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UAV attitude estimation method and system based on three-color and four-light marker recognition

An attitude estimation and aircraft attitude technology, applied in the field of unmanned aerial vehicles, can solve problems such as low stability, achieve the effect of improving stability, reducing recognition difficulty, and realizing automatic real-time attitude estimation

Active Publication Date: 2021-09-24
SUN YAT SEN UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The embodiment of the present invention provides a UAV attitude estimation method and system based on three-color and four-light mark recognition, which is used to solve the technical problem of low stability of the existing UAV flight attitude estimation method

Method used

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  • UAV attitude estimation method and system based on three-color and four-light marker recognition
  • UAV attitude estimation method and system based on three-color and four-light marker recognition
  • UAV attitude estimation method and system based on three-color and four-light marker recognition

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Embodiment 1

[0064] figure 1 It is a flow chart of the steps of the UAV pose estimation method based on three-color and four-light marker recognition described in the embodiment of the present invention.

[0065] Such as figure 1 As shown, the embodiment of the present invention provides a UAV attitude estimation method based on three-color and four-light marker recognition. The tip of the wing and tail of the target UAV is provided with four signal lights for marking, and the four signal lights With three colors, the UAV pose estimation method based on three-color four-light marker recognition includes the following steps:

[0066] Step S1. Acquiring the acquisition device to collect the image of the flight state of the target drone with four signal lights, and processing the image in the HSV color space to obtain image features with high brightness and high saturation;

[0067] Step S2. Extract the connected domains corresponding to the four signal lamps from the image features accordi...

Embodiment 2

[0124] image 3 It is a frame diagram of the UAV attitude estimation system based on three-color four-light marker recognition described in the embodiment of the present invention.

[0125] Such as image 3 As shown, the embodiment of the present invention also provides a UAV attitude estimation system based on three-color and four-light marker recognition. The tip of the wing and tail of the target UAV is provided with four signal lights for marking, based on the three-color The unmanned aerial vehicle posture estimation system of four-light mark recognition comprises feature detection unit 10, feature recognition unit 20 and posture analysis and estimation unit 30;

[0126] The feature detection unit 10 is used to obtain the image of the target UAV flight state collected by the acquisition device with four signal lamp signs, and process the image in the HSV color space to obtain image features with high brightness and high saturation;

[0127] The feature identification un...

Embodiment 3

[0137] The embodiment of the present invention also provides a computer-readable storage medium. The computer storage medium is used to store computer instructions. When it is run on a computer, the computer executes the above-mentioned UAV attitude estimation method based on three-color and four-light marker recognition. .

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Abstract

The embodiment of the present invention relates to a UAV attitude estimation method and system based on three-color and four-light marker recognition. By setting four signal lights on the tips of the wings and tail of the target UAV as signal marks, the target's unintentional The probability that the sign is blocked during the attitude change of the man-machine; the four signal lights use three colors, which improves the robustness of the drone's flight attitude estimation. By processing the collected image of the target drone, the image features are detected After identifying the corresponding relationship between the image features and the signal lights, the two-dimensional image coordinates of the signal lights are obtained, and the three-dimensional coordinates and two-dimensional image coordinates of the signal lights are input into the attitude estimation model to obtain the position and attitude of the target UAV, so as to realize the automatic real-time UAV pose estimation. This method is easy to select the color tone that avoids the background, reduces the difficulty of identifying image features, and solves the problem of low stability of the existing methods for estimating the flight attitude of UAVs.

Description

technical field [0001] The present invention relates to the technical field of unmanned aerial vehicles, in particular to a method and system for estimating the attitude of an unmanned aerial vehicle based on three-color and four-light marker recognition. Background technique [0002] UAVs have the advantages of flexible maneuvering, quick response, unmanned flight, and low operating requirements. At present, drones are used in aerial photography, agriculture, plant protection, miniature selfies, express transportation, disaster relief, observing wild animals, monitoring infectious diseases, surveying and mapping, news reports, power inspections, disaster relief, film and television shooting, creating romance and other fields. Greatly expanded the use of the drone itself. [0003] During the formation flight of UAVs, it is convenient to know the flight attitude of UAVs. At present, cameras are set on UAVs to collect attitude pictures of other UAVs, and computer vision techn...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/70G06T7/187G06T7/136G06T7/90
CPCG06T2207/10024G06T7/136G06T7/187G06T7/70G06T7/90
Inventor 张志勇丘昌镇荣易成王鲁平王亮
Owner SUN YAT SEN UNIV
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