CN207248167U - A kind of flight path calculation matrix and flight trajectory measurmg system - Google Patents
A kind of flight path calculation matrix and flight trajectory measurmg system Download PDFInfo
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- CN207248167U CN207248167U CN201721093953.2U CN201721093953U CN207248167U CN 207248167 U CN207248167 U CN 207248167U CN 201721093953 U CN201721093953 U CN 201721093953U CN 207248167 U CN207248167 U CN 207248167U
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Abstract
The utility model, which provides a kind of flight path calculation matrix and flight trajectory measurmg system, the flight path calculation matrix, includes multiple flight path measuring stations；The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；For the visual field of two flight path measuring stations of arbitrary neighborhood there are overlapping region, which is above-mentioned measurement range in multiple flight path measuring stations.The utility model shoots unmanned plane image in the multiple flight path measuring stations of surface deployment at the same time by multiple flight path measuring stations, and carrying out processing to the unmanned plane image of shooting calculates unmanned plane in the position at each moment.Do not increase new component or function module on unmanned plane, to unmanned plane no requirement (NR), substantially the load of unmanned plane is not increased, it is noiseless to unmanned plane, do not influence unmanned plane during flying, even if unmanned plane uses manual mode control flight without navigation positioning module, the flight path of unmanned plane can also be measured.
Description
Technical field
Unmanned air vehicle technique field is the utility model is related to, is measured in particular to a kind of flight path calculation matrix and flight path
System.
Background technology
With developing rapidly for civilian unmanned air vehicle technique, particularly small-sized multi-rotor unmanned aerial vehicle extension is extended to many
Industry.In electric system, unmanned plane is mainly used for patrolling power transmission lines body equipment and passage way, and detection circuit body is set
Standby and channel defect.
In flight course, the flight track of unmanned plane is by navigation and positioning accuracy, flight control system, wind speed and control mode etc.
The influence of multiple factors.In electric system, patrol unmanned machine is nearer apart from transmission line of electricity, particularly small-sized more rotors nobody
Machine, therefore measurement to unmanned plane during flying flight path and the accuracy requirement of control are very high.But domestic at present still shortage can be accurate
Measure the mode of unmanned plane during flying flight path.
Utility model content
In view of this, the purpose of the utility model embodiment is to provide a kind of flight path calculation matrix and flight path measurement system
System, to provide a kind of scheme that can accurately measure unmanned plane during flying flight path.
In a first aspect, the utility model embodiment provides a kind of flight path calculation matrix, including multiple flight path measuring stations；
The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；
The visual field of two flight path measuring stations of arbitrary neighborhood is described heavy there are overlapping region in multiple flight path measuring stations
Folded region is the measurement range.
With reference to first aspect, the utility model embodiment provides the first possible realization side of above-mentioned first aspect
Formula, wherein, the scope of the baseline length in multiple flight path measuring stations between two flight path measuring stations of arbitrary neighborhood is 20-
50 meters.
With reference to first aspect, the utility model embodiment provides second of possible realization side of above-mentioned first aspect
Formula, wherein, the flight path measuring station includes video camera and fixing bracket；
The video camera is installed on the fixing bracket, and the elevation angle that the video camera is formed with horizontal direction is default
Angle.
Second of possible implementation with reference to first aspect, the utility model embodiment provide above-mentioned first aspect
The third possible implementation, wherein, the flight path measuring station further includes lens protecting cap；
The lens protecting cap is connected with the lens movable of the video camera, and the unmanned plane mistake is shot in the video camera
Cheng Zhong, the lens protecting cap are opened, and after the video camera stops shooting, the lens protecting cap, which is closed, covers the shooting
The camera lens of machine.
Second of possible implementation with reference to first aspect, the utility model embodiment provide above-mentioned first aspect
The 4th kind of possible implementation, wherein, the flight path measuring station further includes protective cover and spirit lever；
The protective cover and the spirit lever are installed on the fixing bracket, stop shooting in the video camera
Shi Suoshu protective covers are opened, and the video camera is enclosed in inside the protective cover.
Second aspect, the utility model embodiment provide a kind of flight trajectory measurmg system, including unmanned plane marker, light end
Any realization side in first to fourth kind of possible implementation of machine, main control terminal and above-mentioned first aspect or first aspect
Flight path calculation matrix described in formula；
The optical transmitter and receiver is connected with the flight path calculation matrix and the main control terminal respectively, by the flight path calculation matrix
Unmanned plane image transmitting that the unmanned plane marker obtains is shot to the main control terminal.
