Unmanned aerial vehicle mounting measurement calibration method and system based on Fresnel light source

Abstract

The invention discloses an unmanned aerial vehicle mounting measurement calibration method based on a Fresnel light source, and the method comprises the steps: calculating the external parameters of an unmanned aerial vehicle during the execution of mounting photographing flight according to the measurement calibration task demands; obtaining calculation data of the external parameters; operating the plurality of unmanned aerial vehicles to fly to a preset position for parking, setting the first unmanned aerial vehicle as a base point position unmanned aerial vehicle, and setting the plurality of other unmanned aerial vehicles except the base point position unmanned aerial vehicle as calibration position unmanned aerial vehicles; turning on a Fresnel light source of the photoelectric pod of the unmanned aerial vehicle at the base point position, and rotating the unmanned aerial vehicle in the angular velocity direction relative to the base point position; and after the unmanned aerial vehicle at any calibration position captures the encoded photoelectric pod Fresnel light source at the base point position, the relative position relation between the unmanned aerial vehicle at the base point position and the unmanned aerial vehicle at the current calibration position is calculated. According to the invention, no extra calibration target needs to be added, and calibration of a long-distance target airspace before measurement is realized; calibration is rapid in the airborne state, and the effective working time of the unmanned aerial vehicle is prolonged.

Description

Technical Field

[0001] The present invention belongs to the technical field of unmanned aerial vehicle measurement, and in particular relates to a method and system for unmanned aerial vehicle mounting measurement calibration based on Fresnel light source. Background Art

[0002] Photoelectric measurement systems based on drone mounting are gradually being widely used in various fields. Due to their fast and flexible characteristics, photoelectric measurement systems mounted on drones are increasingly used in monitoring and measurement.

[0003] The current mainstream airborne optoelectronic measurement solutions are divided into monocular measurement and binocular measurement. Monocular measurement usually uses a laser rangefinder and a gimbal to measure the distance of the target relative to the drone, as well as the azimuth and pitch angle of the camera, and then obtains the three-dimensional coordinates of the target relative to the drone. The accuracy of monocular measurement is limited by the measurement accuracy of the laser rangefinder and the gimbal, so the accuracy is not high. Binocular measurement uses the triangulated space intersection positioning method in photogrammetry to locate the target, and its accuracy is improved compared to monocular measurement, but the measurement accuracy is also affected by the positioning accuracy of the drone itself and the measurement accuracy of the gimbal.

[0004] In view of the shortcomings of the existing technology, there is an urgent need for a UAV mounting measurement calibration method and system based on Fresnel light source to solve the above problems. Summary of the invention

[0005] In order to solve the above-mentioned deficiencies in the prior art, the purpose of the present invention is to overcome the existing deficiencies and provide a UAV mounting measurement calibration method based on Fresnel light source, the method comprising:

[0006] S1, calculate the external parameters of the UAV when performing mounted photography flight according to the measurement and calibration task requirements;

[0007] S2, obtaining calculation data of external parameters, adjusting the light output angle value of the Fresnel light source, and adjusting the angle position of the optoelectronic pod device of the UAV;

[0008] S3, operating multiple drones to fly to preset positions and stop, setting the first drone as the base position drone, and setting multiple drones other than the base position drone as calibration position drones; turning on the Fresnel light source of the optoelectronic pod of the base position drone, and rotating the drone in the angular velocity direction relative to the base position drone;

[0009] S4, after any calibration position drone captures the encoded optoelectronic pod Fresnel light source at the base point position, the relative position relationship between the base point position drone and the current calibration position drone is calculated;

[0010] S5, if the base point position and the current calibration position are the same as the relative position relationship parameters calculated, the base point position drone and the current calibration position drone are set to be relatively still, the corresponding drone optoelectronic pod is set to a stable image state, and the drone measurement task is performed;

[0011] S6, if the base point position and the current calibration position are different from the calculated relative position relationship parameters, continue to adjust the base point position drone and the calibration position drone through binocular measurement.

