CN108759792B - Unmanned aerial vehicle attitude and flying height measuring method based on cross laser - Google Patents
Unmanned aerial vehicle attitude and flying height measuring method based on cross laser Download PDFInfo
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- CN108759792B CN108759792B CN201810973312.9A CN201810973312A CN108759792B CN 108759792 B CN108759792 B CN 108759792B CN 201810973312 A CN201810973312 A CN 201810973312A CN 108759792 B CN108759792 B CN 108759792B
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Classifications
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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
- G01C11/30—Interpretation of pictures by triangulation
- G01C11/34—Aerial triangulation
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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
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
- G01C11/08—Interpretation of pictures by comparison of two or more pictures of the same area the pictures not being supported in the same relative position as when they were taken
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C5/00—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels
- G01C5/005—Measuring height; Measuring distances transverse to line of sight; Levelling between separated points; Surveyors' levels altimeters for aircraft
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Abstract
The application discloses a measuring method and device for the attitude and the flying height of an unmanned aerial vehicle based on cross laser. One embodiment of the method comprises the following steps: emitting cross laser to the ground; acquiring a frame of ground image containing the cross laser; identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin; and calculating the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions. The method is simple, and the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle can be accurately measured.
Description
Technical Field
The application relates to the technical field of aviation, in particular to a measuring method of unmanned aerial vehicle attitude and flying height based on cross laser.
Background
With the continuous maturation of unmanned aerial vehicle technology, consumer unmanned aerial vehicle products have recently entered the field of view of the general public. Small unmanned aerial vehicle with small appearance and simple operation is popular in the market.
At present, the flying height of the unmanned aerial vehicle is measured by the following method: (1) The atmospheric pressure is measured by using an barometer altimeter and then converted into the flying height, but the measurement method has poor precision and low response speed. (2) The method of ranging by using an ultrasonic range finder has a very limited detection range, usually less than 10m. (3) The laser ranging method based on the flight time is easily affected by laser scattering, uneven air density, hot air clusters, ground temperature and the like, and has poor precision.
At present, a gyroscope is used for measuring the attitude, namely the pitch angle and the roll angle of the unmanned aerial vehicle, and the angular information is obtained from the angular speed of the gyroscope, so that integral operation is needed. If there is a slight deviation in the angular velocity signal, the integrated value is integrated and then changed to form an accumulated error. This error will increase gradually over time, eventually leading to saturation of the circuit and failure to form the correct angle signal. The patent application numbers 201410528527.1 and 201711203612.0 all mention that at least 3 laser ranging sensors are installed at different parts of the unmanned aerial vehicle and used for measuring the height information of each part of the unmanned aerial vehicle relative to the ground, so as to calculate the attitude information of the unmanned aerial vehicle. However, this method requires a large number of laser ranging sensors.
Disclosure of Invention
The application aims to provide an improved measuring method and device for the attitude and the flying height of an unmanned aerial vehicle based on cross laser, which are used for solving the technical problems in the background art.
In a first aspect, the application provides a method for measuring the attitude and the flying height of an unmanned aerial vehicle based on cross laser, which comprises the following steps: emitting cross laser to the ground; acquiring a frame of ground image containing the cross laser; identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin; and calculating the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions.
In some embodiments, when the unmanned aerial vehicle flies horizontally, the lengths of the laser lines of the opposite directions of the emitted cross laser are equal, and the lengths of the adjacent laser lines may be equal or unequal.
In some embodiments, the method further comprises: the light-emitting angle of the cross laser transmitter is measured in advance.
In some embodiments, the calculating the flying height, roll angle and pitch angle of the unmanned aerial vehicle according to the lengths of the four directions includes: according to linear geometry, the roll angle, the pitch angle and the flying height of the unmanned aerial vehicle are calculated through the light-emitting angle and the lengths of laser lines in four directions of the cross laser.
