微型UAV视觉辅助降落系统研究
摘要
微型无人飞行器(Mini Unmanned Aerial Vehicle,简称MUAV)由于其独特的优势,在地型勘测、交通疏导、军事侦察等领域中已经有了广泛的应用。作为微型UAV研究领域的热点和重要组成部分,基于计算机视觉的自主降落一直受到世界各国高校及研究机构的高度关注。本文设计了一个可以辅助微型UAV自主降落的视觉系统,为确保飞机安全、精确的降落提供了保障。
论文从硬件构建和软件设计两个方面,围绕如何构建一个可靠的微型UAV视觉辅助降落系统展开讨论。系统的硬件平台使用TMS320DM642 DSP芯片作为核心处理器,辅以双目摄像机、采集模块、对外通讯模块以及电源模块等外围电路。系统的软件部分采用GIO/FVID视频驱动模型,运行的图像处理算法包括均值滤波、二值化、基于不变矩检测的停机坪识别、基于均值漂移的实时跟踪、SUSAN角点检测和双目视差测距等。整个系统能够实现对特定图标的识别、跟踪和相对高度测量。
相对于传统的GPS、声纳、陀螺仪等传感器,本文所设计的机载式DSP平台微型UAV视觉辅助降落系统有效补充了降落中所必须的位置、姿态及高度等信息,使飞机可以执行定点降落任务。同时,在增重负载和增加功耗有限的前提下,摆脱了模拟链路的传输精度限制,具有更高的性价比和灵活性,并易于与飞行控制系统相结合,为以后视觉系统功能的扩展打下了基础。
Mini Unmanned Aerial Vehicle (UAV), which possesses special features, has broad applications in various fields such as geography mapping, traffic management, military reconnaissance, etc. As an indispensable part of Mini UAV, vision system has been paid great attention by colleges and research organizations in the world. Especially, vision-based landing system plays an important role in UAV autonomous landing process. In this paper, we focus on landing vision system design which can assist UAV land automatically.
The design of landing vision system is discussed from both hardware and software aspects. Our system chooses TMS320DM642 DSP as the core processing chip, and is augmented by the capture module, communication module, power supply module, etc. The visual driver is based on TI GIO/FVID model. A series of algorithms including average filter, binarization, Hu invariant moments detection, mean shift following, SUSAN corner detection, etc. are embedded on the hardware platform. The vision system could recognize and track landing-pad, tracking and measure the relative distance based on binocular parallax.
Compare to the traditional sensors such as GPS, sonar and gyroscope, our vision landing system is able to offer positional and height information, as a result, it can assist UAV to land on a certain place. Besides, the DSP vision system designed in this paper which gets rid of the restriction of link's precision for analog transmission is more flexible and is advanced for higher Cost-Performance Ratio. The vision system is also easy to incorporate new capabilities in the future research.
论文从硬件构建和软件设计两个方面,围绕如何构建一个可靠的微型UAV视觉辅助降落系统展开讨论。系统的硬件平台使用TMS320DM642 DSP芯片作为核心处理器,辅以双目摄像机、采集模块、对外通讯模块以及电源模块等外围电路。系统的软件部分采用GIO/FVID视频驱动模型,运行的图像处理算法包括均值滤波、二值化、基于不变矩检测的停机坪识别、基于均值漂移的实时跟踪、SUSAN角点检测和双目视差测距等。整个系统能够实现对特定图标的识别、跟踪和相对高度测量。
相对于传统的GPS、声纳、陀螺仪等传感器,本文所设计的机载式DSP平台微型UAV视觉辅助降落系统有效补充了降落中所必须的位置、姿态及高度等信息,使飞机可以执行定点降落任务。同时,在增重负载和增加功耗有限的前提下,摆脱了模拟链路的传输精度限制,具有更高的性价比和灵活性,并易于与飞行控制系统相结合,为以后视觉系统功能的扩展打下了基础。
Mini Unmanned Aerial Vehicle (UAV), which possesses special features, has broad applications in various fields such as geography mapping, traffic management, military reconnaissance, etc. As an indispensable part of Mini UAV, vision system has been paid great attention by colleges and research organizations in the world. Especially, vision-based landing system plays an important role in UAV autonomous landing process. In this paper, we focus on landing vision system design which can assist UAV land automatically.
