle pointing to the ground target point, determines the pan-tilt angle according to the altitude difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, then realizes the control of the flight track and the shooting angle in the ground target covering shooting process according to the flight reference course angle, the pan-tilt angle and the pan-tilt angle, further realizes the continuous alignment of the airborne camera to the target at the known position and realizes the multi-angle visual field covering, and the target is located substantially at the center of the field of view.
Description
Technical Field
The invention relates to the technical field of unmanned aerial vehicle track control, in particular to a ground target coverage shooting method and system.
Background
Utilize the airborne camera of unmanned aerial vehicle to carry out the aspect such as multi-angle covering monitoring, investigation to ground fixed target and have important application prospect, rotor unmanned aerial vehicle realizes this function simple relatively, nevertheless to fixed wing unmanned aerial vehicle, because it can't hover, must possess certain speed of cruising, how to realize that the airborne camera lasts the target of aiming at known position, and realize multi-angle field of vision and cover, and make the target be located visual field central point basically and put, have certain degree of difficulty.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a ground target coverage shooting method and a ground target coverage shooting system.
In order to achieve the purpose, the invention provides the following scheme:
a ground target coverage shooting method is applied to a fixed-wing unmanned aerial vehicle provided with a camera and a holder; the ground target coverage shooting method comprises the following steps:
determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight; the relative position of the ground target point and the fixed-wing drone includes: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle;
determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight;
determining the heading angle of a holder when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position and the heading angle of the fixed-wing unmanned aerial vehicle, at which the current position points to the ground target point;
determining a pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
controlling a flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position;
and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle carries out ground target coverage shooting according to the tripod head course angle and the tripod head pitch angle.
Preferably, the determining a flight reference heading angle according to the relative position of the ground target point and the fixed-wing drone and the surrounding radius of the fixed-wing drone during flight specifically includes:
according to the azimuth angle of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, a formula is adopted
Determining a flight reference course angle;
wherein psidIs a flight reference course angle, phi is an azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle, d is a distance between the ground target point and the fixed-wing unmanned aerial vehicle, and KpThe number is a positive constant, the plus or minus number represents the flight direction of the fixed-wing unmanned aerial vehicle, and rho is the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
Preferably, the determining the course angular velocity of the next position fixed-wing drone according to the flight reference course angle, the flight speed of the current position fixed-wing drone, the flight course angle of the current position fixed-wing drone and the surrounding radius of the fixed-wing drone during flight specifically includes:
according to the flight reference course angle and the currentThe flight speed of the position fixed-wing unmanned aerial vehicle, the flight course angle of the current position fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flying are calculated according to a formula
Determining the course angular speed of the next position fixed wing unmanned aerial vehicle;
wherein omega is the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position, rho is the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, psidFor the flight reference course angle, psi is the flight course angle of the fixed-wing drone at the current position, v is the flight speed of the fixed-wing drone at the current position, psidFor flight reference course angle, KpIs a normal number.
Preferably, the determining the heading angle of the holder when the fixed-wing drone flies to the next position according to the flight heading angle of the fixed-wing drone at the current position and the heading angle of the fixed-wing drone when the current position points to the ground target point specifically includes:
according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point, adopting a formula psis＝ψlos- ψ determining a pan-tilt heading angle for the fixed-wing drone when flying to the next position;
wherein psisIs the heading angle, psi, of the pan/tilt headlosThe heading angle is the heading angle of the current position of the fixed-wing unmanned aerial vehicle pointing to the ground target point, and psi is the flight heading angle of the current position of the fixed-wing unmanned aerial vehicle.