In some embodiments, the method further comprises: the curve between the length of the cross laser and the flying height of the unmanned aerial vehicle is calibrated in advance.
In some embodiments, the calculating the flying height of the unmanned aerial vehicle according to the lengths of the four directions includes: substituting the lengths of the cross laser in four directions into a curve between the length of the cross laser and the flying height of the unmanned aerial vehicle, and calculating to obtain the flying height of the unmanned aerial vehicle.
In some embodiments, the method further comprises: and calculating the angular speed of the roll angle and the angular speed of the pitch angle according to the front roll angle and the front pitch angle corresponding to the ground image of the previous frame and the time interval between the two frames of images.
In a second aspect, the application provides a measuring device for the attitude and the flying height of an unmanned aerial vehicle based on cross laser, which comprises a cross laser transmitter, a camera and a calculation module, wherein the cross laser transmitter and the camera are arranged at the bottom of the unmanned aerial vehicle and perpendicular to the unmanned aerial vehicle, and specifically: the cross laser transmitter is used for transmitting cross laser to the ground; the camera is used for acquiring a frame of ground image containing the cross laser; the calculation module is used for identifying the cross laser in the ground image, calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin, and then calculating the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions of the cross laser.
In some embodiments, the computing module is specifically configured to: identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin; according to linear geometry, the roll angle, pitch angle and flying height of the unmanned aerial vehicle are calculated through the pre-measured light-emitting angle of the cross laser transmitter and the lengths of laser lines in four directions of the cross laser.
In some embodiments, the computing module is further specifically configured to: identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin; substituting the lengths of the laser lines in the four directions of the cross laser into a curve between the length of the cross laser calibrated in advance and the height of the unmanned aerial vehicle, and calculating to obtain the flying height of the unmanned aerial vehicle.
In some embodiments, the computing module is further specifically configured to: and calculating the angular speed of the roll angle and the angular speed of the pitch angle according to the front roll angle and the front pitch angle corresponding to the ground image of the previous frame and the time interval between the two frames of images.
According to the method and the device for measuring the attitude and the flying height of the unmanned aerial vehicle based on the cross laser, the cross laser is emitted to the place, and then the lengths of the cross laser in four directions are measured, so that the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle are calculated.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of one embodiment of a method for measuring attitude and altitude of a cross laser based drone according to the present application;
FIG. 2 is a schematic illustration of a cross laser in one embodiment of a method of measuring attitude and altitude of a cross laser based drone according to the present application;
FIG. 3 is a schematic illustration of a four-axis aircraft in one embodiment of a method of measuring attitude and altitude of a cross laser-based drone in accordance with the present application;
FIG. 4 is a schematic diagram of a method for measuring attitude and altitude of a cross laser-based drone according to the present application;
fig. 5 is a schematic structural view of an embodiment of a cross laser-based unmanned aerial vehicle attitude and fly height measurement device according to the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be noted that, for convenience of description, only the portions related to the present application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Fig. 1 shows a flow chart 100 of one embodiment of a method for measuring attitude and altitude of a cross laser based drone according to the present application. The measuring method of the unmanned aerial vehicle attitude and the flying height based on the cross laser comprises the following steps:
step 101, emitting cross laser to the ground.
In this embodiment, cross laser emitter and camera are installed to unmanned aerial vehicle's bottom, and perpendicular to unmanned aerial vehicle. If the unmanned aerial vehicle is a double-wing unmanned aerial vehicle, the cross laser transmitter and the camera can be arranged on the longitudinal axis of the double-wing unmanned aerial vehicle. And one laser line in the cross laser is ensured to be parallel to the longitudinal axis of the unmanned aerial vehicle. If the unmanned aerial vehicle is a four-axis aircraft, the cross laser emitter and the camera can be arranged at the center position of the four-axis aircraft. One laser line of the cross laser is parallel to the longitudinal axis of the four-axis aircraft, and the other laser line is parallel to the transverse axis of the four-axis aircraft, so that the body coordinate system of the unmanned aerial vehicle is consistent with the geographic coordinate system.