The design of landing vision system is discussed from both hardware and software aspects. Our system chooses TMS320DM642 DSP as the core processing chip, and is augmented by the capture module, communication module, power supply module, etc. The visual driver is based on TI GIO/FVID model. A series of algorithms including average filter, binarization, Hu invariant moments detection, mean shift following, SUSAN corner detection, etc. are embedded on the hardware platform. The vision system could recognize and track landing-pad, tracking and measure the relative distance based on binocular parallax.
Compare to the traditional sensors such as GPS, sonar and gyroscope, our vision landing system is able to offer positional and height information, as a result, it can assist UAV to land on a certain place. Besides, the DSP vision system designed in this paper which gets rid of the restriction of link's precision for analog transmission is more flexible and is advanced for higher Cost-Performance Ratio. The vision system is also easy to incorporate new capabilities in the future research.
引文
[1]无人机网.http://www.uav.com/cn/
[2]中国航空网,美军无人机将具空中加油能力作战半径极大提升.http://www.aerochina.com.cn/ac/ac0100/ac0102_content.asp?id=6225
[3]人民网,世界各国无人机发展现状与前景.http://www.people.com.cn/GB/junshi/2998867.html
[4]李辉.尖端武器[J],2000(8):19.
[5]吴立新,刘平生,卢健.无人机分类研究[J].洪都科技设计与工艺,2005(3):1-11.
[6]USC Autonomous Flying Vehicle Project,Autonomous Flying Vehicles of University of Southern California:http://www-robotics.usc.edu/-avatar/
[7]Berkeley Aerobat(BEAR)Project homepage,http://robotics.eecs.berkeley.edu/bear
[8]Georgia Tech Aerial Robotics.http://controls.ae.gatech.edu/gtar/
[9]Carnegie Mellon University Autonomous Helicopter(HELI)Project.http://www.cs.cmu.edu/afs/cs/project/chopper/www/
[10]University of Texas,Aerial Robotics.http://iarcl.ece.utexas.edu/
[11]AUTONOMOUS RMAX飞行平台(RMAX G-1)必威易网.http://www.bve.com.cn/Channel.asp?id=50
[12]百度百科,计算机视觉.http://baike.baidu.com/view/155265.html
[13]汪海明,李平,韩波.UAV中视觉系统的研究[J].计算机工程,2005,31(3),178-179
[14]唐强,朱志强,王建元.国外无人机自主飞行控制研究[J].系统工程与电子技术,2004(3):418-421
[15]Shakernia O,Yi Ma,Koo John T.Vision Guided Landing of an Unmanned Air Vehicle[C].Proc.Of the 38 Conference on Decision & Control,1999.4143-4148.
[16]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[J].IEEE Robotics & Automation Magazine,2006,Vol.(1):63-71.
[17]Ward D,Monaco J,Schierman J.Reconfigurable Control for VTOL UAV Shipboard Landing[C].Guidance,Navigation and Control Conference and Exhibit,AIAA-1999-4045,1999.
[18]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[C],IEEE Robotics & Automation Magazine,2006.63-71
[19]段峰,王耀南,雷晓峰,吴立钊,谭文.机器视觉技术及其应用综述[J].自动化博览,2002(3):59-61.
[20]孙瑾,顾宏斌.计算机视觉系统框架结构研究[J].计算机工程与应用,2004(12):44-47.
[21]淳于江民,张珩,微型无人直升机技术研究现状与展望[J].机器人技术与应用,2004(6):6-11.
[22]许兆林,付战平.航空CCD侦察相机系统研究[J].航空计测技术,2001,21(5):3-6.
[23]TVP5150A/TVP5150AM1 Ultra-low Power NTSC/PAL/SECAM Video Decoder With Robust Sync Detector Data Manual.Texas Instruments Incorporated.May,2004.
[24]TMS320C64x DSP Video Port/VCXO Interpolated Control(VIC)Port Reference Guide.Texas Instruments Incorporated.August,2004.
[25]李方慧,王飞,何佩琨.TMS320C6000系列DSPs原理与应用[M].北京:电子工业出版社,2003.
[26]Am29LV033C 32 Megabit(4M×8-Bit)CMOS 3.0 Volt-only Uniform Sector Flash Memory Datasheet.Advanced Micro Devices Inc.November,2000.
