An unmanned aerial vehicle photoelectric image target search quantification indication method, device and medium

Abstract

The application discloses a kind of unmanned plane photoelectric image target search quantization indicating method, equipment and medium, belong to target indicating field, including steps: unmanned plane photoelectric pod camera absolute parameter calculation;Photoelectric pod camera field angle calculation;Indicated target relative pose calculation;Target indication guide visualization design;Indicated target dynamic visualization drawing.The present application provides the target search, indication and guide information including the camera position, attitude, coverage range under the navigation coordinate system, the field angle, focal length of the camera, the target position, direction under the camera coordinate system, the direction of target relative optical axis landing site, distance, to assist unmanned plane operator to efficiently complete indication target locking, with the advantages of multi-dimensional information indication, high-precision quantitative guidance, natural friendly visualization.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of target indication, more specifically, to a method and device for quantitatively indicating target search of photoelectric image of unmanned aerial vehicle, and a medium. BACKGROUND

[0002] Target indication technology is a process of establishing the relative relationship between the target and the platform payload coordinate through mapping calculation of the target information obtained by different means. The basic method of target indication technology is azimuth distance method, which uses the azimuth and distance of different targets relative to the platform payload to indicate the target for the detected target of the platform radar and other sensors, manually bound target or externally specified target. With more and more complex target information detection and more and more interference factors, the azimuth distance method cannot support the high-precision target indication requirement, therefore, the pure azimuth target indication method is proposed and applied in the field of target terminal guidance. The pure azimuth target indication method needs to establish a mathematical model of target indication area and a pure azimuth target search guidance model. In the mathematical model of target indication area, multi-azimuth direction finding is generally used for target in the monitoring area during platform maneuvering process, and passive multi-cross positioning is performed. Assuming that the target azimuth is obtained at different times during platform movement, a set of direction finding vectors is formed by using the set of azimuths, and the relative azimuth of the target relative to the platform payload is obtained by using the direction finding vectors. In the pure azimuth target search guidance model, the geographical coordinates within the working period of the platform payload are taken as the origin, and the platform payload coordinate system is taken as the coordinate, a search guidance route of the indication target in the coordinate system is established to provide the platform with further capture and lock of the target.

[0003] Photoelectric image target indication technology is a special form of target indication technology, which is a kind of indication method of mapping the target coordinates obtained by different means to the photoelectric payload coordinate system, and then providing the operator with real-time prompt information of the current specified target relative to the photoelectric payload azimuth difference, distance, approaching direction, etc. At present, photoelectric image target indication technology mainly relies on two-dimensional or three-dimensional situation maps to draw the geographical distribution of platform, payload and indication target respectively, and the operator understands various distributions and motion trends on the situation map to further develop the operation behavior. This kind of photoelectric image target indication technology can only indicate the relative relationship between the target and the geographical coordinate system, the payload and the platform, and the platform and the geographical coordinate system, and cannot simply provide the direct relationship between the current target and the photoelectric payload or photoelectric image, therefore, the dimension of the indication information is limited, the guidance accuracy is not high, and the understanding difficulty is high. These problems are the hot issues widely concerned by the technical personnel in the field. SUMMARY

[0004] The present application aims to overcome the deficiencies of the prior art, and provides a UAV photoelectric image target search quantization indication method, device and medium, which has the advantages of multi-dimensional information indication, high-precision quantization guidance, and natural and friendly visualization, and can assist UAV operators to efficiently complete target locking.

[0005] The purpose of the present application is achieved by the following scheme:

[0006] A UAV photoelectric image target search quantization indication method, comprising the following steps:

[0007] S1, absolute parameter calculation of a UAV photoelectric pod camera is used to obtain position information, attitude information and coverage range information of the photoelectric pod camera in a geographic coordinate system;

[0008] S2, field angle calculation of the photoelectric pod camera is used to obtain the visual angle and equivalent focal length of the photoelectric pod at the moment through imaging internal parameter calculation and field angle calculation of the photoelectric pod camera;

[0009] S3, relative pose calculation of the indication target is used to obtain indication information of the indication target relative to the photoelectric pod camera coordinate system;

[0010] S4, target indication guidance visualization design is used to facilitate the operator to understand and recognize the target indication guidance visualization elements, and the visualization elements are displayed through visualization;

[0011] S5, dynamic visualization drawing of the indication target is performed to visualize the quantized indication information of the two-dimensional situation map, the photoelectric pod camera video screen and the target indication window.