In this embodiment, when the unmanned aerial vehicle flies horizontally, the lengths of the laser lines in the opposite directions of the emitted cross laser are equal, and the lengths of the adjacent laser lines may be equal or unequal. As shown in fig. 2, wherein the laser lines in the four directions of fig. 2 (a) are equal in length; 2 (b) are equal in length and are unequal in length.
In this embodiment, the right, front and upper directions of the unmanned plane are defined to form a right-hand system, the roll angle is the rotation around the forward axis, the pitch angle is the rotation around the right axis, and the heading angle is the rotation around the upward axis. Taking the four-axis vehicle of fig. 3 as an example, if the four-axis vehicle rotates about the X-axis as a roll angle, rotates about the Y-axis as a pitch angle, and rotates about the Z-axis as a heading angle.
In fig. 3, four circles represent 4 motors, the directions of arrows on the circles represent the directions of motor rotation, when the four-axis aircraft is in a hovering state, the rotation speeds of the motors 1, 2, 3 and 4 are equal, the rotation speeds of the motors 1 and 3 are kept unchanged, the rotation speed of the motor 4 is increased, the rotation speed of the motor 2 is decreased, and when the rotation speed change amounts are equal, unbalanced moment is generated to enable the airframe to rotate around the X axis, so that a roll angle is generated. Compared with the horizontal flight of a four-axis aircraft, 1 of two laser lines parallel to the X axis in cross laser: the ratio of 1 remains unchanged (not shown), but the ratio of two laser lines parallel to the Y-axis changes, as shown in fig. 4. O denotes a cross laser emitter, D denotes the intersection of cross lasers, A, B denotes the end points of the laser lines, respectively, and 2α denotes the light-emitting angle of the cross laser emitter. The length of the laser line DB in the positive Y-axis direction is shortened, and the length of the laser line AD in the negative Y-axis direction is lengthened.
Step 102, obtaining a frame of ground image containing the cross laser.
In this embodiment, the camera may capture an on-ground video, where the video includes a frame of ground image of the cross laser. A frame of ground image containing the cross laser can be shot in real time or at intervals. And transmitting the image to a computing module.
Step 103, identifying cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin.
In this embodiment, the calculation module receives a frame of ground image including cross laser sent by the camera, recognizes the cross laser in the image by using an image recognition technology, and calculates lengths of laser lines in four directions of the cross laser with a cross intersection point as an origin. Taking a laser line parallel to the Y axis as an example, referring to fig. 4, the length of the laser line DB in the positive direction of the Y axis and the length of the laser line AD in the negative direction of the Y axis are calculated.
And 104, calculating the flying height, roll angle and pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions.
In this embodiment, the angle of the light output from the cross laser transmitter is generally already marked at the time of shipment.
In some alternative implementations of the present embodiment, the exit angle of the cross laser transmitter may be measured in advance. Under the condition of known height, measuring the laser line length of the cross laser, and calculating the light-emitting angle of the cross laser transmitter according to the trigonometric function relation.
In this embodiment, taking the attitude of the four-axis aircraft in fig. 3 as an example, the proportional relationship between two laser lines parallel to the X-axis is 1:1, the pitch angle of the four-axis aircraft is zero. The proportional relationship of the two laser lines parallel to the Y axis changes. . Referring specifically to fig. 4, where the light exit angle 2α of the cross laser transmitter is known, the length of the laser line AD is calculated as x, i.e., ad=x, the length of the laser line DB is calculated as y, i.e., db=y, and the length of OB is assumed as z, i.e., ob=z.
According to the sine theorem, in the triangle OAB:
according to the sine theorem, in the triangle ODB:
from the two formulas above, derive:
the roll angle of the four-axis aircraft is: 90-theta.