With reference to second aspect, the utility model embodiment provides the first possible realization side of above-mentioned second aspect
Formula, wherein, the main control terminal includes video frequency collection card and industrial personal computer；
The video frequency collection card is connected with the optical transmitter and receiver and the industrial personal computer respectively, by described in optical transmitter and receiver reception
Unmanned plane image, transmits the unmanned plane image to the industrial personal computer.
With reference to second aspect, the utility model embodiment provides second of possible realization side of above-mentioned second aspect
Formula, wherein, the unmanned plane marker is obtained by the predetermined patterns affixing coating paper in unmanned plane, the coated paper tool
It is pre-set color to have reflectivity and color.
With reference to second aspect, the utility model embodiment provides the third possible realization side of above-mentioned second aspect
Formula, wherein, the optical transmitter and receiver includes optical sender and photoreceiver；
The optical sender and the photoreceiver are respectively connected with the main control terminal and the flight path calculation matrix；
The main control terminal gives the flight path calculation matrix by the optical sender transmission of control signals, controls the boat
Multiple flight path measuring stations that mark calculation matrix includes are shot at the same time, and described in being preserved according to preset frame rate by the photoreceiver
Unmanned plane image.
With reference to second aspect, the utility model embodiment provides the 4th kind of possible realization side of above-mentioned second aspect
Formula, wherein, the preset frame rate is more than or equal to 10Hz.
In the utility model embodiment, flight path calculation matrix includes multiple flight path measuring stations；Multiple flight path measuring stations
Measurement range covers the flight path of unmanned plane；The visual field of two flight path measuring stations of arbitrary neighborhood is deposited in multiple flight path measuring stations
In overlapping region, which is above-mentioned measurement range.The utility model passes through master in the multiple flight path measuring stations of surface deployment
Control terminal controls multiple flight path measuring stations to shoot unmanned plane image at the same time, and carrying out processing to the unmanned plane image of shooting calculates nothing
It is man-machine in the position at each moment.Do not increase new component or function module on unmanned plane, to unmanned plane no requirement (NR), substantially not
Increase the load of unmanned plane, it is noiseless to unmanned plane, do not interfere with unmanned plane during flying, though unmanned plane without navigation positioning module,
But manual mode control flight is used, the flight path of unmanned plane can also be measured.
To enable the above-mentioned purpose of the utility model, feature and advantage to become apparent, preferred embodiment cited below particularly, and
Attached drawing appended by cooperation, is described in detail below.
Brief description of the drawings
, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it will be appreciated that the following drawings illustrate only some embodiments of the utility model, therefore should not be by
Regard the restriction to scope as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 shows a kind of schematic diagram for flight path calculation matrix that the utility model embodiment 1 is provided；
Fig. 2 shows a kind of schematic diagram for flight path measuring station that the utility model embodiment 1 is provided；
Fig. 3 shows the schematic diagram for another flight path measuring station that the utility model embodiment 1 is provided；
Fig. 4 shows a kind of schematic diagram for spirit lever that the utility model embodiment 1 is provided；
Fig. 5 shows a kind of structure diagram for flight trajectory measurmg system that the utility model embodiment 2 is provided；
Fig. 6 shows a kind of module diagram for flight trajectory measurmg system that the utility model embodiment 2 is provided.
The implication representated by label in above-mentioned attached drawing is as follows：
1：Flight path measuring station, 2：Video camera, 3：Fixing bracket, 4：Lens protecting cap, 5：Protective cover, 6：Spirit lever,
7：Unmanned plane marker, 8：Optical transmitter and receiver, 9：Main control terminal, 10：Flight path calculation matrix.
Embodiment
It is new below in conjunction with this practicality to make the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described
Embodiment be only the utility model part of the embodiment, instead of all the embodiments.Usually here described in attached drawing
It can be arranged and design with a variety of configurations with the component of the utility model embodiment that shows.Therefore, below to
The detailed description of the embodiment of the utility model provided in attached drawing is not intended to limit the model of claimed the utility model
Enclose, but be merely representative of the selected embodiment of the utility model.Embodiment based on the utility model, those skilled in the art exist
All other embodiments obtained on the premise of creative work are not made, shall fall within the protection scope of the present invention.
The mode of unmanned plane during flying flight path can be accurately measured in view of still lacking in the prior art.Based on this, this practicality
New embodiment provides a kind of flight path calculation matrix and flight trajectory measurmg system, is described below by embodiment.
