Unmanned aerial vehicle hovering precision measurement method based on binocular vision

Abstract

The invention discloses an unmanned aerial vehicle hovering precision measurement method based on binocular vision. The method comprises the following steps that in a calibrating stage, a camera is calibrated through a Zhang zhengyou chessboard calibration method to determine a calibration parameter to definite a calibration result parameter; in a positioning stage, when unmanned aerial vehicle hovering precision measurement is performed, a sliding rail is placed under an unmanned aerial vehicle hovering point, the binocular camera is fixed on the sliding rail in parallel according to a set distance and can move in the direction of the sliding rail, camera lenses are vertically and upwards placed, the two camera imaging planes are located at the same plane, and the optical axes of the camera imaging planes are parallel to each other; a left-eye camera body and a right-eye camera body collect unmanned aerial vehicle images and transmit the images to a computer; the computer calculates the three-dimensional position coordinates of an unmanned aerial vehicle according to the left-eye images, the right-eye images and the calibration result parameter; after hovering is finished, the hovering precision is calculated according to the three-dimensional track of the unmanned aerial vehicle. The method has the advantages that target detecting, tracking, precise matching and three-dimensional positioning of the unmanned aerial vehicle are achieved.

Description

technical field [0001] The invention relates to a method for measuring the hovering accuracy of an unmanned aerial vehicle based on binocular vision. Background technique [0002] UAV hovering accuracy is an important indicator of UAV performance, reflecting the core of the UAV - the stability and accuracy of the flight control system. At present, in the inspection and detection process of the flight function of UAVs, the measurement method of hovering accuracy is the method of manual observation, which cannot guarantee its safety, objectivity and standardization. [0003] There are two main ways of UAV three-dimensional space positioning technology: the positioning method based on airborne equipment and the positioning method based on ground equipment. [0004] According to different types of airborne equipment, there are three main positioning technologies based on airborne equipment: Figure 4(a) based on GPS equipment, Figure 4(b) based on airborne video and Figure 4(c) ...

AI Technical Summary

Problems solved by technology

Among them, ultrasonic or laser rangefinders are mostly used to measure the distance of the target, while the scanning speed of the 3D laser rangefinder is relatively slow, and it is mainly used in the reconstruction of static 3D scenes, and the trajectory of the target cannot be calculated.

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