Multi-dynamic-view-angle cooperative aerial target recognition method and system

A technology of air target and recognition method, which is applied in the field of air target recognition method and system with multi-dynamic perspective coordination, can solve the problem of low applicability, and achieve the effect of ensuring the recognition effect and being simple and easy to implement

CN111474953AActive Publication Date: 2020-07-31TSINGHUA UNIV
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Patent Information

Authority / Receiving Office
CN · China
Current Assignee / Owner
Publication Date
2020-07-31

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Abstract

The invention discloses a multi-dynamic-view-angle cooperative aerial target recognition method and system, and the method comprises the following steps: carrying out the full-autonomous cooperative positioning in a Co-SLAM mode through multiple dynamic view angles, and keeping the target formation of an unmanned plane; after the target appears, detecting and identifying the target through each dynamic visual angle of the multiple dynamic visual angles, and cooperatively calculating the three-dimensional space position of the target; and calculating a three-dimensional motion track of the target according to the three-dimensional space position, and adjusting a target transformation formation according to the three-dimensional motion track. According to the method, the position and the motion trail of the aerial target in the three-dimensional space can be identified in real time, and a technical basis is provided for cooperatively tracking and surrounding the aerial target by utilizing multiple unmanned aerial vehicles.
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Description

technical field

[0001] The invention relates to the technical fields of autonomous positioning and mapping of UAVs, UAV coordination and cluster control, machine vision and three-dimensional reconstruction, and in particular to a method and system for multi-dynamic perspective collaborative aerial target recognition. Background technique

[0002] With the rapid development of computer vision, artificial intelligence and control technology, drones have gradually begun to play a huge role in national economic construction and national security. Because UAVs have the advantages of convenient control and low environmental requirements, UAVs can be used for reconnaissance, round-up and other activities in many scenarios. When tracking and rounding up moving objects, it is very important to obtain the motion state of the target relative to the UAV, which directly determines whether the rounding up of the target can be successfully achieved.

[0003] At present, there have been so...

Examples

Embodiment Construction

[0044] Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0045] The air target recognition method and system with multi-dynamic viewing angle coordination proposed by the embodiment of the present invention, the system is composed of multiple multi-rotor UAVs equipped with visible light sensors to form a controllable multi-dynamic viewing angle, and the acquisition position and attitude of each viewing angle can be controlled by controlling the UAV accomplish. System block diagram as figure 2 shown. When the target position has a periodic offset, in order to ensure the recognition e...