基于DEM逼近测高的微小型无人机目标自主定位研究
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摘要
随着使用的需要和高新技术的发展,近年来在世界范围内掀起了对无人机的研究热潮,特别是微小型无人机,在军用和民用领域都具有广泛的应用价值,长期以来都是国内外众多科研机构和组织的热点研究方向。如何确定微小型无人机机载光电测量系统采集到的图像上的地面目标的位置,就成了一个重要的课题。本文正是以国产某微小型无人机机载硬件平台为基础,对微小型无人机目标自主定位技术需要解决的几项技术问题展开了研究。
本论文主要研究内容包括:
1)在研究相关文献了解国内外相关研究工作的基础上,并结合本课题的课题背景使用条件,提出本文使用的方法和手段。
2)根据计算机视觉中的摄像机模型与欧式刚体变换等相关知识,并根据本文使用的微小型无人机实际情况设计适合的坐标系。按照该微小型无人机实际情况推导根据无人机姿态与光电吊舱姿态等信息获得目标方位的解算模型。
3)完成了本文所述算法的C语言代码编写,并结合基于DSP+FPGA平台的机载硬件平台,完成算法的移植与优化。
4)针对解算模型和测高逼近改进算法,设计了相关的仿真实验、实测实验以及相应的测试用例。经过实验结果分析,本文中使用的算法可以较好的完成课题中所需要的功能要求及精度要求。
本论文主要创新点包括:
在了解数字高程相关知识的基础上根据数字高程的数据结构特点提出了利用双线性插值的方法获得数字高程模型涵盖范围内任意一点的地面高度的方法。在此基础上,提出了基于迭代逼近的测高改进算法,在一定程度上修正了直接采用无人机位置地面高度代替目标所在位置地面高度的近似测高带来的测高误差。
With the demands of application and development of high-technology , more and more attentions are paid to the research on the UAV (Unmanned Aerial Vehicle) all over the world in recent years. Especially the MUAV (Micro Unmanned Aerial Vehicle) which is widely applied both in the military area and the civilian area , has become one of the most popular research subjects in many institutions and organizations for a long time . It becomes an important issue that how to locate ground targets caught by the airborne optical measurement system of a MUAV. This research work of this paper is about the solution of some key problems of autonomous targets location of an MUAV based on the airborne hardware platform of a MUAV made in our country.
In this paper , the main contents include:
1) The methods used in this paper is proposed based on the understanding of the research work of other experts and the using background of our subject.
2) The coordinate system used in this paper is designed according to the knowledge of the camera model and European rigid transformation in computer vision. The target's coordinate measurement model is derived about the information of the situation of the MUAV and optical pod .
3) The C language code is ported and optimized based on the airborne hardware platform.
4) Simulation experiments and the measured experiments are designed to test the algorithm in this paper. And the results of these experiments shows that the algorithm in this paper can meet the requirements both in the function and the accuracy.
In this paper , the innovative point include:
The ground height of the point which is in the range of the DEM is gotten based on bilinear interpolation , according to the data structure of the DEM. And the DEM-based approach altimeter is proposed to correct the error caused by using the ground height of the MUAV' ground projection position instead of the ground height of the target.
