Calculation method of longitude and latitude of automatic fire monitor target based on camera positioning

Abstract

The invention relates to a method for calculating the latitude and longitude of an automatic fire monitor target based on camera positioning. Firstly, the perspective transformation is used to correspond to the camera imaging plane and the ground plane, and then the ground plane coordinates are converted into longitude and latitude coordinates through spherical projection. This method has nothing to do with parameters such as height and distance, and realizes real-time calculation in a real sense. Furthermore, the present invention proposes error sources and solutions when the camera coordinate system is inconsistent with the rotation axis coordinate system, and provides a theoretical basis and calculation method for a single camera to guide multiple fire monitors to locate targets at the same time. Furthermore, the calculation method of the present invention is not only suitable for locating ground coordinates in the field of firefighting, but also suitable for scenarios such as locating drones in the sky.

Description

technical field [0001] The invention relates to the field of image processing and automatic fire monitors, in particular to a camera-based automatic fire monitor positioning coordinate calculation method and an improved method when the camera and fire monitor coordinate systems are inconsistent. Background technique [0002] At present, all automatic fire monitors that use image positioning are bound to the camera and the nozzle of the fire monitor, so that the optical axis of the camera is as parallel as possible to the central axis of the nozzle of the fire monitor. In this way, when the camera detects the fire point, it notifies the fire monitor transmission system to rotate, and stops when the fire point is located at the imaging center of the camera. Because the optical axis of the camera is parallel to the central axis of the nozzle of the fire monitor, without considering the error, the nozzle of the fire monitor is also aligned with the fire point by default at this ...

AI Technical Summary

Problems solved by technology

[0009] Aiming at the problems of many parameters, complex calculations, and inability to solve coordinate system transformation in the existing technology, the present invention provides a fast calculation method of ground coordinates and latitude and longitude independent of parameters such as height, and an improved calculation method under the premise of coordinate system transformation

[0011] 1. The method for calculating the longitude and latitude of the automatic fire monitor target based on camera positioning proposed by the present invention can solve the problem of many parameters and complex calculations in the existing technology, and can achieve real real-time calculation;

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