[27]HY57V283220(L)T(P)/HY5V22(L)F(P)4 Banks×1M×32Bit Synchronous DRAM Datasheet.Hynix Semiconductor Inc.July,2004.
[28]TL16C752B 3.3-V DUAL UART WITH 64-BYTE FIFO Datasheet.Texas Instruments Incorporated.August,2000.
[29]MAX3160/MAX3161/MAX3162+3.0V to+5.5V,1μA,RS-232/RS-485/422Multiprotocol Transceivers Datasheet.Maxim Integrated Products.September,2000.
[30]9XTend-PKG RF Modems 1 Watt-900 MHz-Stand-alone Radio Modems Datasheet.MaxStream Inc.2005.
[31]张晓雨.锂离子电池简介[J].北京大学学报(自然科学版),2006(42):96.
[32]TPS5430/TPS54313-A,WIDE INPUT RANGE,STEP-DOWN SWIF CONVERTER.Texas Instruments Incorporated.November,2006.
[33]TPS543103-V TO 6-V INPUT,3-A OUTPUT SYNCHRONOUS-BUCK PWM SWITCHER WITH INTEGRATED FETs(SWIFT).Texas Instruments Incorporated.June,2002.
[34]TPS76715Q,TPS76718Q,TPS76725Q,TPS76727Q,TPS76728Q,TPS76730Q,TPS76733Q,TPS76750Q,TPS76701Q FAST-TRANSIENT-RESPONSE 1-A LOW-DROPOUT LINEAR REGULATORS Datasheet.Texas Instruments Incorporated.January,2004.
[35]CY22381 Three-PLL General Purpose FLASH Programmable Clock Generator Datasheet.Cypress Semiconductor Corporation.December,2002.
[36]彭启琮,管庆.DSP集成开发环境;CCS及DSP/BIOS的原理与应用[M].北京:电子工业出版社,2004.
[37]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南[M].北京:航空航天出版社,2003.
[38]宋胜利,曾峦.DSP/BIOS在数字图像处理中的应用[J].国外电子测量技术,2005(24):33-36
[39]The TMS320DM642 Video Port Mini-Driver.Texas Instruments Incorporated.August,2003.
[40]O Amidi,T kanade,J R Miller.Vision-Based Autonomous Helicopter Research at Carnegie Mellon Robotics Institute 1991-1997.American Helicopter Society International Conference,Hell,Japan,1998-04.
[41]Sharp C S,Shakernia O,Sastry S S.A vision system for landing an unmanned aerial vehicle[C].Proceedings of IEEE International Conference on Robotics and Automation,2001.1720-1728.
[42]Srikanth Saripalli,James F.Montgomery,Gaurav S.Sukhatme.Visually-Guided Landing of An Unmanned Aerial Vehicle[J].Robotics and Automation,2003,12:371-381.
[43]李了了,邓善熙,丁兴号.基于大津法的图像分块二值化算法[J].微计算机信息,2005,83(21):76-77.
[44](美)冈萨雷斯,伍兹,埃丁斯著,阮秋琦译,数字图像处理;MATLAB版[M].北京:电子工业出版社,2005
[45]阮秋琦.数字图像处理学[M].北京:电子工业出版社,2001.
[46]Cheng Y.Mean Shift,Mode Seeking,and Clustering[J].IEEE Trans on Pattern Anal.Machine Intell.,1995,17(8):790
[47]齐飞,罗予频,胡东成.基于均值漂移的视觉目标跟踪方法综述[J].计算机工程,2007,33(21):24-27.
[48]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[J].IEEE Robotics & Automation Magazine,2006,63-71.
[49]李鹏,王军宁.摄像机标定方法综述[J].山西电子技术,2007,4(1):77-79
[50]李伟,吕晓旭,钱晓凡,钟丽云.基于平面模板的摄像机标定方法比较[J].激光杂志,2006,27(2):54-55.
[51]Zhengyou Zhang.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334
[52]赵勋杰,李成金.双目立体实时测距系统的关键技术研究[J].激光与红外,2006,36(9):874-877.
[53]王巾,高文清,周强,李平.视觉测距系统中实时图像处理算法的实现[J].光电技术应用.2006,21(3):62-65.
[54]邱力为,宋子善,沈为群.用于无人直升机着舰控制的计算机视觉技术研究[J].航空学报,2003,24(4):351-354.