Preferably, the pan tilt and tilt angle when determining that the fixed-wing drone flies to the next position according to the height difference between the current position of the fixed-wing drone and the position of the ground target point and the horizontal distance between the current position of the fixed-wing drone and the position of the ground target point specifically includes:
according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, a formula is adopted
Determining a pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position;
wherein, thetasAnd the pitch angle of the tripod head is set, delta h is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention provides a ground target coverage shooting method applied to a fixed-wing unmanned aerial vehicle provided with a camera and a cloud deck, which is characterized in that after a flight reference course angle is determined based on the relative position of a ground target point and a fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, the course angular velocity of a next-position fixed-wing unmanned aerial vehicle is determined according to the flight reference course angle, the flying speed of the current-position fixed-wing unmanned aerial vehicle, the flying course angle of the current-position fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, the cloud deck course angle of the fixed-wing unmanned aerial vehicle during flying to the next position is determined according to the flight course angle of the current-position fixed-wing unmanned aerial vehicle and the course angle of the current position of the fixed-wing unmanned aerial vehicle pointing to the ground target point, and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point is determined according to the fixed-wing unmanned aerial vehicle And then controlling the flight track and the shooting angle in the ground target covering shooting process according to the flight reference course angle, the cradle head course angle and the cradle head pitch angle, further realizing that the airborne camera continuously aligns to the target at the known position, realizing multi-angle visual field covering and enabling the target to be basically positioned at the central position of the visual field.
Corresponding to the ground target coverage shooting method, the invention also provides a ground target coverage shooting system which is applied to a fixed-wing unmanned aerial vehicle provided with a camera and a holder; the ground target coverage shooting system comprises:
the flight reference course angle determining module is used for determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight; the relative position of the ground target point and the fixed-wing drone includes: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle;
the course angular velocity determining module is used for determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight;
the cloud deck course angle determining module is used for determining the cloud deck course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle, wherein the current position of the fixed-wing unmanned aerial vehicle points to the ground target point;
the holder pitch angle determining module is used for determining the holder pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
the flight track control module is used for controlling the flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position;
and the shooting angle control module is used for controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle carries out ground target coverage shooting according to the tripod head course angle and the tripod head pitch angle.
Since the technical effect achieved by the ground target coverage shooting system provided by the invention is the same as that achieved by the ground target coverage shooting method provided by the invention, the details are not repeated herein.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a flow chart of a ground target coverage photography method provided by the present invention;
FIG. 2 is a schematic view of a fixed wing drone flying around a circle according to an embodiment of the present invention;
FIG. 3 is a diagram of a flight trajectory of a fixed-wing drone provided in an embodiment of the present invention;
fig. 4 is a video screenshot taken by a camera on a fixed-wing drone according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a ground target coverage shooting system provided by the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a ground target coverage shooting method and a ground target coverage shooting system, which can realize that an airborne camera continuously aims at a target with a known position, realize multi-angle view coverage and enable the target to be basically positioned at the center of a view.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
The ground target coverage shooting method provided by the invention is applied to a fixed wing unmanned aerial vehicle provided with a camera and a holder; as shown in fig. 1, the ground target coverage shooting method includes:
step 100: and determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight. The relative positions of the ground target point and the fixed-wing drone include: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle.
In the specific implementation process, a formula can be adopted
And determining the flight reference course angle. Wherein psidIs a flight reference course angle, d is the distance between the ground target point and the fixed-wing unmanned aerial vehicle, KpThe method is characterized in that the method is a normal number, rho is the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, phi is the azimuth angle between a ground target point and the fixed-wing unmanned aerial vehicle, the angle of the unmanned aerial vehicle is 0 degree in the north and the south of the fixed target, the angle is 0-360 degrees clockwise, and the phi value is calculated according to the longitude and latitude of the fixed target and the longitude and latitude of the unmanned aerial vehicle. Plus or minus is related to the surrounding flying direction, and the positive corresponds to the clockwise flying direction and the negative corresponds to the counterclockwise flying direction.
Step 101: and determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
In the specific implementation process, a formula can be adopted
And determining the course angular speed of the next position fixed-wing unmanned aerial vehicle. Wherein ω is the course angular velocity of the next position fixed-wing drone, v is the flight velocity of the current position fixed-wing drone, ψ is the flight course angle of the current position fixed-wing drone, the course is 0 ° in the north direction, the clockwise flight is 0 ° to 360 °, each physical quantity is as shown in fig. 2, and a in fig. 2 is the position point of the fixed-wing drone.
Step 102: and determining the heading angle of the holder when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position and the heading angle of the fixed-wing unmanned aerial vehicle, at which the current position points to the ground target point.