Altitude of flight:
in some embodiments, the roll angle and the pitch angle of the unmanned aerial vehicle are not zero, and because the body coordinate system of the unmanned aerial vehicle is consistent with the geographic coordinate system, the roll angle only affects the proportional relationship of two lasers parallel to the Y axis, and the pitch angle only affects the proportional relationship of two lasers parallel to the X axis, the roll angle and the pitch angle of the unmanned aerial vehicle can be calculated according to the principle and by pushing the two lasers.
In some alternative implementations of the present embodiment, the curve between the length of the cross laser and the flying height of the drone is calibrated in advance. Specifically, the unmanned aerial vehicle is kept to fly horizontally, the flying height and the length of the cross laser are measured continuously from low to high at smaller intervals in a certain height range, then points are drawn, and then the points are connected into a line to generate a curve between the length of the cross laser and the flying height of the unmanned aerial vehicle. In actual measurement, substituting the lengths of laser lines in four directions of the cross laser into a curve between the length of the cross laser and the flying height of the unmanned aerial vehicle, and calculating to obtain the flying height of the unmanned aerial vehicle. Example 1: maintaining the unmanned plane to fly horizontally, and emitting cross laser to the ground at intervals of 0.5 m in advance within the range of 0 to 20 m; then, an image including a cross laser is captured, then, the cross laser in the image is recognized, the total length of laser lines in four directions of the cross laser is calculated, and finally, in a two-dimensional coordinate with the total length of the laser lines as a horizontal axis and the flying height as a vertical axis, points of the total length and the flying height obtained before are drawn, and the points are connected into a line. When in actual measurement, the total length of laser lines in four directions of the cross laser is calculated, and then a curve of the total length of the laser lines and the flying height drawn in advance is substituted, so that the current flying height of the unmanned aerial vehicle is obtained. Example 2: the length of two laser lines in opposite directions in the cross laser and the corresponding relation with the flying height can be respectively depicted to obtain two curves. When in actual measurement, the length sum of two laser lines in the opposite directions in the cross laser is calculated respectively, then the two flying height values are obtained by substituting the length sum into corresponding curves, the two flying height values are compared, and the flying height with the smaller value is selected as the flying height obtained in the measurement. This reduces errors introduced by the presence of attitude angles.
In some optional implementations of this embodiment, the angular speed of the roll angle and the angular speed of the pitch angle are calculated according to the front roll angle and the front pitch angle corresponding to the ground image of the previous frame and the time interval between the two frames of images.
The real-time mode and the algorithm of the embodiment of the application are simple, and the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle can be accurately measured.
With continued reference to fig. 5, as an implementation of the method shown in the above figures, the present application provides an embodiment of a measuring device for attitude and altitude of a unmanned aerial vehicle based on a cross laser, where the embodiment of the device corresponds to the embodiment of the method shown in fig. 1.
As shown in fig. 5, the measurement device 500 for measuring the attitude and the flying height of the unmanned aerial vehicle based on the cross laser according to the embodiment includes: the cross laser emitter 501, the camera 502, calculate the module 503, wherein, cross laser emitter 501 and camera 502 are installed in unmanned aerial vehicle's bottom and perpendicular to unmanned aerial vehicle, calculate the module 503 and be installed in unmanned aerial vehicle's inside, and specifically: a cross laser emitter 501 for emitting cross laser light to the ground; a camera 502 for acquiring a frame of ground image containing the cross laser; the calculating module 503 is configured to identify the cross laser in the ground image, calculate lengths of laser lines in four directions of the cross laser with a cross intersection point as an origin, and then calculate a flight height, a roll angle, and a pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions of the cross laser.
When the unmanned aerial vehicle flies horizontally, the lengths of the laser lines in the opposite directions of the cross laser emitted by the cross laser emitter 501 are equal, and the lengths of the adjacent laser lines may be equal or unequal.