[0012] As a further optimization of the above scheme, the method for calculating the relative position relationship between the base point position drone and the current calibration position drone includes the following:

[0013] S41, setting a parallel light coding pattern for marking the relative position relationship of the drone, the coding pattern comprising an optical axis detection area and light beam detection areas distributed at both ends of the optical axis detection area; the light beam detection area is connected by a plurality of rectangular areas arranged with light and dark intervals, and the optical axis detection area is connected by right-angle triangle areas arranged with light and dark intervals;

[0014] S42, setting the short side midline position of the rectangular parallel light coding pattern formed by connecting the light beam detection area and the optical axis detection area as the detection area scanned by the detector; recording the duration of the detector scanning any detection area of ​​the rectangular parallel light coding pattern;

[0015] S43, performing parallel light beam detection along one end of the rectangular parallel light code, and recording the number of light-dark changes:

[0016] S44, if the number of brightness changes is less than the effective parallel light beam threshold, it is marked that no parallel light beam is currently detected;

[0017] S45, if the number of brightness changes is equal to the effective parallel light beam threshold, it is marked that a parallel light beam is currently detected;

[0018] S46, obtaining the duration of the detector scanning all detection areas of the rectangular parallel light coding pattern, and judging the relative spatial distribution of the base position drone and the current calibration position drone based on the acquired duration.

[0019] As a further optimization of the above solution, the parallel light coding pattern further includes the following:

[0020] Any of the light beam detection areas is connected by m consecutive rectangular areas with a length of a and a width of b, and the m rectangular areas together form a rectangle with a length of 4b and a width of a;

[0021] The optical axis detection area is connected by 2n consecutive right-angled triangle areas with a base of 2b and a height of a, and the 2n right-angled triangle areas together form a rectangle with a length of 6b and a width;

[0022] The width of the rectangular area and the base of the right-angled triangle area are located on the same straight line.

[0023] As a further optimization of the above scheme, the method for determining the relative spatial distribution of the base point position drone and the current calibration position drone includes the following:

[0024] If the duration of the detector in scanning the optical axis detection area is the same, the optical axes of the marking base point position drone and the calibration position drone are at the same horizontal position;

[0025] If the duration of the detector in scanning the optical axis detection area to detect the detection area is different, the optical axes of the marking base point position drone and the calibration position drone are not at the same horizontal position.

[0026] As a further optimization of the above scheme, the method for determining the relative spatial distribution of the base point position drone and the current calibration position drone also includes the following:

[0027] The durations of the mark detector detecting the detection area of ​​the optical axis detection area are t1, t2, ... t(2n) respectively;

[0028] If the duration distribution of the detector in scanning the optical axis detection area is: t1=t2=…=t(2n), the optical axes of the marking base point position drone and the calibration position drone are at the same horizontal position;

[0029] If the duration distribution of the detector in scanning the optical axis detection area is: t1=t3=…=t(2n-1), t2=t4=…=t(2n), t1≠t2, the optical axes of the marking base position drone and the calibration position drone are not in the same horizontal position, and the horizontal rotation planes of the two optical axes are parallel;

[0030] If the duration distribution of the detector when scanning the optical axis detection area is: t1, t3, ...t(2n-1) in ascending order, t2, t4, ...t(2n) in descending order or t1, t3, ...t(2n-1) in descending order, t2, t4, ...t(2n) in ascending order, the optical axes of the drone at the marking base point position and the drone at the calibration position are not in the same horizontal position, and the horizontal rotation planes of the two optical axes intersect.

[0031] As a further optimization of the above solution, the illumination path of the Fresnel light source is specifically as follows:

[0032] The LD light source is converged and coupled into the light-integrating mask. The non-uniform light passing through the light-integrating mask is transformed into a uniform light through the light-homogenizing rod and emitted to the Fresnel lens through the heat-insulating window. After convergence and shaping, a divergent light beam is emitted.

[0033] Move the light homogenizer along the straight line with the focus of the Fresnel lens to adjust the light output angle of the Fresnel light source:

[0034] The light homogenizing rod moves along the straight line with the focus of the Fresnel lens close to the focus position, increasing the light output angle and increasing the parallel light irradiation area corresponding to the current position;

[0035] The light homogenizing rod moves away from the focal position along a straight line with the focus of the Fresnel lens, thereby reducing the light output angle and reducing the parallel light irradiation area corresponding to the current position.

[0036] As a further optimization of the above solution, the external parameters of the drone when performing mounted photography flight include the following: the focal length of the drone's lens, the binocular measurement baseline distance, and the angle between the camera optical axis and the measurement baseline.