[0012] Further, in step S1, the position information includes longitude, latitude and height of the photoelectric pod camera in the geographic coordinate system; the attitude information includes yaw angle Y NED , pitch angle P NED and roll angle R NED of the photoelectric pod camera in the geographic coordinate system; and the coverage range information includes a quadrilateral area S EO projected by the image of the photoelectric pod camera on the ground.

[0013] Further, in step S2, the imaging internal parameter includes focal length and pixel size information of the photoelectric pod camera; and the visual angle includes horizontal field angle V x and vertical field angle V y .

[0014] Further, in step S3, the indication information of the indication target relative to the photoelectric pod camera coordinate system includes the azimuth angle Y t, pitch angle P t , and slant distance D t ; wherein, the target azimuth angle Y t and pitch angle P t in the electro-optical pod camera coordinate system are obtained by combining the target and the electro-optical pod camera geographic coordinates, the slant distance D t is determined by the module of the vector.

[0015] Further, in step S4, the target indication guide visualization design is performed, specifically, the azimuth angle, the pitch angle, the slant distance, the field of view angle and the focal length of the electro-optical pod camera relative to the target indication are visualized.

[0016] Further, in step S5, the target indication dynamic visualization is drawn, specifically, the drawing of the target indication guide visualization elements is performed, and the real-time feedback and quantitative numerical feedback through the visualization interface of the unmanned aerial vehicle operator are provided to assist the unmanned aerial vehicle operator in formulating the next precise control instruction.

[0017] Further, the position information is calculated by the longitude Lon p , the latitude Lat p and the altitude Alt p of the unmanned aerial vehicle platform, and the installation position D of the electro-optical pod camera.

[0018] The attitude information is calculated by mapping the yaw angle Y EO , the pitch angle P EO and the roll angle R EO of the electro-optical pod camera relative to the unmanned aerial vehicle platform, and the yaw angle Y P , the pitch angle P P and the roll angle R P of the unmanned aerial vehicle platform in the geographic coordinate system to the Earth-Centered Earth-Fixed (ECEF) coordinate system, and then through the transformation of the rotation angle to the rotation matrix and the transmission relationship of the rotation matrix, the attitude information of the electro-optical pod camera in the ECEF coordinate system is calculated, and then the yaw angle Y NED , the pitch angle P NED and the roll angle R NED of the electro-optical pod camera in the geographic coordinate system are obtained by means of the geographic coordinate conversion.

[0019] The coverage range information is calculated by the obtained position information and attitude information of the electro-optical pod camera, and the collinear equation is established by the photoelectric imaging principle, and the quadrilateral area S EO of the ground projection of the electro-optical pod camera image is calculated by using the optimization principle.

[0020] Further, the target indication guide visualization elements include the equivalent focal length f, the field of view horizontal angle Vx , a vertical angle of the field of view V y , a yaw angle Y of the electro-optical pod camera in the geographic coordinate system NED , a pitch angle P NED , a roll angle R NED , a quadrilateral area S of the ground projection of the electro-optical pod camera image EO , a plurality of geographic coordinates of the indicated targets, the plurality of targets having an azimuth angle Y in the electro-optical pod camera coordinate system t , a pitch angle P t and a slant range D t , a distance D of the plurality of targets from the electro-optical pod camera p , and a prompt information indicating that the targets fall within the field of view of the electro-optical pod camera.