本论文主要研究内容包括:
1)在研究相关文献了解国内外相关研究工作的基础上,并结合本课题的课题背景使用条件,提出本文使用的方法和手段。
2)根据计算机视觉中的摄像机模型与欧式刚体变换等相关知识,并根据本文使用的微小型无人机实际情况设计适合的坐标系。按照该微小型无人机实际情况推导根据无人机姿态与光电吊舱姿态等信息获得目标方位的解算模型。
3)完成了本文所述算法的C语言代码编写,并结合基于DSP+FPGA平台的机载硬件平台,完成算法的移植与优化。
4)针对解算模型和测高逼近改进算法,设计了相关的仿真实验、实测实验以及相应的测试用例。经过实验结果分析,本文中使用的算法可以较好的完成课题中所需要的功能要求及精度要求。
本论文主要创新点包括:
在了解数字高程相关知识的基础上根据数字高程的数据结构特点提出了利用双线性插值的方法获得数字高程模型涵盖范围内任意一点的地面高度的方法。在此基础上,提出了基于迭代逼近的测高改进算法,在一定程度上修正了直接采用无人机位置地面高度代替目标所在位置地面高度的近似测高带来的测高误差。
With the demands of application and development of high-technology , more and more attentions are paid to the research on the UAV (Unmanned Aerial Vehicle) all over the world in recent years. Especially the MUAV (Micro Unmanned Aerial Vehicle) which is widely applied both in the military area and the civilian area , has become one of the most popular research subjects in many institutions and organizations for a long time . It becomes an important issue that how to locate ground targets caught by the airborne optical measurement system of a MUAV. This research work of this paper is about the solution of some key problems of autonomous targets location of an MUAV based on the airborne hardware platform of a MUAV made in our country.
In this paper , the main contents include:
1) The methods used in this paper is proposed based on the understanding of the research work of other experts and the using background of our subject.
2) The coordinate system used in this paper is designed according to the knowledge of the camera model and European rigid transformation in computer vision. The target's coordinate measurement model is derived about the information of the situation of the MUAV and optical pod .
3) The C language code is ported and optimized based on the airborne hardware platform.
4) Simulation experiments and the measured experiments are designed to test the algorithm in this paper. And the results of these experiments shows that the algorithm in this paper can meet the requirements both in the function and the accuracy.
In this paper , the innovative point include:
The ground height of the point which is in the range of the DEM is gotten based on bilinear interpolation , according to the data structure of the DEM. And the DEM-based approach altimeter is proposed to correct the error caused by using the ground height of the MUAV' ground projection position instead of the ground height of the target.
引文
[1]高峰,无人机应用前景广阔,国防科技工业,2011,9:44~45.
[2]刘肖健,辛永平,崔建鹏,无人机航空遥感系统在灾害应急救援中的应用,自然灾害学报,2011,20(01):178~183.
[3]雷添杰,李长春,何孝莹,无人机在抗击对陆攻击巡航导弹中的应用,飞航导弹,2011,3:74~76.
[4]郜喆，刘万军，无人机技术在航标领域应用展望，中国篔拢?011,3:56~59.
[5]史光平,刘瑀,无人机遥感系统的海事应用,中国海事,2011,4:29~32.
[6]欧新伟,周利剑,冯庆善等,无人机遥感技术在长输油气管道管理中的应用,科技创新导报,2011,15:77~78.
[7] WILSON J.R,Micro SAR Meets MAV,Aerospase Ameriean,1999,10(2):32~35.
[8]郑昌,舰炮校射无人机作战需求与发展趋势,四川兵工学报,20011,32(7):139～140.
[9] PaulA,Ghyzel,Vision-based Navigation for Autonomous Landing of Unmanned Aerial Vehicles,Thesis of Naval Post graduate School,Monterey,California,2000:230 - 235.
[10] Ruggero Frezza,Claudio Altafini,Autonomous landing by computer vision:an application of path following in SE(3),Proc39th IEEE Conference on Decision and Control,December2000:2527 - 2532.
[11] O.Shakernia,Y Ma,T.J.Koo,Landing an Unmanned Air Vehicle:Vision-based Motion Estimation and Nonlinear Control,AsianJ.Control,Vo1.1, No.3,1999:4143 - 4148
[12] Yi Ma,A Differential Geometric Approach to Computer Vision and its Application in Control[D],Dissertation for Ph.D.University of California at Berkeley,2000.
[13] Srikanth Saripalli,James F.Montgomery ,Gaurav S.Sukhatme,Vision-Based Autonomous Landing of an Unmaned Aerial Vehicle,Preceeding of IEEE International Conference on Robotics and Automation,2002:2799～2804.
[14] C.S.Sharp,O.Shakemia,S.S.Sastry,A Vision System for Landing an Unmanned Aerial Vehicle,IEEE Int,Con.Robotics and Automation,Seou,Korea,2001:1720 - 1727
[15] John Tisdale, Allison Ryan, Zu Kim, et al. A multiple UAV system for vision-based search and localization// 2008 American Control Conference.2008:1985～1990.