In particular toIn the implementation process, the camera is arranged on the holder, and the heading and the pitch angle of the holder are changed to drive the camera to face the holder to change. Course angle of holder passes through formula psis＝ψlosψ, determined. Wherein psisIs the heading angle of the holder. PsilosThe course angle of the current position of the fixed-wing unmanned aerial vehicle pointing to the ground target point can be obtained by calculating the longitude and latitude high coordinates of the ground fixed target and the longitude and latitude high coordinates of the unmanned aerial vehicle. Psi is the flight heading angle of the fixed-wing drone at the current position. If, psisIf < 0, then psis＝ψs+360。
Step 103: and determining the pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position.
In the specific implementation process, the pitch angle of the holder is determined by a formula
And (5) determining to obtain. Wherein, thetasTo the pan-tilt angle, thetasNegative indicates an angle down. And delta h is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, and can be obtained by the longitude and latitude high coordinates of the ground fixed target and the longitude and latitude high coordinates of the unmanned aerial vehicle.
Step 104: and controlling the flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position.
Step 105: and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle carries out ground target coverage shooting according to the course angle and the pitch angle of the holder.
According to the ground target coverage shooting method provided by the invention, fixed wing unmanned aerial vehicle flight and video acquisition experiments are carried out, and K in the experimentsψTake 0.5, KpAnd 2, carrying out a flight experiment on a sea side highway in a Lemmy-level district in a cigarette desk city, wherein ground fixed targets comprise digital prisms and vehicles stopped at two sides of the highway. Shown in FIG. 3Shown as the flight trajectory of the drone (grey curve in the figure), the approximate circle portion is the flight trajectory of the drone obtained based on the course angular velocity control of the next position fixed wing drone provided by the present invention.
The airborne camera is installed in the unmanned aerial vehicle downside through the cloud platform, records the ground condition in flight, and the cloud platform adopts cloud platform course angle and cloud platform angle of pitch to control, and the video screenshot is as shown in figure 4, and figure 4 comprises 4 video screenshots, and 4 screenshots correspond the different position of ground target.
Corresponding to the ground target coverage shooting method, the invention also provides a ground target coverage shooting system which is applied to the fixed-wing unmanned aerial vehicle provided with the camera and the holder. As shown in fig. 5, the ground object coverage photographing system includes: the device comprises a flight reference course angle determining module 1, a course angular speed determining module 2, a holder course angle determining module 3, a holder pitch angle determining module 4, a flight track control module 5 and a shooting angle control module 6.
The flight reference course angle determining module 1 is used for determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight. The relative positions of the ground target point and the fixed-wing drone include: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle.
The course angular velocity determining module 2 is used for determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
And the holder course angle determining module 3 is used for determining the holder course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle, at which the current position points to the ground target point.
And the holder pitch angle determining module 4 is used for determining the holder pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point.
And the flight track control module 5 is used for controlling the flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position.
And the shooting angle control module 6 is used for controlling the shooting angle of the camera when the fixed-wing unmanned aerial vehicle carries out ground target coverage shooting according to the heading angle and the pitch angle of the holder.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (6)
1. A ground target coverage shooting method is characterized by being applied to a fixed wing unmanned aerial vehicle provided with a camera and a holder; the ground target coverage shooting method comprises the following steps:
determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight; the relative position of the ground target point and the fixed-wing drone includes: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle;
determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight;
determining the heading angle of a holder when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight heading angle of the fixed-wing unmanned aerial vehicle at the current position and the heading angle of the fixed-wing unmanned aerial vehicle, at which the current position points to the ground target point;
determining a pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
controlling a flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position;
and controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle carries out ground target coverage shooting according to the tripod head course angle and the tripod head pitch angle.
2. The ground target coverage shooting method according to claim 1, wherein the determining of the flight reference course angle according to the relative position of the ground target point and the fixed-wing drone and the surrounding radius of the fixed-wing drone during flight specifically comprises:
according to the azimuth angle of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, a formula is adopted
Determining a flight reference course angle;
wherein psidIs a flight reference course angle, phi is an azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle, d is a distance between the ground target point and the fixed-wing unmanned aerial vehicle, and KpThe number is a positive constant, the plus or minus number represents the flight direction of the fixed-wing unmanned aerial vehicle, and rho is the surrounding radius of the fixed-wing unmanned aerial vehicle during flight.