[0037] As a further optimization of the above solution, any of the light beam detection areas includes at least two groups of light and dark changes:

[0038] If the base point position drone is captured for the first time by any calibration position drone via the encoded optoelectronic pod Fresnel light source, adjust the angular velocity of the base point position drone;

[0039] If the base point position drone is captured for the second time by any calibration position drone via the encoded optoelectronic pod Fresnel light source, the base point position drone stops horizontal rotation.

[0040] A computer-readable storage medium storing one or more programs, characterized in that the one or more programs include instructions, which, when executed by a computing device, cause the computing device to perform any of the methods described above.

[0041] A computing device, characterized in that it includes one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any of the methods described above.

[0042] The present invention adopts the above technical solution, which has the following beneficial effects compared with the prior art:

[0043] 1. The present invention is a method for measuring and calibrating drones mounted on a Fresnel light source. It is aimed at the current airborne binocular measurement, which is difficult to calibrate external parameters when measuring a targetless space area, requires the addition of additional drones or other controllable targets to fly to the target area, and the calibration target is too small to be effective during long-distance measurement. The technology of the present invention generates parallel light beams with coded information based on Fresnel light sources, uses photomultiplier tubes to detect the coded parallel light information, and uses this to align the target field of view and calibrate parameters for airborne binocular measurement. The present invention does not require the addition of additional calibration targets, and realizes pre-measurement calibration of long-distance target airspace; the calibration is rapid in the airborne state, which increases the effective working time of the drone.

[0044] 2. The parallel light coding pattern designed in the present invention is designed with a light beam detection area and an optical axis detection area. First, the light beam detection area designed based on the two end positions helps the base point position UAV to quickly capture the calibration position UAV to prevent any of the UAVs from malfunctioning or other abnormalities and thus leaving the area to be measured; then, the optical axis detection area is set to detect the duration of the base point position UAV in the detection area of ​​the optical axis detection area, and the relative position relationship of the UAV group for binocular measurement is specifically judged according to the change in duration, so as to make corresponding adjustments.

[0045] 3. The parallel light coding pattern designed by the present invention is specifically designed with an optical axis detection area, which will detect the coded light source of the calibration position drone and the base point position drone, and correspondingly judge the duration of the detection area during the detection process, and correspondingly judge the relative position relationship of the drone group, and make adaptive adjustments according to the position relationship, and finally adjust the optical axes of the camera, light source and detector in the optoelectronic pod of the drone group to be in the same horizontal plane, and perform relative static flying according to the optical axis angle calculated according to the measurement task, so as to realize binocular measurement. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0047] Figure 1 It is a schematic diagram of the process of the present invention;

[0048] Figure 2 Another schematic diagram of the process of the present invention. DETAILED DESCRIPTION

[0049] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0050] like Figure 1-2 As shown, an embodiment of the present invention discloses a UAV mounting measurement calibration method based on Fresnel light source, comprising:

[0051] According to the measurement and calibration task requirements, calculate the external parameters of the UAV when performing mounted photography flight;

[0052] Obtain the calculation data of the external parameters, adjust the light output angle value of the Fresnel light source, and adjust the angle position of the optoelectronic pod device of the UAV; it should be particularly noted that the external parameters of the UAV of the present invention when performing mounted photography flight include the focal length of the lens of the UAV, the binocular measurement baseline distance, the angle between the camera optical axis and the measurement baseline, etc.; among them, the focal length of the lens of the UAV, the light output angle value of the Fresnel light source and the angle of the optoelectronic pod device of the UAV are equipment adjustments, and are adjusted in advance before the UAV takes off based on the calculation results of the external parameters;

[0053] Operate multiple drones to fly to preset positions and stop, set the first drone as the base position drone, and set multiple drones other than the base position drone as calibration position drones; turn on the Fresnel light source of the optoelectronic pod of the base position drone, and rotate the drone in the angular velocity direction relative to the base position drone;

[0054] More specifically, the drone base point position and the drone calibration position disclosed in the present invention are the drone positions for transmitting the coded Fresnel light source and detecting the coded Fresnel light source, respectively; the rotation of the drone relative to the base point position disclosed in the present invention in the angular velocity direction is specifically represented as the drone base point position taking any one of the drone calibration positions as the center of the circle and the distance between the two drones as a fixed length, and performing a circular motion in the horizontal direction;

[0055] After any calibration position drone captures the encoded optoelectronic pod Fresnel light source at the base point position, the relative position relationship between the base point position drone and the current calibration position drone is calculated;

[0056] More specifically, the relative position relationship of the drones in the technology of the present invention includes parameters such as the baseline distance between the two drone points in the current binocular measurement task and the offset angle of the camera optical axis. Based on the Fresnel light source encoding designed by the present invention, it supports the rapid sending of the spatial position information of the drone at the current base point position, so that the drone at the position to be calibrated can interpret the relative position information of the drone at the base point position according to the coded information, so as to adjust the drone position for subsequent binocular measurement tasks.