[55]张颖.基于改进的SUSAN法的摄像机线性标定方法[J].计算机应用,2006,26(10):2516-2518.
[56]邱茂林,马颂德,李毅.计算机视觉中摄像机定标综述[J].自动化学报,2000,26(1):43-55.
[2]中国航空网,美军无人机将具空中加油能力作战半径极大提升.http://www.aerochina.com.cn/ac/ac0100/ac0102_content.asp?id=6225
[3]人民网,世界各国无人机发展现状与前景.http://www.people.com.cn/GB/junshi/2998867.html
[4]李辉.尖端武器[J],2000(8):19.
[5]吴立新,刘平生,卢健.无人机分类研究[J].洪都科技设计与工艺,2005(3):1-11.
[6]USC Autonomous Flying Vehicle Project,Autonomous Flying Vehicles of University of Southern California:http://www-robotics.usc.edu/-avatar/
[7]Berkeley Aerobat(BEAR)Project homepage,http://robotics.eecs.berkeley.edu/bear
[8]Georgia Tech Aerial Robotics.http://controls.ae.gatech.edu/gtar/
[9]Carnegie Mellon University Autonomous Helicopter(HELI)Project.http://www.cs.cmu.edu/afs/cs/project/chopper/www/
[10]University of Texas,Aerial Robotics.http://iarcl.ece.utexas.edu/
[11]AUTONOMOUS RMAX飞行平台(RMAX G-1)必威易网.http://www.bve.com.cn/Channel.asp?id=50
[12]百度百科,计算机视觉.http://baike.baidu.com/view/155265.html
[13]汪海明,李平,韩波.UAV中视觉系统的研究[J].计算机工程,2005,31(3),178-179
[14]唐强,朱志强,王建元.国外无人机自主飞行控制研究[J].系统工程与电子技术,2004(3):418-421
[15]Shakernia O,Yi Ma,Koo John T.Vision Guided Landing of an Unmanned Air Vehicle[C].Proc.Of the 38 Conference on Decision & Control,1999.4143-4148.
[16]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[J].IEEE Robotics & Automation Magazine,2006,Vol.(1):63-71.
[17]Ward D,Monaco J,Schierman J.Reconfigurable Control for VTOL UAV Shipboard Landing[C].Guidance,Navigation and Control Conference and Exhibit,AIAA-1999-4045,1999.
[18]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[C],IEEE Robotics & Automation Magazine,2006.63-71
[19]段峰,王耀南,雷晓峰,吴立钊,谭文.机器视觉技术及其应用综述[J].自动化博览,2002(3):59-61.
[20]孙瑾,顾宏斌.计算机视觉系统框架结构研究[J].计算机工程与应用,2004(12):44-47.
[21]淳于江民,张珩,微型无人直升机技术研究现状与展望[J].机器人技术与应用,2004(6):6-11.
[22]许兆林,付战平.航空CCD侦察相机系统研究[J].航空计测技术,2001,21(5):3-6.
[23]TVP5150A/TVP5150AM1 Ultra-low Power NTSC/PAL/SECAM Video Decoder With Robust Sync Detector Data Manual.Texas Instruments Incorporated.May,2004.
[24]TMS320C64x DSP Video Port/VCXO Interpolated Control(VIC)Port Reference Guide.Texas Instruments Incorporated.August,2004.
[25]李方慧,王飞,何佩琨.TMS320C6000系列DSPs原理与应用[M].北京:电子工业出版社,2003.
[26]Am29LV033C 32 Megabit(4M×8-Bit)CMOS 3.0 Volt-only Uniform Sector Flash Memory Datasheet.Advanced Micro Devices Inc.November,2000.
[27]HY57V283220(L)T(P)/HY5V22(L)F(P)4 Banks×1M×32Bit Synchronous DRAM Datasheet.Hynix Semiconductor Inc.July,2004.
[28]TL16C752B 3.3-V DUAL UART WITH 64-BYTE FIFO Datasheet.Texas Instruments Incorporated.August,2000.
[29]MAX3160/MAX3161/MAX3162+3.0V to+5.5V,1μA,RS-232/RS-485/422Multiprotocol Transceivers Datasheet.Maxim Integrated Products.September,2000.
