Velocity measuring method of ground motion object by use of unmanned plane

A technology for ground moving targets and unmanned aerial vehicles, which is applied in the field of speed measurement of ground moving targets by unmanned aerial vehicles, and can solve the problems that cannot meet the needs of comprehensive and dynamic information

Inactive Publication Date: 2015-08-05
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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Problems solved by technology

With the development of science and technology, only the positioning of ground targets can no longer meet the needs of comprehensive and dynamic information. It is very necessary to use the

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  • Velocity measuring method of ground motion object by use of unmanned plane
  • Velocity measuring method of ground motion object by use of unmanned plane
  • Velocity measuring method of ground motion object by use of unmanned plane

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[0029] The drone target speed measurement system of the present invention includes: a satellite receiver, an inertial navigation system, and an aerial photoelectric reconnaissance platform. Among them, the aerial photoelectric reconnaissance platform is installed on the UAV in an upside-down manner. During the flight of the UAV, its position and attitude are changing. The stable tracking function of the aerial photoelectric reconnaissance platform can isolate the jitter of the optical axis in the inertial space caused by the attitude movement of the carrier and other disturbing moments, so as to ensure the acquisition of clear image.

[0030] After obtaining the image of the target of interest, the image tracker of the aerial photoelectric reconnaissance platform starts to work, keeping the target in the center of the field of view of the visible light camera to achieve stable tracking of the target, such as figure 1 shown. When measuring the speed of the target, the optical...

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Abstract

The invention discloses a velocity measuring method of a ground motion object by use of an unmanned plane. The method comprises the following steps: an aviation photoelectric surveillance platform carries out object searching in a relatively quite large scope, after the position of a search area is given, a visible light camera is driven to rotate to enable an object to enter a tracking view field, and the view filed is searched by use of a stepping and staring combined mode; after a motion object image of interest is obtained, an image tracker starts working, isolates aerial carrier attitude change and interference of low-frequency vibration, enables the object to be always maintained at the center of the view field of the camera and realizes stable tracking of the object; it is maintained that the aviation photoelectric surveillance platform stably tracks the motion object, and coordinates of the motion object at each time point under a reference coordinate system are solved every equal time period; and calculated coordinate data of multiple objects under the reference coordinate system are substituted into a parameter equation of an object motion locus, unknown parameters in the reference equation are fitted by use of a least square method, the derivative of the reference equation for time t is respectively solved once and twice, and an object speed and an accelerated speed are solved.

Description

Technical field: [0001] The invention relates to a method for measuring the speed of a ground moving target by an unmanned aerial vehicle, which utilizes the characteristics of an aerial photoelectric reconnaissance platform that can stably track the target, and combines the flight parameters of the unmanned aerial vehicle itself to realize the speed measurement of the ground moving target. Background technique: [0002] UAVs have the advantages of small size, flexible maneuverability, and can carry a variety of sensors, which can provide various forms of target images and location information, and are often used to complete various reconnaissance tasks. With the development of science and technology, only the positioning of ground targets can no longer meet the needs of comprehensive and dynamic information. It is very necessary to use the airborne aerial photoelectric reconnaissance platform to measure the speed of ground targets in the air. At present, there is no similar...

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Application Information

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IPC IPC(8): G05D1/12G05B13/04
Inventor 黄大庆徐诚韩伟王东振
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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