Embodiment 1
Referring to Fig. 1, the utility model embodiment provides a kind of flight path calculation matrix, including multiple flight path measuring stations 1；Its
In, two adjacent flight path measuring stations 1 are only depicted in Fig. 1, flight path calculation matrix is measured including multiple flight paths in practical application
Stand 1, and the baseline length between two flight path measuring stations 1 of arbitrary neighborhood with two flight path measuring stations 1 shown in Fig. 1 it
Between baseline length it is identical.
The measurement range of multiple flight path measuring stations 1 covers the flight path of unmanned plane；Any phase in multiple flight path measuring stations 1
For the visual field of two adjacent flight path measuring stations there are overlapping region, which is the measurement range of flight path calculation matrix.
In the utility model embodiment, according to actual place size, the flight path scope of unmanned plane, measuring station visual field
Coverage lays flight path measuring station 1, and the measurement range of the flight path measuring station 1 of laying covers the flight path of unmanned plane.Lay
When multiple flight path measuring stations 1 in arbitrary neighborhood two flight path measuring stations 1 between baseline length scope be 20-50 meters, such as
Baseline length can be 26 meters.The distance between two flight path measuring stations 1 by limiting arbitrary neighborhood, to ensure adjacent boat
Mark measuring station 1 is every enough near so that the visual field of adjacent flight path measuring station 1 is nobody there are overlapping region, the overlapping region
The photogrammetric control net of machine flight path measurement, there are multiple photogrammetric control nets in flight path calculation matrix, as long as unmanned plane
Appear in photogrammetric control net, it is possible to the space coordinate of unmanned plane is calculated using photogrammetry principles.
The value of above-mentioned baseline length is related with the probability occurred during unmanned plane during flying in photogrammetric control net,
Baseline length is smaller, and the flight path measuring station 1 in flight path calculation matrix is laid compacter, and the scope of videographic measurment control net is got over
Greatly, then the probability that unmanned plane is appeared in photogrammetric control net is bigger, and unmanned plane is appeared in photogrammetric control net
Probability is bigger, then the accuracy of unmanned aerial vehicle flight path measurement is higher.But baseline length is also not the smaller the better, and baseline length is too small,
The accuracy of unmanned aerial vehicle flight path measurement can be reduced.The scope of baseline length is limited in the utility model embodiment as 20-50 meters, really
It is larger to protect the probability that unmanned plane is appeared in photogrammetric control net.Further, take baseline length be 26 meters when, unmanned plane goes out
The now photogrammetric probability controlled in net is 95%.
When laying multiple flight path measuring stations 1 that flight path calculation matrix includes, it is suitable to be chosen for each flight path measuring station
Farthest photo distance, flight path measuring station 1 is leaned on inward as far as possible, and the accuracy of unmanned plane and clear is shot to improve flight path measuring station 1
Clear degree.Wherein, photo distance is the distance between flight path measuring station 1 and unmanned plane.Flight path measuring station 1 can photograph unmanned plane
Farthest photo distance could be provided as 240 meters.
The utility model embodiment is some in surface deployment to realize the quantitative measurment to a wide range of unmanned plane during flying track
Flight path measuring station 1, unmanned plane image is shot by multiple flight path measuring stations 1, is resolved according to the unmanned plane image of multiple spot shooting
The flight path of unmanned plane, the utility model embodiment do not increase unmanned plane cabinet load substantially, on unmanned plane during flying without influence, can use
In the flying quality of quantitative assessment unmanned plane cruising inspection system；To unmanned plane no requirement (NR), though unmanned plane without navigation positioning module,
In the case of being flown using manual mode, its flight track can also be measured, available for evaluation manipulation unmanned plane during flying
Accuracy.
As shown in Fig. 2, flight path measuring station 1 includes video camera 2 and fixing bracket 3；
Video camera 2 is installed on fixing bracket 3, and the elevation angle that video camera 2 is formed with horizontal direction is predetermined angle.According to
The actual conditions of measurement space consider the photogrammetric distortion of optical lens at the same time, and the utility model embodiment selects the height with wide-angle lens
Fast industrial camera.
As shown in figure 3, in order to protect the camera lens of video camera 2, avoid falling ash masking camera lens, the utility model on camera lens as far as possible
Embodiment sets lens protecting cap 4 also in flight path measuring station 1；Lens protecting cap 4 is connected with the lens movable of video camera 2,
During video camera 2 shoots unmanned plane, lens protecting cap 4 is opened, and after video camera 2 stops shooting, lens protecting cap 4, which is closed, to be hidden
The camera lens of lid video camera 2.