[0021] An unmanned aerial vehicle electro-optical image target search quantification indication device, comprising

[0022] An unmanned aerial vehicle electro-optical pod camera absolute parameter calculation module, which acquires position information, attitude information and coverage range information of the electro-optical pod camera in a geographic coordinate system;

[0023] An electro-optical pod camera field of view angle calculation module, which acquires a viewing angle and an equivalent focal length of the electro-optical pod at the moment through imaging internal parameters and electro-optical pod camera field of view angle calculation;

[0024] An indication target relative pose calculation module, which acquires indication information of the indication target relative to the electro-optical pod camera coordinate system;

[0025] A target indication guidance visualization design module, which facilitates operators to understand and recognize target indication guidance visualization elements and displays the elements in a visualized manner;

[0026] An indication target dynamic visualization drawing module, which visualizes quantified indication information on a two-dimensional situation map, an electro-optical pod camera video screen and a target indication window.

[0027] A readable storage medium, in which a computer program is stored, the computer program is loaded and executed by a processor to perform the method according to any one of the above.

[0028] The beneficial effects of the present application include:

[0029] The technical scheme of the present application solves the technical problems of the existing target indication method, such as single indication information, low target indication accuracy and non-intuitive indication interface visualization.

[0030] The technical solution of this invention provides multi-dimensional information, offering not only the absolute geographical location of the target in the geographic coordinate system, but also the azimuth, pitch, slant range, and ground distance of multiple targets within the coordinate system of the electro-optical pod camera. Furthermore, this invention also visualizes and renders the yaw, pitch, and roll angles of the electro-optical pod camera in the geographic coordinate system, as well as the quadrilateral area projected onto the ground by the camera image. Combined with the equivalent focal length, lateral field of view, and longitudinal field of view of the electro-optical pod camera, this provides UAV operators with a multi-dimensional, timely feedback, and visual guidance interface.

[0031] The technical solution of this invention provides high-precision quantification for operation guidance. Based on computer vision and optical imaging models, multiple indication targets are projected into geographic coordinate system, navigation coordinate system, photoelectric pod camera coordinate system, and image coordinate system respectively. This fully utilizes the distinguishability of multiple indication targets in different dimensions, thereby ensuring high sensitivity and high precision of indication information.

[0032] The technical solution of this invention provides a natural and user-friendly visualization of the indicator elements. It not only provides UAV operators with multi-dimensional and high-precision quantitative values ​​for target guidance, but also provides dynamic visualization of the target. The visualization information has high distinguishability and clear physical meaning. The visualization effect of the indicator elements is natural and user-friendly, and easy to learn and understand.

[0033] The technical solution of this invention is applicable to scenarios such as dynamic and complex aerial observation, target search and positioning, photoelectric imaging guidance, and target confirmation.

[0034] In this invention, the absolute parameters of the UAV's electro-optical pod camera are calculated to determine its relative pose and coverage area in the geographic navigation coordinate system. The field of view of the electro-optical pod camera is calculated to obtain its lateral field of view, longitudinal field of view, and equivalent focal length at any given moment. The relative pose of the indicated target is calculated to obtain its indication information relative to the coordinate system of the electro-optical pod camera. A target indication guidance visualization design facilitates operator understanding and recognition of the target indication guidance elements. Dynamic visualization of the indicated target is used to complete the drawing of these elements. This invention provides UAV operators with target search, indication, and guidance information, including the camera's position, attitude, and coverage area in the navigation coordinate system; the camera's field of view and focal length; the target's position and orientation in the camera coordinate system; and the target's orientation and distance relative to the optical axis landing point. This assists UAV operators in efficiently locking onto indicated targets. Attached Figure Description

[0035] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required by the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without creative labor.