The calculation module 503 is specifically configured to: identifying cross lasers in the ground image, and calculating the lengths of laser lines in four directions of the cross lasers by taking a cross intersection point as an origin; according to linear geometry, the roll angle, pitch angle and flying height of the unmanned aerial vehicle are calculated through the pre-measured light-emitting angle of the cross laser transmitter and the lengths of laser lines in four directions of the cross laser. Specific embodiments and methods are consistent and not repeated here.
The computing module 503 is further specifically configured to: identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin; substituting the lengths of the laser lines in the four directions of the cross laser into a curve between the length of the cross laser calibrated in advance and the height of the unmanned aerial vehicle, and calculating to obtain the flying height of the unmanned aerial vehicle. Specific embodiments and methods are consistent and not repeated here.
The computing module 503 is further configured to: and calculating the angular speed of the roll angle and the angular speed of the pitch angle according to the front roll angle and the front pitch angle corresponding to the ground image of the previous frame and the time interval between the two frames of images.
In this embodiment, the calculating module 503 may calculate the flying height, roll angle, and pitch angle of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions.
The above description is only illustrative of the preferred embodiments of the present application and of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the application referred to in the present application is not limited to the specific combinations of the technical features described above, but also covers other technical features formed by any combination of the technical features described above or their equivalents without departing from the inventive concept. Such as the above-mentioned features and the technical features disclosed in the present application (but not limited to) having similar functions are replaced with each other.
Claims (5)
1. A method for measuring the attitude and the flying height of an unmanned aerial vehicle based on cross laser, which is characterized by comprising the following steps:
emitting cross laser to the ground;
acquiring a frame of ground image containing the cross laser;
identifying the cross laser in the ground image, and calculating the lengths of laser lines in four directions of the cross laser by taking a cross intersection point as an origin;
according to the lengths of the laser lines in the four directions, calculating the flying height, the roll angle and the pitch angle of the unmanned aerial vehicle, and specifically: and measuring the light output Zhang Jiaodu of the cross laser transmitter in advance, and calculating the roll angle, the pitch angle and the flying height of the unmanned aerial vehicle according to the linear geometry and through the light output angle and the lengths of the laser lines in the four directions of the cross laser.
2. The method for measuring the attitude and the flying height of the unmanned aerial vehicle based on the cross laser according to claim 1, wherein the lengths of laser lines in opposite directions of the emitted cross laser are equal when the unmanned aerial vehicle flies horizontally, and the lengths of adjacent laser lines can be equal or unequal.
3. The method for measuring the attitude and the flying height of the unmanned aerial vehicle based on the cross laser according to claim 1, wherein the method further comprises:
the curve between the length of the cross laser and the flying height of the unmanned aerial vehicle is calibrated in advance.
4. A method for measuring the attitude and the flying height of an unmanned aerial vehicle based on a cross laser according to claim 3, wherein the calculating the flying height of the unmanned aerial vehicle according to the lengths of the laser lines in the four directions comprises:
substituting the lengths of the laser lines in the four directions of the cross laser into a curve between the length of the cross laser and the flight height of the unmanned aerial vehicle, and calculating to obtain the flight height of the unmanned aerial vehicle.
5. A method for measuring attitude and altitude of a cross laser based unmanned aerial vehicle according to any one of claims 1 or 4, further comprising:
and calculating the angular speed of the roll angle and the angular speed of the pitch angle according to the front roll angle and the front pitch angle corresponding to the ground image of the previous frame and the time interval between the two frames of images.
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| CN112286213A (en) * | 2020-10-21 | 2021-01-29 | 苏州臻迪智能科技有限公司 | Unmanned aerial vehicle hovering method and device, unmanned aerial vehicle and storage medium |
| CN115026843B (en) * | 2022-08-11 | 2022-12-13 | 佛山智能装备技术研究院 | Automatic TCP calibration and deviation correction method based on cross laser sensor |
| CN115655106A (en) * | 2022-10-24 | 2023-01-31 | 中煤科工开采研究院有限公司 | Pose detection system, mechanical equipment and pose detection method |
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