In order to protect video camera 2, video camera 2 is avoided to be damaged in the outdoor environment to expose to the sun and rain as far as possible, as shown in figure 3,
Flight path measuring station 1 further includes protective cover 5；Protective cover 5 is installed on fixing bracket 3, the protective cover 5 when video camera 2 stops shooting
Open, video camera 2 is enclosed in inside protective cover 5.
The protective cover 5 that the utility model embodiment uses for fully closed protective cover 5, during for system idle protection take the photograph
Camera 2.All first lens protecting cap 4 is covered on the camera lens of video camera 2 after each flight path measurement, then opens protective cover again
5, video camera 2 is entirely enclosed in inside protective cover 5.
Fixing bracket 3 is mainly used for fixed video camera 2, does not change with posture untill ensureing video camera 2 at work.
But the possible run-off the straight of fixing bracket 3 or displacement in use, are affected by the wind, if 3 run-off the straight of fixing bracket or position
Move, the parameters such as the shooting angle for causing video camera 2 and three-dimensional coordinate are changed, and then reduce the standard of unmanned aerial vehicle flight path measurement
True property.Therefore need often fixing bracket 3 is checked, with determine fixing bracket 3 whether run-off the straight or displacement.In this reality
With in new embodiment, as shown in figure 3, flight path measuring station 1 further includes spirit lever 6；Spirit lever 6 is installed on fixed branch
On frame 3.Whether spirit lever 6 can ensure horizontal during installation, and can be used for verifying fixing bracket 3 whether there occurs position
Move.If bubble in spirit lever 6 there occurs position change, can determine fixing bracket 3 and be tilted or displacement.Its
In, the utility model embodiment can use spirit lever 6 as shown in Figure 4.
When shooting unmanned plane due to video camera 2, unmanned plane imaging is bigger closer to field of view edge distortion, therefore to subtract as far as possible
Small distortion, should try one's best the central area for allowing unmanned plane to be imaged on 2 visual field of video camera.In the utility model embodiment, it will image
When machine 2 is installed on fixing bracket 3, it is predetermined angle to keep the elevation angle that video camera 2 is formed with horizontal direction, which can
Think 7 degree.The elevation angle formed according to video camera 2 and horizontal direction, with reference to baseline length and field angle, can be calculated flight path
Effective measurement distance of measuring station 1.
In the utility model embodiment, before video camera 2 is installed on fixing bracket 3, first in laboratory
Between the elements of interior orientation of calibration video camera 2, and the photo centre of video camera 2, photography direction and 6 subsidiary marks
Relative position relation.Wherein, elements of interior orientation is the parameter for describing relevant position between photo centre and photo, including in photography
The heart to photo hang down away from and coordinate of the principal point in frame mark coordinate system.After being calibrated in laboratory to video camera 2, do not permit
Perhaps video camera 2 is dismantled, focused or is moved again the operations such as the position of subsidiary mark.After the completion of calibration, by video camera 2
On fixing bracket 3.Upward for 30 degree according to design 2 corresponding vertical angle of adjustment video camera when mounted, adjustment is horizontal
Angle is 2 corresponding design load of video camera, and the precision controlling of adjustment is within 2 degree.
The each flight path measuring station 1 included for flight path calculation matrix, all in accordance with aforesaid way first in laboratory internal calibration
Video camera 2, is then installed on fixing bracket 3 by video camera 2.And it there also is provided multiple total powerstations and rib in flight path calculation matrix
Mirror, 2 total powerstation observation stations in the middle part of flight path calculation matrix are used for the definition of coordinate system, in the right front of each video camera 2
Or the total powerstation at the 3m of left front is used for the outer orientation of single camera 2.With total powerstation and prism measurement by 2+N total powerstation
The control net of observation station composition, the three-dimensional coordinate of 2+N website is calculated by measurement adjustment, then according to measuring the smashed parts
Mode measures the three-dimensional coordinate of the subsidiary mark of N number of video camera 2 successively.Video camera 2 is calibrated according in laboratory
Obtained calibration relation, converses the elements of exterior orientation of N number of video camera 2.Wherein, N is that the flight path that flight path calculation matrix includes is surveyed
The number at amount station 1.Elements of exterior orientation is used to describe the spatial value of 2 photo centre of video camera and the parameter of posture.
