Real-time speed measuring method and system for unmanned aerial vehicle
A technology of unmanned aerial vehicle and speed measurement, applied in the field of unmanned aerial vehicle to achieve the effect of accurate real-time speed
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[0054] Please refer to Figure 1-2 , Embodiment 1 of the present invention is:
[0055] A kind of unmanned aerial vehicle real-time velocity measuring method provided by the present invention comprises:
[0056] 1. Preset the focal length data f of the camera on the unmanned aerial vehicle, the size data Δx of the photosensitive element and the time interval data t of two consecutive frames of images; the camera set on the unmanned aerial vehicle acquires image data of two consecutive frames, according to Kanade-Lucas -Tomasi algorithm [reference 1 below] and block matching algorithm [reference 2 below] calculate the optical flow of each pixel for two images, and then use the maximum probability statistics method to calculate the optical flow flow_v of the image at the current moment; The calculation methods of optical flow include but are not limited to pyramid model, Kanade-Lucas-Tomasi algorithm and block matching, etc.; the references are as follows:
[0057] [1] ShiJ, T...
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