Remote range finding based target positioning method, device, and unmanned plane

A target positioning and ranging device technology, applied in the field of unmanned aerial vehicles, can solve the problems of difficult to effectively obtain the accurate position of the target, large deviation of the target position, and complicated calculation process, so as to shorten the judgment time, complete efficiently and simplify the processing The effect of the process

Inactive Publication Date: 2018-10-19
南京拓威航空科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] In some application fields, the body of the UAV is equipped with a pan / tilt for carrying a camera. The stability of the self-stabilizing pan / tilt is increased and the shooting angle is changed remotely to ensure the quality of the shooting and protect the shooting equipment; in order to obtain the captured images The position of the target object in the target object, at present, the positioning technology based on the video image of the UAV is usually used to process the video image information collected by the camera in real time, and then compare the pixel position of the target object in the video image with the map, so as to find The position of the target obtained by this method not only has a large deviation, but also takes a long time to judge, the calculation process is complicated, and it is difficult to effectively obtain the accurate position of the target

Method used

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  • Remote range finding based target positioning method, device, and unmanned plane
  • Remote range finding based target positioning method, device, and unmanned plane
  • Remote range finding based target positioning method, device, and unmanned plane

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Embodiment 1

[0035] With the rapid development of drone technology, drones are used in various fields. Usually, the UAV is equipped with a camera on the gimbal to obtain images, and the range finder installed on the UAV is used to measure the distance of the target in front, but there is no method for remote target positioning based on UAV ranging. In order to obtain the position of the target in the captured image, at present, the positioning technology based on the video image of the UAV is usually used to process the video image information collected by the camera in real time, and then compare the pixel position of the target in the video image with the map. By comparison, the position of the target can be found out. The position of the target obtained by this method not only has a large deviation, but also takes a long time to judge, the calculation process is complicated, and it is difficult to effectively obtain the accurate position of the target. In order to solve this problem, th...

Embodiment 2

[0068] Figure 4 It is a structural block diagram of a target positioning device based on remote ranging provided by an embodiment of the present invention. The device includes: a shooting module, a ranging module, a positioning module, a posture perception module, and a calculation and processing module, wherein the shooting module uses for obtaining photographed images with objects;

[0069] The distance measurement module is used to obtain the linear distance L from the distance measurement position to the target object; the positioning module is used to obtain the current position information of the target positioning device; the posture perception module is used to perceive the posture of the distance measurement module or the shooting module Data information, wherein the attitude data information includes pitch angle and heading angle; the calculation processing module is used to solve the problem according to the straight line distance L, the current position informatio...

Embodiment 3

[0072] On the basis of the above-mentioned embodiments, this embodiment provides an unmanned aerial vehicle, which includes a camera, a distance measuring device, an attitude sensor, a positioning device, a flight controller, and a three-axis gimbal; wherein, the The camera is used to obtain the shot image with the target object; the distance measuring device is used to measure the straight-line distance L to the target object; the attitude sensor is used to perceive the attitude data information of the platform; the positioning device is used for Receive the position information of unmanned aerial vehicle in real time; The three-axis cloud platform is used to carry the camera and the distance measuring device, and adjust the camera shooting angle and the distance measuring direction of the distance measuring device; Wherein, the three-axis cloud platform includes a cloud platform control The pan-tilt controller is used to receive images captured by the camera, ranging data fro...

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Abstract

The invention relates to the technical field of unmanned planes, and specifically relates to a remote range finding based target positioning method, device, and unmanned plane. The method comprises following steps: obtaining images that contain a target from a camera mounted on the holder of an unmanned plane; obtaining the linear distance (L) between the target and the holder by a range finding device arranged on the holder; obtaining the current position of the unmanned plane and the attitude data of the holder; and calculating the position of the target in an earth coordinate system based on the linear distance (L), the current position of the unmanned plane, and the attitude data of the holder. The provided method, device, and unmanned plane have the advantages that the unmanned planecan rapidly and effectively lock and position a target in a task, the judgment time is shortened, and the task is finished efficiently.

Description

technical field [0001] The invention relates to the technical field of unmanned aerial vehicles, in particular to a target positioning method and device based on remote ranging and an unmanned aerial vehicle. Background technique [0002] A drone is an unmanned aerial vehicle operated by a radio remote control device or its own program control device. With the rapid development of the UAV industry, more and more UAVs are applied to aerial photography, agriculture, forestry, electric power, surveying and mapping, telemetry and other industries. The military value of drones has also been highly valued, especially in low-altitude reconnaissance. [0003] In some application fields, the body of the UAV is equipped with a pan / tilt for carrying a camera. The stability of the self-stabilizing pan / tilt is increased and the shooting angle is changed remotely to ensure the quality of the shooting and protect the shooting equipment; in order to obtain the captured images The position...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01C11/02
CPCG01C11/02
Inventor 李磊张瑞张中赵科霖
Owner 南京拓威航空科技有限公司
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