Each flight path measuring station 1 is installed in the manner described above, and measures the video camera 2 of each flight path measuring station 1
Elements of interior orientation, elements of exterior orientation and each video camera 2 the parameter such as three-dimensional coordinate after, you can to pass through flight path calculation matrix
To measure the flight path of unmanned plane.When measuring the flight path of unmanned plane, flight path calculation matrix is connected to main control terminal by optical fiber
On, multiple flight path measuring stations 1 that controlling flight path calculation matrix by main control terminal includes at the same time shoot unmanned plane, and
Obtained according to preset frame rate from flight path calculation matrix and preserve unmanned plane image, it is soft by the integrated treatment installed in main control terminal
Part handles the unmanned plane image of acquisition, calculates the position of each moment unmanned plane.
Above-mentioned preset frame rate is greater than or equal to 10Hz.The utility model embodiment is surveyed in the flight path that flight path calculation matrix includes
Optical fiber transmission data are used between amount station 1 and main control terminal, replace Serial Port Line to propagate using the soft triggering of spread fiber hard tactile
Hair, and synchronous triggering is controlled using timing means.
The utility model embodiment is based on photogrammetry principles in some flight path measuring stations 1 of surface deployment, is not increasing substantially
On the premise of adding unmanned plane cabinet load, unmanned plane image is obtained by multiple spot to resolve the flight path of unmanned plane.Due to nobody
Machine no requirement (NR), does not increase unmanned plane load, therefore does not interfere with unmanned plane during flying, though unmanned plane without navigation positioning module,
In the case of being flown using manual mode, the flight track of unmanned plane can also be measured.
In the utility model embodiment, flight path calculation matrix includes multiple flight path measuring stations；Multiple flight path measuring stations
Measurement range covers the flight path of unmanned plane；The visual field of two flight path measuring stations of arbitrary neighborhood is deposited in multiple flight path measuring stations
In overlapping region, which is above-mentioned measurement range.The utility model is in the multiple flight path measuring stations of surface deployment, by more
A flight path measuring station shoots unmanned plane image at the same time, and carrying out processing to the unmanned plane image of shooting calculates unmanned plane in per a period of time
The position at quarter.Do not increase new component or function module on unmanned plane, to unmanned plane no requirement (NR), do not increase unmanned plane substantially
Load, it is noiseless to unmanned plane, unmanned plane during flying is not interfered with, even if unmanned plane without navigation positioning module, but uses manual
Mode controls flight, and also the flight path of unmanned plane can be measured.
Embodiment 2
Referring to Fig. 5, the utility model embodiment provides a kind of flight trajectory measurmg system, including unmanned plane marker 7, light end
The flight path calculation matrix 10 that machine 8, main control terminal 9 and above-described embodiment 1 are provided；
Optical transmitter and receiver 8 is connected with flight path calculation matrix 10 and main control terminal 9 respectively, and flight path calculation matrix 10 is shot unmanned plane
The unmanned plane image transmitting that marker 7 obtains is to main control terminal 9.
Wherein, 4 flight path measuring stations 1 that flight path calculation matrix 10 includes only symbolically are depicted in Figure 5, it is actual to answer
It can include more flight path measuring stations 1 in.
Above-mentioned unmanned plane marker 7 is obtained by the predetermined patterns affixing coating paper in unmanned plane, and coated paper has
Reflectivity and color are pre-set color.Predetermined patterns can be fuselage, ventral and the top of unmanned plane.Pre-set color can be
The big color with unmanned plane body color and sky color contrast.
Row ratio is accounted for less than 1% since unmanned plane is imaged in maximum distance, this homotopy mapping to stereogram causes
Certain difficulty, and since unmanned plane during flying posture is indefinite, the position result that can not ensure to resolve every time is for nobody
The position of same point on machine.Therefore the utility model embodiment is provided with unmanned plane marker 7 on unmanned plane.Unmanned plane due to
Its light feature, its fuselage core position is smaller, to ensure to see fuselage in any angle, and can by fuselage and foot stool,
The positions such as propeller distinguish, above-mentioned unmanned plane marker 7 can use high reflection encrimson paper be pasted onto unmanned plane fuselage,
Ventral and top.When carrying out track Calculation, after identifying unmanned plane from unmanned plane image, the center of red area is regarded
Calculated for the center of unmanned plane.