[0057] If the base point position and the current calibration position are the same as the relative position relationship parameters calculated, the base point position drone and the current calibration position drone are set to be relatively still, and the corresponding drone optoelectronic pod is set to a stable image state to perform the drone measurement task;

[0058] If the base point position and the current calibration position are different from the calculated relative position relationship parameters, continue to adjust the base point position drone and the calibration position drone for binocular measurement.

[0059] More specifically, if the base point position and the current calibration position are different from the parameters based on the calculated relative position relationship, that is, the base point position of the drone and the calibration position of the drone cannot meet the binocular measurement, further adjustments to the relevant drones are required, including but not limited to adjustments to the parameters such as the spatial distance, spatial height and relative angle between the two drones.

[0060] The present invention is a method for measuring and calibrating a drone mounted on a Fresnel light source. It is aimed at the current airborne binocular measurement, which is difficult to calibrate external parameters when measuring a space area without a target, requires adding an additional drone or other controllable target to fly to the target area, and the calibration target is too small to be effective during long-distance measurement. The technology of the present invention generates a parallel light beam with coded information based on a Fresnel light source, uses a photomultiplier tube to detect the coded parallel light information, and uses this to align the target field of view and calibrate the parameters of the airborne binocular measurement. The present invention does not need to add additional calibration targets, and realizes the pre-measurement calibration of the long-distance target airspace; the calibration is rapid in the airborne state, and the effective working time of the drone is increased.

[0061] Specifically, the method for calculating the relative position relationship between the drone at the base point position and the drone at the current calibration position includes the following:

[0062] A parallel light coding pattern is set for marking the relative position relationship of the drone, and the coding pattern includes an optical axis detection area and light beam detection areas distributed at both ends of the optical axis detection area; the light beam detection area is connected by a plurality of rectangular areas arranged with light and dark intervals, and the optical axis detection area is connected by right-angle triangle areas arranged with light and dark intervals;

[0063] Specifically, the parallel light coding pattern also includes the following:

[0064] Any beam detection area is connected by m consecutive rectangular areas with a length of a and a width of b, and the m rectangular areas together form a rectangle with a length of 4b and a width of a;

[0065] The optical axis detection area is connected by 2n consecutive right-angled triangle areas with a base of 2b and a height of a, and the 2n right-angled triangle areas together form a rectangle with a length of 6b and a width;

[0066] The width of the rectangular area is on the same line as the base of the right triangle area.

[0067] More specifically, the light beam detection area disclosed in the embodiment of the present invention is composed of a plurality of rectangular areas arranged with light and dark alternations and connected by a common length. In the present embodiment, the two light beam detection areas distributed at the two ends of the optical axis detection area are composed of four rectangular areas of white-black-white-black, with the short sides in the same straight line and the long sides in sequence. The optical axis detection area of ​​the present invention is preferably designed to be composed of six right-angled triangular areas that form rectangles with two of them sharing the same hypotenuse, and then a new large rectangle is constructed by the three rectangles formed. The six right-angled triangular areas are arranged in the order of white-black-white-black-white-black, and the white right-angled triangular area at the end position of the optical axis detection area is connected to the black rectangular area at the end position of the light beam detection area, and the black right-angled triangular area at the end position of the optical axis detection area is connected to the white rectangular area at the end position of the light beam detection area.

[0068] The parallel light coding pattern designed in the present invention is designed with a light beam detection area and an optical axis detection area. First, the light beam detection area designed based on the two end positions helps the base point position drone to quickly capture the calibration position drone, thereby preventing any of the drones from malfunctioning or other abnormalities and thus leaving the area to be measured; and then, through the set optical axis detection area, the duration of the base point position drone in the detection area of ​​the optical axis detection area is detected, and the relative position relationship of the drone group for binocular measurement is specifically judged according to the change in duration, so as to make corresponding adjustments.