[0036] Figure 1 The present application is an unmanned aerial vehicle photoelectric image target search quantization indication scene schematic diagram;

[0037] Figure 2 The present application is an unmanned aerial vehicle photoelectric image target search quantization indication scene schematic diagram;

[0038] Figure 3 The present application is a target indication window element schematic diagram;

[0039] In the figure, 1 is a three-dimensional scene, 2 is an unmanned aerial vehicle platform, 3 is a photoelectric pod camera, 4 is a photoelectric pod camera field of view range, 5 is a photo axis landing site, 6 is an indication target I, 7 is an indication target II, 8 is an indication target III, 9 is a photoelectric pod camera yaw angle scale in a geographical coordinate system, 10 is a photoelectric pod camera pitch angle scale in a geographical coordinate system, 11 is a photoelectric pod camera horizontal field of view angle, 12 is a photoelectric pod camera vertical field of view angle, 13 is an indication target I visualization mark, 14 is an indication target II visualization mark, and 15 is an indication target III visualization mark. DETAILED DESCRIPTION

[0040] All features disclosed in the embodiments of the present specification, or all steps in the methods or processes impliedly disclosed, can be combined and / or extended, replaced, except for mutually exclusive features and / or steps, in any manner.

[0041] In view of the problems in the background art, the inventors of the present application further think and analyze and realize the following technical problems: At present, the target indication guidance of the photoelectric image by those skilled in the art mainly operates and feeds back by marking the relative positions of the target, the unmanned aerial vehicle and the photoelectric pod camera on the two-dimensional situation map, that is, the operator needs to understand the marking information on the two-dimensional situation map to formulate his own immediate operation behavior. This indication guidance information is relatively single, and the feedback information needs to be further analyzed and interpreted by the operator. In a multi-target dynamic scene, this method cannot efficiently and accurately provide the direct relationship between the indication target and the current photoelectric pod, thereby affecting the efficiency of target search, reconnaissance, attack and confirmation. Therefore, the present application conceives and designs an efficient unmanned aerial vehicle photoelectric target indication guidance method, and quantizes and visualizes the guidance and indication information to assist the unmanned aerial vehicle operator to efficiently complete the indication target locking.

[0042] The method proposed in this invention can be described using a scenario composed of a drone, a drone's optoelectronic pod camera, a 3D scene, and a target being indicated, such as... Figure 1 As shown, the invention includes a 3D scene 1, a UAV platform, an electro-optical pod camera 3, the field of view of the electro-optical pod camera 4, the optical axis landing point 5, target I 6, target II 7, and target III 8 (it should be noted that the technical solution of this invention is not limited to this scenario; similarly, it can also be applied in the field of target indication technology, which has wide applications in aerial observation, target search and positioning, electro-optical imaging guidance, and target confirmation). The UAV uses an electro-optical pod camera to perform imaging observation of the ground. Three targets exceed the optical axis landing point and the observation field of view. The UAV operator observes video image data from the electro-optical pod camera. How to provide guidance information to the UAV operator so that they can efficiently and quickly locate the target to be observed is the problem scenario solved by the technical solution of this invention.

[0043] The technical solution of this invention provides information such as camera position, attitude, and coverage in the navigation coordinate system, camera field of view and focal length, target position and orientation in the camera coordinate system, and orientation and distance of the target relative to the optical axis landing point for the search of UAV photoelectric image targets.

[0044] In a further inventive concept, the present invention provides a method for quantitative indication of target search in UAV photoelectric images, such as... Figure 2 As shown, firstly, using the geographical location and attitude parameters of the UAV platform, along with the relative attitude of the electro-optical pod camera relative to the UAV platform, the absolute parameter calculation module of the UAV electro-optical pod camera calculates the yaw angle, pitch angle, and roll angle of the electro-optical pod camera in the geographic coordinate system. It also calculates the longitude, latitude, and altitude of the electro-optical pod camera in the geographic coordinate system and the coordinates of the geographic area covered by the electro-optical pod camera image at that moment. Then, using the focal length and pixel size information of the electro-optical pod camera, the field of view calculation module calculates the viewing angle and equivalent focal length of the electro-optical pod at that moment. Next, using the target relative pose calculation module, the yaw angle, pitch angle, and slant range of the target relative to the coordinate system of the electro-optical pod camera are calculated. The target indication guidance visualization design module visualizes the azimuth angle, pitch angle, slant range, field of view, and focal length of the target relative to the coordinate system of the electro-optical pod camera. Finally, the quantified indication information is visualized on a two-dimensional situation map, the electro-optical pod camera video feed, and the target indication window.