[16]谭熊,余旭初,刘景正,无人机视频数据定位处理系统的设计与实现,测绘通报,2011,4:26~37.
[17]王凤娟,基于图像跟踪的无人机定位方法研究[D],西安:西安电子科技大学,2009.
[18]杨光,图像匹配技术在导航、制导中的应用[D],西安:西北工业大学,2003.
[19]刘国才,无人机单目计算机视觉着降定位的算法研究及DSP实现[D],成都:电子科技大学,2008.
[20]张春华,周晓东,刘松涛,海天北京红外图像小目标自动定位方法,激光与红外,2007,37(1):94~97.
[21]张广军,视觉测量,北京:科学出版社,2009,3.
[22]张召才,王向军,庞博,异步推扫式遥感立体成像仿真系统,红外与激光工程,2010,39(5),887~891.
[23]程金汉,杜爱民,基于DM642的嵌入式实时车辆跟踪系统,机电工程,2007,24(12),25~27.
[24]刘常杰,陈益伟,邾继贵等,一种工业机器人柔性在线坐标测量系统,光电子?激光,2010,21(12):1817~1821.
[25]孙军华,王恒,刘震等,钢轨磨耗动态测量中激光光条中心的快速提取,光学精密工程,2011,19(3):690~696.
[26]邬伦,刘瑜,地理信息系统——原理、方法和应用,北京:科学出版社,2005,1.
[27]陈敬周,数字高程模型的生成与应用[D],太原:太原理工大学,2007.
[28]刘毓,邹星,地形辅助导航技术的研究,电脑与电信,2010,7:29~31.
[29]赵志军,张欣景,谢国新等,航路规划中的数字地图单元格代价计算模型研究,电光与控制,2007,14(5):141~148.
[30]魏海涛,基于虚拟现实的弹道导弹发射仿真研究[D],西安:西安电子科技大学,2009.
[31]顾鲁青,孙翱,顾杰,探讨反舰导弹突防编队防御真的航路规划,航天电子对抗,2010,26(2):15~18.
[32]姜耀鹏,SRTM在军事测绘保障信息化中的应用研究[D],长沙:中南大学,2009.
[33]林勇,海洋战场地理环境中数字高程模型建立及应用[D],郑州:解放军信息工程大学,2007.
[34]魏永华,军事指挥系统中的数字高程模型,河海大学学报,1992,20(1): 60~64.
[35]聂小波,基础地理信息数据质量检查系统设计与实现[D],武汉:中国地质大学,2006.
[36]吴琴,基于遥感的黄陵县土地利用/土地覆盖动态监测[D],西安:西北农林科技大学,2007.
[37]罗龙海,基于GIS的沐川县林业产业发展下的LUCC及景观格局变化研究[D],雅安:四川农业大学,2007.
[38]刘家宏,王光谦,王开,大流域数字高程模型数据管理系统,清华大学学报,2004,44(12):1646~1649.
[39]杨海波,基于数字高程模型的昭平台水库三维可视化研究[D],郑州:郑州大学,2005.
[40]汤国安,刘学军,闾国年,数字高程模型及地学分析的原理与方法,北京:科学出版社,2005.
[41]宋敦江,岳天祥,杜正平,等高线树构建及高保真DEM构建,中国图像图形学报,2011,16(7):1255~1261.
[42] NASA,ASTER GDEM Readme File– ASTER GDEM Version 1[EB/OL],[Jun.26,2009], http://www.ersdac.or.jp/GDEM/E/4.html.
[43]黄朝安,SRTM DEM数据空洞插值填补方法对比分析,测绘与空间地理信息,2011,34(4):110~112.
[44] BAMLER R,The SRTM mission: A world wide 30m resolution DEM from SAR interferometry in 11 days/ / Photogrammetric Week 99,Wichmann Verlag Heidelberg,1999:145~154.