[0069] Set the short side midline position of the rectangular parallel light coding pattern formed by connecting the light beam detection area and the optical axis detection area as the detection area scanned by the detector; record the duration of the detector scanning any detection area of ​​the rectangular parallel light coding pattern;

[0070] Perform parallel light beam detection along one end of the rectangular parallel light encoding and record the number of light-dark changes:

[0071] If the number of light-dark changes is less than the effective parallel beam threshold, it is marked that no parallel beam is currently detected;

[0072] If the number of light-dark changes is equal to the effective parallel beam threshold, it is marked that a parallel beam is currently detected;

[0073] The duration of the detector scanning all detection areas of the rectangular parallel light coding pattern is obtained, and based on the acquired duration, the relative spatial distribution of the UAV at the base point position and the UAV at the current calibration position is determined.

[0074] More specifically, the present invention preferably sets any light beam detection area to include at least 2 light-dark changes:

[0075] If the base position drone is captured for the first time by any calibration position drone via the encoded optoelectronic pod Fresnel light source, adjust the angular velocity of the base position drone;

[0076] If the base position drone is captured by any calibration position drone for the second time via the encoded optoelectronic pod Fresnel light source, the base position drone stops horizontal rotation.

[0077] For example, it can be composed of four rectangular areas of white-black-white-black or four rectangular areas of black-white-black-white; when the calibrated position UAV captures the coded light source for the first time, it indicates that the base position UAV has reached a position near the calibration position UAV and needs further confirmation; at this time, adjust the angular velocity of the base position UAV, that is, reduce its angular velocity, to facilitate the second coded light source confirmation; when the calibrated position UAV captures the coded light source for the second time, it indicates that the base position UAV is very close to the calibration position UAV and meets the needs of further calibration position adjustment, and stop the base position UAV's horizontal circling activity to facilitate subsequent fine-tuning of the relative position.

[0078] It should be noted that if the duration of the second capture of the base position drone by any calibration position drone through the coded optoelectronic pod Fresnel light source is equal to the duration of the first capture, it is marked as valid capture; otherwise, it is marked as invalid capture, and the coded light source detection of the base position drone and the calibration position drone is performed again.

[0079] Specifically, the method for determining the relative spatial distribution of the drone at the base point position and the drone at the current calibration position includes the following:

[0080] If the duration of the detector detecting the detection area in the scanning optical axis detection area is the same, the optical axes of the drone at the marking base point position and the drone at the calibration position are at the same horizontal position;

[0081] If the duration of the detector detecting the detection area in the scanning optical axis detection area is different, the optical axes of the drone at the marking base point position and the drone at the calibration position are not at the same horizontal position.

[0082] The durations of the mark detector detecting the optical axis detection area are t1, t2, ... t(2n) respectively;

[0083] If the duration distribution of the detector detecting the detection area in the scanning optical axis detection area is: t1 = t2 = ... = t(2n), the optical axes of the drone at the marking base point position and the drone at the calibration position are at the same horizontal position;

[0084] If the duration distribution of the detector detecting the detection area in the scanning optical axis detection area is: t1=t3=…=t(2n-1), t2=t4=…=t(2n), t1≠t2, the optical axes of the drone at the marking base position and the drone at the calibration position are not at the same horizontal position, and the horizontal rotation planes of the two optical axes are parallel;

[0085] If the duration distribution of the detector detecting the detection area in the scanning optical axis detection area is: t1, t3, ... t(2n-1) in ascending order, t2, t4, ... t(2n) in descending order or t1, t3, ... t(2n-1) in descending order, t2, t4, ... t(2n) in ascending order, the optical axes of the drone at the marking base position and the drone at the calibration position are not in the same horizontal position, and the horizontal rotation planes of the two optical axes intersect.

[0086] The parallel light coding pattern designed by the present invention is specifically designed with an optical axis detection area, which is used to detect the coded light source of the calibration position drone of the base point position, and correspondingly judges the duration of the detection area during the detection process, and correspondingly judges the relative position relationship of the drone group, and makes adaptive adjustments based on the position relationship. Finally, the optical axes of the camera, light source and detector in the optoelectronic pod of the drone group are adjusted to be in the same horizontal plane, and relatively static flying is performed according to the optical axis angle calculated according to the measurement task to achieve binocular measurement.