In the utility model embodiment, optical transmitter and receiver 8 includes optical sender and photoreceiver；Optical sender and photoreceiver
Respectively it is connected with main control terminal 9 and flight path calculation matrix 10；Main control terminal 9 is by optical sender transmission of control signals to flight path
Calculation matrix 10, multiple flight path measuring stations 1 that control flight path calculation matrix 10 includes while shoots, and is pressed by photoreceiver
Unmanned plane image is preserved according to preset frame rate.Preset frame rate is at least 10Hz.
The utility model embodiment does not limit the number of optical transmitter and receiver 8, number and the flight path calculation matrix of optical transmitter and receiver 8 specifically
The number of the 10 flight path measuring stations 1 included is related, the one or more that a usual optical transmitter and receiver 8 includes with flight path calculation matrix 10
Flight path measuring station 1 connects, therefore the number of flight path measuring station 1 that flight path calculation matrix 10 includes is more, then the number of optical transmitter and receiver 8
It is more.
In the case of the outdoor largescale of practical application scene, to realize that high-definition signal source remote distance transmits, it can select
With three-dimensional T803-SDI HD videos optical transmitter and receiver 8, optical transmitter and receiver 8 includes optical sender and photoreceiver.Wherein, optical sender can be real
Existing Lossless transport of the vision signal on optical fiber, photoreceiver can realize lossless reception of the vision signal on optical fiber, avoid out
Existing signal colour cast, obscure, and avoids signal from producing ghost image and hangover and moire etc..
In the utility model embodiment, main control terminal 9 includes video frequency collection card and industrial personal computer；Video frequency collection card respectively with
Optical transmitter and receiver 8 and industrial personal computer connection, receive unmanned plane image, transmission unmanned plane image is to industrial personal computer by optical transmitter and receiver 8.In unmanned plane
In flight course, main control terminal 9 sends control signal by optical transmitter and receiver 8 and is measured to each flight path that flight path calculation matrix 10 includes
Stand 1, all flight path measuring stations 1 that flight path calculation matrix 10 includes are controlled at the same time to unmanned plane marker 7 by the control signal
Shot, and the unmanned plane image of the shooting of flight path measuring station 1 is obtained by optical transmitter and receiver 8.
Wherein, a video frequency collection card is responsible for the collection of the unmanned plane image of the shooting of preset number flight path measuring station 1.It is main
The integrated treatment software installed on control terminal 9 includes data logging software and data processing software.Data logging software is based on height
Clear capture card SDK (Software Development Kit, Software Development Kit) is every preset duration to all passages
Data are photographed to record, and pending data runs the processing that data processing software carries out image data after recording, to influencing number
According to processing specifically include unmanned plane recognition detection, photo coordinate measurement and no-manned plane three-dimensional position resolve.Above-mentioned preset number
Can be with 7 or 9 etc., preset duration can be 1S or 2S etc..
Since an industrial personal computer can only at most carry limited quantity video frequency collection card, and may have in practical application very much
Road video data needs to gather, therefore the utility model embodiment can use multiple main control terminals 9.The utility model embodiment
The quantity of main control terminal 9 is not limited specifically, can determine the quantity of main control terminal 9 used according to demand in practical applications.
Need to gather at the same time in practical application scene, on industrial personal computer multichannel SDI (serial digital interface,
Digital component serial line interface) video, it is more demanding to dominant frequency, therefore industrial personal computer is intended selecting GT6150 industrial personal computers in practical application,
Video frequency collection card is intended selecting KPS-4SDI-E.
In the utility model embodiment, the system comprising modules figure of flight trajectory measurmg system is as shown in Figure 6.System is by some
A flight path measuring station 1, unmanned plane marker 7, optical transmitter and receiver 8 and main control terminal 9 form.Wherein, several flight path measuring stations 1 form
Flight path calculation matrix 10, each flight path measuring station 1 are at least made of fixing bracket 3, video camera 2, camera pier 4 and protective cover 6.It is main
Control terminal 9 includes video frequency collection card and industrial personal computer, and integrated treatment software is provided with main control terminal 9.
For a further understanding of the structure and measurement process of flight trajectory measurmg system, it is specifically described with reference to example.