[30]9XTend-PKG RF Modems 1 Watt-900 MHz-Stand-alone Radio Modems Datasheet.MaxStream Inc.2005.
[31]张晓雨.锂离子电池简介[J].北京大学学报(自然科学版),2006(42):96.
[32]TPS5430/TPS54313-A,WIDE INPUT RANGE,STEP-DOWN SWIF CONVERTER.Texas Instruments Incorporated.November,2006.
[33]TPS543103-V TO 6-V INPUT,3-A OUTPUT SYNCHRONOUS-BUCK PWM SWITCHER WITH INTEGRATED FETs(SWIFT).Texas Instruments Incorporated.June,2002.
[34]TPS76715Q,TPS76718Q,TPS76725Q,TPS76727Q,TPS76728Q,TPS76730Q,TPS76733Q,TPS76750Q,TPS76701Q FAST-TRANSIENT-RESPONSE 1-A LOW-DROPOUT LINEAR REGULATORS Datasheet.Texas Instruments Incorporated.January,2004.
[35]CY22381 Three-PLL General Purpose FLASH Programmable Clock Generator Datasheet.Cypress Semiconductor Corporation.December,2002.
[36]彭启琮,管庆.DSP集成开发环境;CCS及DSP/BIOS的原理与应用[M].北京:电子工业出版社,2004.
[37]尹勇,欧光军,关荣锋.DSP集成开发环境CCS开发指南[M].北京:航空航天出版社,2003.
[38]宋胜利,曾峦.DSP/BIOS在数字图像处理中的应用[J].国外电子测量技术,2005(24):33-36
[39]The TMS320DM642 Video Port Mini-Driver.Texas Instruments Incorporated.August,2003.
[40]O Amidi,T kanade,J R Miller.Vision-Based Autonomous Helicopter Research at Carnegie Mellon Robotics Institute 1991-1997.American Helicopter Society International Conference,Hell,Japan,1998-04.
[41]Sharp C S,Shakernia O,Sastry S S.A vision system for landing an unmanned aerial vehicle[C].Proceedings of IEEE International Conference on Robotics and Automation,2001.1720-1728.
[42]Srikanth Saripalli,James F.Montgomery,Gaurav S.Sukhatme.Visually-Guided Landing of An Unmanned Aerial Vehicle[J].Robotics and Automation,2003,12:371-381.
[43]李了了,邓善熙,丁兴号.基于大津法的图像分块二值化算法[J].微计算机信息,2005,83(21):76-77.
[44](美)冈萨雷斯,伍兹,埃丁斯著,阮秋琦译,数字图像处理;MATLAB版[M].北京:电子工业出版社,2005
[45]阮秋琦.数字图像处理学[M].北京:电子工业出版社,2001.
[46]Cheng Y.Mean Shift,Mode Seeking,and Clustering[J].IEEE Trans on Pattern Anal.Machine Intell.,1995,17(8):790
[47]齐飞,罗予频,胡东成.基于均值漂移的视觉目标跟踪方法综述[J].计算机工程,2007,33(21):24-27.
[48]Ben Lundington,Eric Johnson,George Vachtsevanos.Vision-Based Navigation and Target Tracking for Unmanned Aerial Vehicles[J].IEEE Robotics & Automation Magazine,2006,63-71.
[49]李鹏,王军宁.摄像机标定方法综述[J].山西电子技术,2007,4(1):77-79
[50]李伟,吕晓旭,钱晓凡,钟丽云.基于平面模板的摄像机标定方法比较[J].激光杂志,2006,27(2):54-55.
[51]Zhengyou Zhang.A Flexible New Technique for Camera Calibration[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2000,22(11):1330-1334
[52]赵勋杰,李成金.双目立体实时测距系统的关键技术研究[J].激光与红外,2006,36(9):874-877.
[53]王巾,高文清,周强,李平.视觉测距系统中实时图像处理算法的实现[J].光电技术应用.2006,21(3):62-65.
[54]邱力为,宋子善,沈为群.用于无人直升机着舰控制的计算机视觉技术研究[J].航空学报,2003,24(4):351-354.
[55]张颖.基于改进的SUSAN法的摄像机线性标定方法[J].计算机应用,2006,26(10):2516-2518.
[56]邱茂林,马颂德,李毅.计算机视觉中摄像机定标综述[J].自动化学报,2000,26(1):43-55.