[0087] Specifically, the illumination path of the Fresnel light source is as follows:

[0088] The LD light source is converged and coupled into the light-integrating mask. The non-uniform light passing through the light-integrating mask is transformed into a uniform light through the light-homogenizing rod and emitted to the Fresnel lens through the heat-insulating window. After convergence and shaping, a divergent light beam is emitted.

[0089] Move the light homogenizer along the straight line with the focus of the Fresnel lens to adjust the light output angle of the Fresnel light source:

[0090] The light homogenizing rod moves along the straight line with the focus of the Fresnel lens close to the focus position, increasing the light output angle and increasing the parallel light irradiation area corresponding to the current position;

[0091] The light homogenizing rod moves away from the focal position along a straight line with the focus of the Fresnel lens, thereby reducing the light output angle and reducing the parallel light irradiation area corresponding to the current position.

[0092] Specifically, the external parameters of the drone when performing mounted photography flight include the following: the focal length of the drone lens, the binocular measurement baseline distance, and the angle between the camera optical axis and the measurement baseline. It should be noted that the specific calculation method of the reduced angular velocity, the focal length of the drone lens, the binocular measurement baseline distance, and the angle between the camera optical axis and the measurement baseline corresponding to the first capture of the coded light source of the base point position drone in the present invention by the calibrated position drone is a conventional technology in the art and will not be described in detail here.

[0093] It should be noted that the technical means for implementing another embodiment of the present invention, a UAV mounting measurement and calibration system based on Fresnel light source, is the same as that of a UAV mounting measurement and calibration method based on Fresnel light source, and therefore will not be described in detail herein.

[0094] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with the technical features with similar functions disclosed in this application (but not limited to) by each other.

Claims

1. A method for measuring and calibrating UAV mounting based on Fresnel light source, characterized in that: The method comprises: S1, calculate the external parameters of the UAV when performing mounted photography flight according to the measurement and calibration task requirements; S2, obtaining calculation data of external parameters, adjusting the light output angle value of the Fresnel light source, and adjusting the angle position of the optoelectronic pod device of the UAV; S3, operating multiple drones to fly to preset positions and stop, setting the first drone as the base position drone, and setting multiple drones other than the base position drone as calibration position drones; turning on the Fresnel light source of the optoelectronic pod of the base position drone, and rotating the drone in the angular velocity direction relative to the base position drone; S4, after any calibration position drone captures the encoded optoelectronic pod Fresnel light source at the base point position, the relative position relationship between the base point position drone and the current calibration position drone is calculated; S5, if the base point position and the current calibration position are the same as the relative position relationship parameters calculated, the base point position drone and the current calibration position drone are set to be relatively still, the corresponding drone optoelectronic pod is set to a stable image state, and the drone measurement task is performed; S6, if the base point position and the current calibration position are different from the calculated relative position relationship parameters, continue to adjust the base point position drone and the calibration position drone through binocular measurement.

2. The method for measuring and calibrating a UAV mounted device based on a Fresnel light source according to claim 1, characterized in that: The method for calculating the relative position relationship between the base point position drone and the current calibration position drone includes the following steps: S41, setting a parallel light coding pattern for marking the relative position relationship of the drone, the coding pattern comprising an optical axis detection area and light beam detection areas distributed at both ends of the optical axis detection area; the light beam detection area is connected by a plurality of rectangular areas arranged with light and dark intervals, and the optical axis detection area is connected by right-angle triangle areas arranged with light and dark intervals; S42, setting the short side midline position of the rectangular parallel light coding pattern formed by connecting the light beam detection area and the optical axis detection area as the detection area scanned by the detector; recording the duration of the detector scanning any detection area of ​​the rectangular parallel light coding pattern; S43, performing parallel light beam detection along one end of the rectangular parallel light code, and recording the number of light-dark changes: S44, if the number of brightness changes is less than the effective parallel light beam threshold, it is marked that no parallel light beam is currently detected; S45, if the number of brightness changes is equal to the effective parallel light beam threshold, it is marked that a parallel light beam is currently detected; S46, obtaining the duration of the detector scanning all detection areas of the rectangular parallel light coding pattern, and judging the relative spatial distribution of the base position drone and the current calibration position drone based on the acquired duration.