In this example, 18 flight path measuring stations 1 are arranged, reduces 1 corresponding photo distance of flight path measuring station during laying as far as possible, ensures most
Remote photo distance is no more than 240m, flight path measuring station 1 is leaned on inward as far as possible, baseline length is unified for 26m.Lay obtained flight path
The dead angle area of calculation matrix 10 and the area for requiring measured zone are respectively 1405m2、39684m2, ratio between the two is
3.5%, it is 96.5% that can obtain the probability that unmanned plane appears in the visual field of two flight path measuring stations 1 at the same time accordingly.When laying
It is 7 degree to keep all video cameras 2 and the elevation angle of horizontal direction, and with reference to baseline length and field angle, each group of boat can be calculated
Effective measurement distance of mark measuring station 1 is 67~240 meters.
After being calibrated in laboratory to the video camera 2 of each flight path measuring station 1, by video camera 2 together between fixation
It is co-mounted to Deng auxiliary device on 18 camera piers, upward for 30 degree according to design adjustment vertical angle, adjustment horizontal angle is each
A 2 respective design load of video camera, the precision controlling of adjustment is within 2 degree.With total powerstation and prism measurement by 2+18 whole station
The control net of instrument observation website composition, the three-dimensional coordinate of 20 websites is calculated by measurement adjustment, is then surveyed according to broken portion
The mode of amount measures the three-dimensional coordinate of the subsidiary mark of 18 cameras successively.The calibration obtained using laboratory internal calibration is closed
System, converses the elements of exterior orientation of 18 cameras.Main control terminal 9 controls this 18 video cameras 2 to take pictures at the same time, and every according to 9 frames
The frame per second of second preserves image.Integrated treatment software in main control terminal 9 is calculated in each moment region according to the data of storage
The position of unmanned plane.
In the utility model embodiment, based on photogrammetry principles in some flight path measuring stations 1 of surface deployment, only in nothing
Man-machine predetermined patterns affixing coating paper, does not increase unmanned plane cabinet load substantially, obtains unmanned plane image by multiple spot to solve
Calculate the flight path of unmanned plane.Due to unmanned plane no requirement (NR), not increasing unmanned plane load, therefore unmanned plane during flying is not interfered with, i.e.,
Unmanned plane is set in the case of using manual mode flight, can also to be carried out without navigation positioning module to the flight track of unmanned plane
Measurement.
In the utility model embodiment, flight path calculation matrix includes multiple flight path measuring stations；Multiple flight path measuring stations are equal
In the flight path measurement range of unmanned plane；In multiple flight path measuring stations between two flight path measuring stations of arbitrary neighborhood
Distance is default value, and there are overlapping region, default value to cause unmanned plane for the visual fields of two flight path measuring stations of arbitrary neighborhood
The probability appeared in overlapping region is more than predetermined probabilities value.The utility model passes through in the multiple flight path measuring stations of surface deployment
Multiple flight path measuring stations shoot unmanned plane image at the same time, and carrying out processing to the unmanned plane image of shooting calculates unmanned plane each
The position at moment.Do not increase new component or function module on unmanned plane, to unmanned plane no requirement (NR), do not increase unmanned plane substantially
Load, do not interfere with unmanned plane during flying, even if unmanned plane without navigation positioning module, but uses manual mode control flight,
Also the flight path of unmanned plane can be measured.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
, it is necessary to explanation in the description of the utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship be based on orientation shown in the drawings or position relationship, or
The utility model product using when the orientation usually put or position relationship, be for only for ease of description the utility model and letter
Change description, rather than instruction or imply signified device or element must have specific orientation, with specific azimuth configuration and
Operation, therefore it is not intended that limitation to the utility model.In addition, term " first ", " second ", " the 3rd " etc. are only used for area
Divide description, and it is not intended that instruction or hint relative importance.
In the description of the utility model, it is also necessary to which explanation, unless otherwise clearly defined and limited, term " are set
Put ", " installation ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected,
Or it is integrally connected；Can mechanically connect or be electrically connected；It can be directly connected, intermediary can also be passed through
It is indirectly connected, can is the connection inside two elements.For the ordinary skill in the art, can be managed with concrete condition
Solve concrete meaning of the above-mentioned term in the utility model.
Finally it should be noted that：Embodiment described above, is only specific embodiment of the present utility model, to illustrate this
The technical solution of utility model, rather than its limitations, the scope of protection of the utility model is not limited thereto, although with reference to foregoing
The utility model is described in detail in embodiment, it will be understood by those of ordinary skill in the art that：It is any to be familiar with this skill
For the technical staff in art field in the technical scope that the utility model discloses, it still can be to the skill described in previous embodiment
Art scheme is modified or can readily occur in change, or carries out equivalent substitution to which part technical characteristic；And these modifications,
Change is replaced, and the essence of appropriate technical solution is departed from the spirit and model of the utility model embodiment technical solution
Enclose.It should be covered within the scope of the utility model.Therefore, the scope of protection of the utility model should be wanted with the right
Subject to the protection domain asked.