[45]宋向阳,吴发启,几种插值方法在微DEM构建中的应用,水土保持研究,2010,17(5):45~50.
[46]高珊珊,曲面造型中散乱数据插值曲面问题的研究[D],济南:山东大学,2005.
[47]毛昭军,汪德虎,基于DEM的无人机炸点偏差测量模型,火力与指挥控制,2004,29(2):39～42.
[48]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,测控技术,2008,27(11):92～96.
[49] Yu Jiaxiang,Xiao Deyun,Approach for Geo-location with unmanned aerial vehicle,Opto-Electronic Engineering,2007,34(7):1～7.
[50] Texas Instruments,TMS320C6000 Assembly Language Tools User's Guide,2001:1-391.
[51] Texas Instruments,TMS320C6000 CPU and Instruction Set Reference Guide,2000.
[52] Texas Instruments ,TI TMS320C6000 Optimizing Compiler User's Guide,2002.
[2]刘肖健,辛永平,崔建鹏,无人机航空遥感系统在灾害应急救援中的应用,自然灾害学报,2011,20(01):178~183.
[3]雷添杰,李长春,何孝莹,无人机在抗击对陆攻击巡航导弹中的应用,飞航导弹,2011,3:74~76.
[4]郜喆，刘万军，无人机技术在航标领域应用展望，中国篔拢?011,3:56~59.
[5]史光平,刘瑀,无人机遥感系统的海事应用,中国海事,2011,4:29~32.
[6]欧新伟,周利剑,冯庆善等,无人机遥感技术在长输油气管道管理中的应用,科技创新导报,2011,15:77~78.
[7] WILSON J.R,Micro SAR Meets MAV,Aerospase Ameriean,1999,10(2):32~35.
[8]郑昌,舰炮校射无人机作战需求与发展趋势,四川兵工学报,20011,32(7):139～140.
[9] PaulA,Ghyzel,Vision-based Navigation for Autonomous Landing of Unmanned Aerial Vehicles,Thesis of Naval Post graduate School,Monterey,California,2000:230 - 235.
[10] Ruggero Frezza,Claudio Altafini,Autonomous landing by computer vision:an application of path following in SE(3),Proc39th IEEE Conference on Decision and Control,December2000:2527 - 2532.
[11] O.Shakernia,Y Ma,T.J.Koo,Landing an Unmanned Air Vehicle:Vision-based Motion Estimation and Nonlinear Control,AsianJ.Control,Vo1.1, No.3,1999:4143 - 4148
[12] Yi Ma,A Differential Geometric Approach to Computer Vision and its Application in Control[D],Dissertation for Ph.D.University of California at Berkeley,2000.
[13] Srikanth Saripalli,James F.Montgomery ,Gaurav S.Sukhatme,Vision-Based Autonomous Landing of an Unmaned Aerial Vehicle,Preceeding of IEEE International Conference on Robotics and Automation,2002:2799～2804.
[14] C.S.Sharp,O.Shakemia,S.S.Sastry,A Vision System for Landing an Unmanned Aerial Vehicle,IEEE Int,Con.Robotics and Automation,Seou,Korea,2001:1720 - 1727
[15] John Tisdale, Allison Ryan, Zu Kim, et al. A multiple UAV system for vision-based search and localization// 2008 American Control Conference.2008:1985～1990.
[16]谭熊,余旭初,刘景正,无人机视频数据定位处理系统的设计与实现,测绘通报,2011,4:26~37.
[17]王凤娟,基于图像跟踪的无人机定位方法研究[D],西安:西安电子科技大学,2009.
[18]杨光,图像匹配技术在导航、制导中的应用[D],西安:西北工业大学,2003.
[19]刘国才,无人机单目计算机视觉着降定位的算法研究及DSP实现[D],成都:电子科技大学,2008.
[20]张春华,周晓东,刘松涛,海天北京红外图像小目标自动定位方法,激光与红外,2007,37(1):94~97.
[21]张广军,视觉测量,北京:科学出版社,2009,3.