[0045] In a further inventive concept, the absolute parameter calculation module for the UAV electro-optical pod camera aims to calculate and obtain the position information, attitude information, and coverage information of the electro-optical pod camera in a geographic coordinate system. The position information includes the longitude, latitude, and altitude of the electro-optical pod camera in the geographic coordinate system, and the attitude information includes the yaw angle Y of the electro-optical pod camera in the geographic coordinate system. NED Pitch angle P NED Roll angle R NED Coverage information includes the quadrilateral area S projected onto the ground by the image from the electro-optical pod camera. EO Location information is obtained via the longitude Lon of the drone platform. p Latitude p and height Alt p The installation position D of the electro-optical pod camera is calculated by superimposing this information. Attitude information is obtained by measuring the yaw angle Y of the electro-optical pod camera relative to the UAV platform. EO Pitch angle P EO and roll angle R EO And the yaw angle Y of the UAV platform in the geographic coordinate system P Pitch angle P P and roll angle R P Mapped to the Earth-centered ECEF coordinate system, the attitude information of the electro-optical pod camera in the ECEF coordinate system is calculated through the transformation from rotation angle to rotation matrix and the transfer relationship of rotation matrix. Then, with the help of geographic coordinate transformation, the yaw angle Y of the electro-optical pod camera in the geographic coordinate system is obtained. NED Pitch angle P NED Roll angle R NED The coverage information is obtained by calculating the position and attitude information of the electro-optical pod camera. Using the principles of photoelectric imaging, collinearity equations are constructed, and optimization principles are applied to calculate the quadrilateral region S projected onto the ground by the electro-optical pod camera image. EO .

[0046] In a further inventive concept, the field-of-view calculation module of the optoelectronic pod camera utilizes the magnification and pixel size S of the optoelectronic pod camera. pix Based on the imaging intrinsic parameters and optical imaging model, the lateral field of view V of the optoelectronic pod at that moment is calculated. x and longitudinal field of view V y And the equivalent focal length f.

[0047] In a further inventive concept, the relative pose calculation module for the indicated target aims to calculate and obtain indication information of the indicated target relative to the coordinate system of the photoelectric pod camera. This indication information includes the azimuth angle Y of the target in the coordinate system of the photoelectric pod camera. t Pitch angle P tand slant distance D t Among them, the target's azimuth angle Y in the coordinate system of the photoelectric pod camera is... t and pitch angle P t The slant range D is obtained by combining the geographic coordinates of the indicated target and the electro-optical pod camera into a vector. t It is determined by the magnitude of the vector.

[0048] In a further inventive concept, the target indication and guidance visualization design module aims to design target indication and guidance elements that are easy for operators to understand and recognize, and to display them visually. (See attached image) Figure 3 As shown, the display includes: yaw angle scale 9 of the electro-optical pod camera in the geographic coordinate system; pitch angle scale 10 of the electro-optical pod camera in the geographic coordinate system; lateral field of view angle 11 of the electro-optical pod camera; longitudinal field of view angle 12 of the electro-optical pod camera; visual marker 13 for target I; visual marker 14 for target II; and visual marker 15 for target III. In this invention, the target indication and guidance visualization elements include the equivalent focal length f and lateral field of view angle V of the electro-optical pod camera. x Longitudinal angle V of the field of view y The yaw angle Y of the photoelectric pod camera in the geographic coordinate system NED Pitch angle P NED Roll angle R NED The quadrilateral area S projected onto the ground by the image from the electro-optical pod camera. EO The geographic coordinates of multiple target indicators, and the azimuth angles (Y) of multiple targets in the coordinate system of the electro-optical pod camera. t Pitch angle P t and slant distance D t The ground distance D between multiple targets and the electro-optical pod camera p And a notification message indicating when the target falls into the field of view of the electro-optical pod camera.

[0049] In a further inventive concept, the target indication dynamic visualization drawing module mainly completes the drawing of target indication guidance visualization elements, and assists the drone operator in formulating the next precise control command through real-time feedback and quantitative numerical feedback to the drone operator's visualization interface.