3. The method for measuring and calibrating UAV mounting based on Fresnel light source according to claim 2 is characterized in that: The parallel light coding pattern also includes the following: Any of the light beam detection areas is connected by m consecutive rectangular areas with a length of a and a width of b, and the m rectangular areas together form a rectangle with a length of 4b and a width of a; The optical axis detection area is connected by 2n consecutive right-angled triangle areas with a base of 2b and a height of a, and the 2n right-angled triangle areas together form a rectangle with a length of 6b and a width; The width of the rectangular area and the base of the right-angled triangle area are located on the same straight line.

4. The method for measuring and calibrating a UAV mounted device based on a Fresnel light source according to claim 3 is characterized in that: The method for determining the relative spatial distribution of the base point position drone and the current calibration position drone includes the following steps: If the duration of the detector in scanning the optical axis detection area is the same, the optical axes of the marking base point position drone and the calibration position drone are at the same horizontal position; If the duration of the detector in scanning the optical axis detection area is different, the optical axes of the marking base point position drone and the calibration position drone are not at the same horizontal position.

5. The method for measuring and calibrating UAV mounting based on Fresnel light source according to claim 4 is characterized in that: The method for determining the relative spatial distribution of the base point position drone and the current calibration position drone also includes the following: The durations of the mark detector detecting the detection area of ​​the optical axis detection area are t1, t2, ... t(2n) respectively; If the duration distribution of the detector in scanning the optical axis detection area is: t1=t2=…=t(2n), the optical axes of the marking base point position drone and the calibration position drone are at the same horizontal position; If the duration distribution of the detector in scanning the optical axis detection area is: t1=t3=…=t(2n-1), t2=t4=…=t(2n), t1≠t2, the optical axes of the marking base position drone and the calibration position drone are not in the same horizontal position, and the horizontal rotation planes of the two optical axes are parallel; If the duration distribution of the detector when scanning the optical axis detection area is: t1, t3, ...t(2n-1) in ascending order, t2, t4, ...t(2n) in descending order or t1, t3, ...t(2n-1) in descending order, t2, t4, ...t(2n) in ascending order, the optical axes of the drone at the marking base point position and the drone at the calibration position are not in the same horizontal position, and the horizontal rotation planes of the two optical axes intersect.

6. The method for measuring and calibrating UAV mounting based on Fresnel light source according to claim 5 is characterized in that: The illumination path of the Fresnel light source is specifically as follows: The LD light source is converged and coupled into the light-integrating mask. The non-uniform light passing through the light-integrating mask is transformed into a uniform light through the light-homogenizing rod and emitted to the Fresnel lens through the heat-insulating window. After convergence and shaping, a divergent light beam is emitted. Move the light homogenizer along the straight line with the focus of the Fresnel lens to adjust the light output angle of the Fresnel light source: The light homogenizing rod moves along the straight line with the focus of the Fresnel lens close to the focus position, increasing the light output angle and increasing the parallel light irradiation area corresponding to the current position; The light homogenizing rod moves away from the focal position along a straight line with the focus of the Fresnel lens, thereby reducing the light output angle and reducing the parallel light irradiation area corresponding to the current position.

7. The method for measuring and calibrating UAV mounting based on Fresnel light source according to claim 6 is characterized in that: The external parameters of the drone when performing mounted photography flight are calculated as follows: the focal length of the drone lens, the binocular measurement baseline distance, and the angle between the camera optical axis and the measurement baseline.

8. The method for measuring and calibrating UAV mounting based on Fresnel light source according to claim 7 is characterized in that: Any of the light beam detection areas includes at least 2 groups of light and dark changes: If the base point position drone is captured for the first time by any calibration position drone via the encoded optoelectronic pod Fresnel light source, adjust the angular velocity of the base point position drone; If the base point position drone is captured for the second time by any calibration position drone via the encoded optoelectronic pod Fresnel light source, the base point position drone stops horizontal rotation.

9. A computer-readable storage medium storing one or more programs, characterized in that: The one or more programs include instructions which, when executed by a computing device, cause the computing device to perform any one of the methods according to claims 1 to 8.

10. A computing device, characterized in that The method comprises one or more processors, a memory and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs include instructions for executing any one of the methods according to claims 1 to 8.

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