[22]张召才,王向军,庞博,异步推扫式遥感立体成像仿真系统,红外与激光工程,2010,39(5),887~891.
[23]程金汉,杜爱民,基于DM642的嵌入式实时车辆跟踪系统,机电工程,2007,24(12),25~27.
[24]刘常杰,陈益伟,邾继贵等,一种工业机器人柔性在线坐标测量系统,光电子?激光,2010,21(12):1817~1821.
[25]孙军华,王恒,刘震等,钢轨磨耗动态测量中激光光条中心的快速提取,光学精密工程,2011,19(3):690~696.
[26]邬伦,刘瑜,地理信息系统——原理、方法和应用,北京:科学出版社,2005,1.
[27]陈敬周,数字高程模型的生成与应用[D],太原:太原理工大学,2007.
[28]刘毓,邹星,地形辅助导航技术的研究,电脑与电信,2010,7:29~31.
[29]赵志军,张欣景,谢国新等,航路规划中的数字地图单元格代价计算模型研究,电光与控制,2007,14(5):141~148.
[30]魏海涛,基于虚拟现实的弹道导弹发射仿真研究[D],西安:西安电子科技大学,2009.
[31]顾鲁青,孙翱,顾杰,探讨反舰导弹突防编队防御真的航路规划,航天电子对抗,2010,26(2):15~18.
[32]姜耀鹏,SRTM在军事测绘保障信息化中的应用研究[D],长沙:中南大学,2009.
[33]林勇,海洋战场地理环境中数字高程模型建立及应用[D],郑州:解放军信息工程大学,2007.
[34]魏永华,军事指挥系统中的数字高程模型,河海大学学报,1992,20(1): 60~64.
[35]聂小波,基础地理信息数据质量检查系统设计与实现[D],武汉:中国地质大学,2006.
[36]吴琴,基于遥感的黄陵县土地利用/土地覆盖动态监测[D],西安:西北农林科技大学,2007.
[37]罗龙海,基于GIS的沐川县林业产业发展下的LUCC及景观格局变化研究[D],雅安:四川农业大学,2007.
[38]刘家宏,王光谦,王开,大流域数字高程模型数据管理系统,清华大学学报,2004,44(12):1646~1649.
[39]杨海波,基于数字高程模型的昭平台水库三维可视化研究[D],郑州:郑州大学,2005.
[40]汤国安,刘学军,闾国年,数字高程模型及地学分析的原理与方法,北京:科学出版社,2005.
[41]宋敦江,岳天祥,杜正平,等高线树构建及高保真DEM构建,中国图像图形学报,2011,16(7):1255~1261.
[42] NASA,ASTER GDEM Readme File– ASTER GDEM Version 1[EB/OL],[Jun.26,2009], http://www.ersdac.or.jp/GDEM/E/4.html.
[43]黄朝安,SRTM DEM数据空洞插值填补方法对比分析,测绘与空间地理信息,2011,34(4):110~112.
[44] BAMLER R,The SRTM mission: A world wide 30m resolution DEM from SAR interferometry in 11 days/ / Photogrammetric Week 99,Wichmann Verlag Heidelberg,1999:145~154.
[45]宋向阳,吴发启,几种插值方法在微DEM构建中的应用,水土保持研究,2010,17(5):45~50.
[46]高珊珊,曲面造型中散乱数据插值曲面问题的研究[D],济南:山东大学,2005.
[47]毛昭军,汪德虎,基于DEM的无人机炸点偏差测量模型,火力与指挥控制,2004,29(2):39～42.
[48]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,测控技术,2008,27(11):92～96.
[49] Yu Jiaxiang,Xiao Deyun,Approach for Geo-location with unmanned aerial vehicle,Opto-Electronic Engineering,2007,34(7):1～7.
[50] Texas Instruments,TMS320C6000 Assembly Language Tools User's Guide,2001:1-391.
[51] Texas Instruments,TMS320C6000 CPU and Instruction Set Reference Guide,2000.
[52] Texas Instruments ,TI TMS320C6000 Optimizing Compiler User's Guide,2002.