[0050] In its specific implementation, the technical solution of this invention includes the following five steps: calculation of absolute parameters of the UAV electro-optical pod camera, calculation of the field of view of the electro-optical pod camera, calculation of the relative pose of the indicated target, design of the target indication and guidance visualization, and dynamic visualization drawing of the indicated target. The calculation of absolute parameters of the UAV electro-optical pod camera mainly includes the following sub-steps:

[0051] First, the position information of the electro-optical pod camera in the geographic coordinate system is calculated and obtained. The position information is obtained through the longitude (London) of the UAV platform. p Latitude p and height Alt p The installation position D of the superimposed electro-optical pod camera is calculated. Under the calibrated UAV platform, the installation position D can be regarded as the longitude Lon of the UAV platform. p Latitude p and height Alt p coincide.

[0052] Then, the attitude information of the electro-optical pod camera in the geographic coordinate system is calculated. The attitude information includes the yaw angle Y of the electro-optical pod camera in the geographic coordinate system. NED Pitch angle P NED Roll angle R NED Attitude information is obtained by measuring the yaw angle Y of the electro-optical pod camera relative to the UAV platform. EO Pitch angle P EO and roll angle R EO And the yaw angle Y of the UAV platform in the geographic coordinate system P Pitch angle P P and roll angle R P Mapped to the Earth-centered ECEF coordinate system, the attitude information of the electro-optical pod camera in the ECEF coordinate system is calculated through the transformation from rotation angle to rotation matrix and the transfer relationship of rotation matrix. Then, with the help of geographic coordinate transformation, the yaw angle Y of the electro-optical pod camera in the geographic coordinate system is obtained. NED Pitch angle P NED Roll angle R NED .

[0053]

[0054]

[0055]

[0056] in and These are the rotation matrices R of the electro-optical pod camera in the geographic coordinate system. NED2CAM The elements in R NED2CAM The elemental composition relationship is as follows:

[0057]

[0058] Rotation matrix R of the electro-optical pod camera in the geographic coordinate system NED2CAM The yaw angle Y of the electro-optical pod camera relative to the UAV platform EO Pitch angle PEO and roll angle R EO and yaw angle Y of the UAV platform in the geographical coordinate system P and pitch angle P P and roll angle R P is calculated. In the calculation process, the yaw angle Y of the optoelectronic pod camera relative to the UAV platform is calculated EO corresponding rotation matrix and pitch angle P EO corresponding rotation matrix and roll angle R EO corresponding rotation matrix wherein,

[0059]

[0060]

[0061]

[0062] In the calculation process, the yaw angle Y of the UAV platform in the geographical coordinate system is calculated P corresponding rotation matrix and pitch angle P P corresponding rotation matrix and roll angle R P corresponding rotation matrix wherein,

[0063]

[0064]

[0065]

[0066] In the calculation process, the rotation matrix R of the optoelectronic pod camera in the geographical coordinate system is calculated NED2CAM The specific calculation process is as follows:

[0067]

[0068] wherein, INV represents a matrix inverse operator symbol.

[0069] Finally, the coverage range information of the optoelectronic pod camera in the geographical coordinate system is calculated. The coverage range information is the position information and the attitude information of the optoelectronic pod camera obtained by calculation, and through the principle of photoelectric imaging, a collinear equation is established, and a quadrilateral area S EO is calculated by using the optimization principle. The quadrilateral area S EOThe four geographical coordinates of the ground projection of the four vertices of the image of the electro-optical pod camera are sequentially connected to form a polygon.

[0070] The field of view angle of the electro-optical pod camera is calculated by using the magnification of the electro-optical pod camera, the pixel size S pix , the imaging internal parameters and the optical imaging model to calculate the horizontal field of view angle V x and the vertical field of view angle V y and the equivalent focal length f of the electro-optical pod at the moment. Wherein, the horizontal field of view angle V x is:

[0071]

[0072] Wherein, W img is the horizontal resolution of the image of the electro-optical pod camera.