3. The ground target coverage shooting method according to claim 1, wherein the determining the heading angular velocity of the next position fixed-wing drone according to the flight reference heading angle, the flight speed of the current position fixed-wing drone, the flight heading angle of the current position fixed-wing drone, and the surrounding radius of the fixed-wing drone in flight specifically comprises:
according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight, adopting a formula
Determining the course angular speed of the next position fixed wing unmanned aerial vehicle;
wherein omega is the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position, rho is the surrounding radius of the fixed-wing unmanned aerial vehicle during flying, psidFor the flight reference course angle, psi is the flight course angle of the fixed-wing drone at the current position, v is the flight speed of the fixed-wing drone at the current position, psidFor flight reference course angle, KpIs a normal number.
4. The ground target coverage shooting method according to claim 1, wherein the determining of the pan-tilt heading angle of the fixed-wing drone when the fixed-wing drone flies to a next position according to the flight heading angle of the fixed-wing drone at the current position and the heading angle of the fixed-wing drone when the current position points to a ground target point specifically comprises:
according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle at the current position pointing to the ground target point, adopting a formula psis＝ψlos- ψ determining a pan-tilt heading angle for the fixed-wing drone when flying to the next position;
wherein psisIs the heading angle, psi, of the pan/tilt headlosThe heading angle is the heading angle of the current position of the fixed-wing unmanned aerial vehicle pointing to the ground target point, and psi is the flight heading angle of the current position of the fixed-wing unmanned aerial vehicle.
5. The ground target coverage shooting method according to claim 1, wherein the determining of the pan-tilt angle of the fixed-wing drone when the fixed-wing drone flies to the next position according to the height difference between the current position of the fixed-wing drone and the ground target point position and the horizontal distance between the current position of the fixed-wing drone and the ground target point position specifically comprises:
according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position, a formula is adopted
Determining a pan-tilt pitch angle of the fixed-wing unmanned aerial vehicle when the fixed-wing unmanned aerial vehicle flies to the next position;
wherein, thetasAnd the pitch angle of the tripod head is set, delta h is the height difference between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point, and l is the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the position of the ground target point.
6. A ground target coverage shooting system is characterized by being applied to a fixed wing unmanned aerial vehicle provided with a camera and a holder; the ground target coverage shooting system comprises:
the flight reference course angle determining module is used for determining a flight reference course angle according to the relative position of the ground target point and the fixed-wing unmanned aerial vehicle and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight; the relative position of the ground target point and the fixed-wing drone includes: the azimuth angle between the ground target point and the fixed-wing unmanned aerial vehicle and the distance between the ground target point and the fixed-wing unmanned aerial vehicle;
the course angular velocity determining module is used for determining the course angular velocity of the fixed-wing unmanned aerial vehicle at the next position according to the flight reference course angle, the flight speed of the fixed-wing unmanned aerial vehicle at the current position, the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the surrounding radius of the fixed-wing unmanned aerial vehicle during flight;
the cloud deck course angle determining module is used for determining the cloud deck course angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the flight course angle of the fixed-wing unmanned aerial vehicle at the current position and the course angle of the fixed-wing unmanned aerial vehicle, wherein the current position of the fixed-wing unmanned aerial vehicle points to the ground target point;
the holder pitch angle determining module is used for determining the holder pitch angle when the fixed-wing unmanned aerial vehicle flies to the next position according to the height difference between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position and the horizontal distance between the current position of the fixed-wing unmanned aerial vehicle and the ground target point position;
the flight track control module is used for controlling the flight track of the fixed-wing unmanned aerial vehicle for ground target coverage shooting according to the course angular speed of the fixed-wing unmanned aerial vehicle at the next position;
and the shooting angle control module is used for controlling the shooting angle of the camera when the fixed wing unmanned aerial vehicle carries out ground target coverage shooting according to the tripod head course angle and the tripod head pitch angle.
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