Claims (10)
1. a kind of flight path calculation matrix, it is characterised in that including multiple flight path measuring stations；
The measurement range of multiple flight path measuring stations covers the flight path of unmanned plane；
The visual field of two flight path measuring stations of arbitrary neighborhood is described heavy there are overlapping region in multiple flight path measuring stations
Folded region is the measurement range.
2. flight path calculation matrix according to claim 1, it is characterised in that arbitrary neighborhood in multiple flight path measuring stations
Two flight path measuring stations between baseline length scope be 20-50 meters.
3. flight path calculation matrix according to claim 1, it is characterised in that the flight path measuring station is including video camera and admittedly
Fixed rack；
The video camera is installed on the fixing bracket, and the elevation angle that the video camera is formed with horizontal direction is preset angle
Degree.
4. flight path calculation matrix according to claim 3, it is characterised in that the flight path measuring station further includes lens protection
Lid；
The lens protecting cap is connected with the lens movable of the video camera, and the unmanned plane process is shot in the video camera
In, the lens protecting cap is opened, and after the video camera stops shooting, the lens protecting cap, which is closed, covers the video camera
Camera lens.
5. flight path calculation matrix according to claim 3, it is characterised in that the flight path measuring station further include protective cover and
Spirit lever；
The protective cover and the spirit lever are installed on the fixing bracket, stop shooting when institute in the video camera
Protective cover opening is stated, the video camera is enclosed in inside the protective cover.
6. a kind of flight trajectory measurmg system, it is characterised in that including unmanned plane marker, optical transmitter and receiver, main control terminal and claim
1-5 any one of them flight path calculation matrix；
The optical transmitter and receiver is connected with the flight path calculation matrix and the main control terminal respectively, and the flight path calculation matrix is shot
The unmanned plane image transmitting that the unmanned plane marker obtains gives the main control terminal.
7. flight trajectory measurmg system according to claim 6, it is characterised in that the main control terminal include video frequency collection card and
Industrial personal computer；
The video frequency collection card is connected with the optical transmitter and receiver and the industrial personal computer respectively, by the optical transmitter and receiver receive it is described nobody
Machine image, transmits the unmanned plane image to the industrial personal computer.
8. flight trajectory measurmg system according to claim 6, it is characterised in that the unmanned plane marker is by nobody
What the predetermined patterns affixing coating paper of machine obtained, the coated paper has reflectivity and color is pre-set color.
9. flight trajectory measurmg system according to claim 6, it is characterised in that the optical transmitter and receiver includes optical sender and light connects
Receipts machine；
The optical sender and the photoreceiver are respectively connected with the main control terminal and the flight path calculation matrix；
The main control terminal gives the flight path calculation matrix by the optical sender transmission of control signals, controls the flight path to survey
Multiple flight path measuring stations that moment matrix includes are shot at the same time, and by the photoreceiver according to preset frame rate preserve it is described nobody
Machine image.
10. flight trajectory measurmg system according to claim 9, it is characterised in that the preset frame rate is more than or equal to 10Hz.
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| CN201721093953.2U CN207248167U (en) | 2017-08-29 | 2017-08-29 | A kind of flight path calculation matrix and flight trajectory measurmg system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300379A (en) * | 2017-08-29 | 2017-10-27 | 中国电力科学研究院 | A kind of flight path calculation matrix and flight trajectory measurmg system |
| CN111402340A (en) * | 2020-03-08 | 2020-07-10 | 中国科学院微小卫星创新研究院 | Imaging control system and method for earth observation satellite |
-
2017
- 2017-08-29 CN CN201721093953.2U patent/CN207248167U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107300379A (en) * | 2017-08-29 | 2017-10-27 | 中国电力科学研究院 | A kind of flight path calculation matrix and flight trajectory measurmg system |
| CN111402340A (en) * | 2020-03-08 | 2020-07-10 | 中国科学院微小卫星创新研究院 | Imaging control system and method for earth observation satellite |
| CN111402340B (en) * | 2020-03-08 | 2020-11-03 | 中国科学院微小卫星创新研究院 | Imaging control system and method for earth observation satellite |
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