[0073] The vertical field of view angle V y is:

[0074]

[0075] Wherein, H img is the vertical resolution of the image of the electro-optical pod camera.

[0076] The relative pose of the indicating target is calculated by calculating the indicating information of the indicating target relative to the coordinate system of the electro-optical pod camera, which includes the azimuth angle Y t , the pitch angle P t and the slant distance D t of the target in the coordinate system of the electro-optical pod camera. Wherein, the azimuth angle Y t and the pitch angle P t of the target in the coordinate system of the electro-optical pod camera are obtained by the vector composed of the geographical coordinates of the indicating target and the electro-optical pod camera, and the slant distance D t is determined by the module of the vector. Wherein, the azimuth angle Y t is:

[0077] Y t = arctan((Lon t -Lon p )*cos(Lat p ), (Lat t -Lat p )) (14)

[0078]

[0079] Wherein, (Lonp ,Lat p ,Alt p ) is a geographic coordinate of the UAV platform, composed of longitude Lon p , latitude Lat p and altitude Alt p , (Lon t , Lat t , Alt t ) indicates a geographic coordinate of the target, composed of longitude Lon t , latitude Lat t and altitude Alt t , and dist(A, B) is a function of calculating the distance between two points A and B.

[0080] The target indication guiding visual design step aims to design target indication guiding elements that are easy for operators to understand and recognize, and to display them in a visual manner. In this embodiment, the target indication guiding visual elements include the equivalent focal length f of the optoelectronic pod camera, the horizontal angle of view V x , the vertical angle of view V y , the yaw angle Y NED , the pitch angle P NED , and the roll angle R NED of the optoelectronic pod camera in the geographic coordinate system, the quadrilateral area S EO of the image of the optoelectronic pod camera on the ground, the geographic coordinates of multiple targets, the azimuth angle Y t , the pitch angle P t and the slant distance D t of the multiple targets in the optoelectronic pod camera coordinate system, the distance D p of the multiple targets from the optoelectronic pod camera, and the prompt information indicating that the target falls within the field of view of the optoelectronic pod camera. In this embodiment, in addition to the quantitative values of the target indication information, the visual display method corresponding to the values is also given.

[0081] The target indication dynamic visual drawing step, in this embodiment, mainly completes the drawing of the target indication guiding visual elements, and provides instant feedback through the visual interface of the UAV operator and quantitative value feedback, to assist the UAV operator in formulating the next precise control instruction.

[0082] It should be noted that the following embodiments can be combined and / or extended, replaced, in any logical manner within the scope of protection defined in the claims of the present application, for example, based on the disclosed technical principles, disclosed technical features or implied disclosed technical features.

[0083] Embodiment 1

[0084] An unmanned aerial vehicle photoelectric image target search quantization indication method, comprising the following steps:

[0085] S1, using the absolute parameter calculation of the unmanned aerial vehicle photoelectric pod camera, obtaining the position information, attitude information and coverage range information of the photoelectric pod camera in the geographic coordinate system;

[0086] S2, using the field of view angle calculation of the photoelectric pod camera, obtaining the angle of view and equivalent focal length of the photoelectric pod at the moment through imaging internal parameter calculation and photoelectric pod camera field of view angle calculation;

[0087] S3, indicating target relative pose calculation, obtaining the indication information of the target relative to the photoelectric pod camera coordinate system;

[0088] S4, target indication guidance visualization design, target indication guidance visualization elements for operator understanding and cognition, and display through visualization;

[0089] S5, dynamic visualization drawing of the indication target, visualizing the quantized indication information of the two-dimensional situation map, photoelectric pod camera video screen and target indication window.

[0090] Embodiment 2

[0091] Based on embodiment 1, in step S1, the position information includes the longitude, latitude and height of the photoelectric pod camera in the geographic coordinate system; the attitude information includes the yaw angle Y NED , pitch angle P NED and roll angle R NED of the photoelectric pod camera in the geographic coordinate system; and the coverage range information includes the quadrilateral area S EO projected on the ground by the image of the photoelectric pod camera.

