借助于特征点的自主视觉测高方法研究
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摘要
提出了一种借助于单个特征点的异步视觉自主测高方法。所提方法将内外参分离标定,计算效率高。在构建的6自由度飞行模拟装置上对该方法进行了验证,结果表明:当测试高度在2m以内时,测量的绝对误差小于0.02m,相对误差优于1.5%。该方法对计算负载的要求低,特别适用于机上快速解算的应用场合,也可拓展至对地目标定位的测量应用中。
An autonomous measurement method of height based on the asynchronous vision of a single feature point is proposed,in which the internal and external matrix are calibrated separately and thus the computational efficiency is high.This method is verified in the constructed flight simulation device with six degrees of freedom and the results show that,below the testing height of 2 m,the absolute measurement error is less than 0.02 mand the relative error is superior to 1.5%.This method requires a less computing load,and is particularly suitable to the application of fast decoding in planes,and can also be extended to the measurement application of the ground target positioning.
An autonomous measurement method of height based on the asynchronous vision of a single feature point is proposed,in which the internal and external matrix are calibrated separately and thus the computational efficiency is high.This method is verified in the constructed flight simulation device with six degrees of freedom and the results show that,below the testing height of 2 m,the absolute measurement error is less than 0.02 mand the relative error is superior to 1.5%.This method requires a less computing load,and is particularly suitable to the application of fast decoding in planes,and can also be extended to the measurement application of the ground target positioning.
引文
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[2]Wang Q L,Li J Y,Shen H K.Target tracking system of binocular vision and laser range sensor[J].Acta Optica Sinica,2016,36(9):0912002.王琪龙,李建勇,沈海阔.双目视觉-激光测距传感器目标跟踪系统[J].光学学报,2016,36(9):0912002.
[3]Meng W,Han W P,Li Y X,et al.Pulse laser altimeter applicable to low-flying UAV[J].Journal of Air Force Engineering University(Natural Science Edition),2010,11(5):70-74.蒙文,韩万鹏,李云霞,等.适用于无人机超低空飞行的脉冲激光测高系统[J].空军工程大学学报(自然科学版),2010,11(5):70-74.
[4]Huang K,Li S,Ma Y,et al.Detection probability model of single-photon laser altimetry and its range accuracy[J].Chinese Journal of Lasers,2016,43(11):1110001.黄科,李松,马跃,等.单光子模式激光测高探测概率模型与精度分析[J].中国激光,2016,43(11):1110001.
[5]Zhou Z J,Yan J G,Chen P.Research and implementation of a height measuring method for smallsize UAV[J].Measurement&Control Technology,2008,27(11):92-93.周志久,闫建国,陈鹏.一种小型无人机高度测量方法的研究与实现[J].测控技术,2008,27(11):92-94.
[6]Wang X,Li X M.Design of high precision barometric altimeter measuring system in mini UAV[J].Measurement&Control Technology,2012,31(2):12-15.王晅,李小民.高精度小型无人机气压高度测量系统的设计[J].测控技术,2012,31(2):12-15.
[7]Shen Y H,Liu J L,Du X.Simultaneous threedimensional environment reconstruction and localization based on monocular vision[J].Acta Optica Sinica,2008,28(5):907-914.沈晔湖,刘济林,杜歆.单目视觉的同时三维场景构建和定位算法[J].光学学报,2008,28(5):907-914.
[8]He F Y,Lin J R,Gao Y,et al.Optimized pose measurement system combining monocular vision with inclinometer sensors[J].Acta Optica Sinica,2016,36(12):1215002.何斐彦,林嘉睿,高扬,等.单目视觉与倾角仪组合优化的位姿测量系统[J].光学学报,2016,36(12):1215002.
[9]Yang J Y,Li R B,Hang Y J,et al.A measuring method of flight altitude and attitude measurement based on ultrasonic array[J].Aeronautical Computing Technique,2013,43(5):128-131.杨景阳,李荣冰,杭义军,等.超声波阵列的飞行高度与姿态测量方法[J].航空计算技术,2013,43(5):128-131.
[10]Chao Z C,Fu S H,Jiang G W,et al.Mono camera and laser range finding sensor position-pose measurement system[J].Acta Optica Sinica,2011,31(3):0312001.晁志超,伏思华,姜广文,等.单目摄像机激光测距传感器位姿测量系统[J].光学学报,2011,31(3):0312001.
[11]Wang X J,Wan Z J,Wang X,et al.Ground targets location of UAV using vision location method[J].Infrared&Laser Engineering,2014,43(2):615-619.王向军,万子敬,王鑫,等.无人机地面目标实时自主视觉定位[J].红外与激光工程,2014,43(2):615-619.
[12]Liu S T.Research on autonomous targets location of an MUAV using DEM-based approach altimeter[D].Tianjin:Tianjin University,2011.刘世廷.基于DEM逼近测高的微小型无人机目标自主定位研究[D].天津:天津大学,2011.
[13]Rui W U,Zhao H Y,Yan L.A method of extracting elevation without GCPs based on UAV images[J].Science of Surveying&Mapping,2011,36(5):34-33.
[14]Xuan J Y,Pei H L.Research and realization of a altitude location method for small UAV[J].Automation&Instrumentation,2010(12):1001-9944.禤家裕,裴海龙.一种小型无人机高度定位方法的研究与实现[J].自动化与仪表,2010(12):1001-9944.
[15]Han D B,Xu Y C,Wang R D,et al.Calibration of three-dimensional lidar extrinsic parameters based on multiple-point clouds matching[J].Laser&Optoelectronics Progress,2018,55(2):022803.韩栋斌,徐友春,王任栋,等.基于多对点云匹配的三维激光雷达外参数标定[J].激光与光电子学进展,2018,55(2):022803.