[0092] Embodiment 3

[0093] Based on embodiment 1, in step S2, the imaging internal parameter includes the focal length and pixel size information of the photoelectric pod camera; and the angle of view includes the horizontal field of view angle V x and the vertical field of view angle V y .

[0094] Embodiment 4

[0095] Based on embodiment 1, in step S3, the indication information of the indication target relative to the photoelectric pod camera coordinate system includes the azimuth angle Y t , pitch angle P t and slant range D t of the target in the photoelectric pod camera coordinate system; wherein the azimuth angle Y t of the target in the photoelectric pod camera coordinate system is calculated by the relative position of the target and the photoelectric pod camera, and the pitch angle P t and the slant range D t are calculated by the relative distance of the target and the photoelectric pod camera.t and pitch angle P t , the slant distance D t is obtained by the vector composed of the target indication and the geographic coordinates of the photoelectric pod camera.

[0096] Embodiment 5

[0097] Based on embodiment 1, in step S4, the target indication guidance visual design is performed, specifically, the azimuth angle, the pitch angle, the slant distance, the field of view angle and the focal length of the photoelectric pod camera relative to the photoelectric pod camera coordinate system are visualized.

[0098] Embodiment 6

[0099] Based on embodiment 1, in step S5, the target indication dynamic visualization is drawn, specifically, the drawing of the target indication guidance visualization elements is performed, and the real-time feedback through the visualization interface of the unmanned aerial vehicle operator and the quantitative numerical feedback are provided to assist the unmanned aerial vehicle operator to formulate the next precise control instruction.

[0100] Embodiment 7

[0101] Based on embodiment 2, the position information is calculated by the longitude Lon p , the latitude Lat p and the altitude Alt p of the unmanned aerial vehicle platform, and the installation position D of the photoelectric pod camera.

[0102] The attitude information is calculated by mapping the yaw angle Y EO , the pitch angle P EO and the roll angle R EO of the photoelectric pod camera relative to the unmanned aerial vehicle platform, and the yaw angle Y P , the pitch angle P P and the roll angle R P of the unmanned aerial vehicle platform in the geographic coordinate system to the Earth-Centered Earth-Fixed (ECEF) coordinate system, and then through the transformation from the rotation angle to the rotation matrix and the transmission relationship of the rotation matrix, the attitude information of the photoelectric pod camera in the ECEF coordinate system is obtained, and then the yaw angle Y NED , the pitch angle P NED and the roll angle R NED of the photoelectric pod camera in the geographic coordinate system are obtained by means of the geographic coordinate conversion.

[0103] The coverage range information is obtained by the position information and the attitude information of the photoelectric pod camera calculated, and the collinear equation is established by the photoelectric imaging principle, and the quadrilateral area S EO of the photoelectric pod camera image on the ground projection is calculated by the optimization principle.

[0104] Embodiment 8

[0105] On the basis of Embodiment 5, the target indication guiding visual elements include the equivalent focal length f of the electro-optical pod camera, the field of view horizontal angle V x , the field of view longitudinal angle V y , the yaw angle Y NED , the pitch angle P NED , the roll angle R NED of the electro-optical pod camera in the geographic coordinate system, the quadrilateral area S EO of the ground projection of the electro-optical pod camera image, the geographic coordinates of the plurality of indication targets, the azimuth angle Y t , the pitch angle P t and the slant range D t of the plurality of targets in the electro-optical pod camera coordinate system, the distance D p of the plurality of targets from the electro-optical pod camera, and the prompt information indicating that the target falls within the field of view of the electro-optical pod camera.

[0106] Embodiment 9

[0107] An unmanned aerial vehicle electro-optical image target search quantification indication device, comprising

[0108] An unmanned aerial vehicle electro-optical pod camera absolute parameter calculation module, which acquires position information, attitude information and coverage range information of the electro-optical pod camera in a geographic coordinate system;

[0109] An electro-optical pod camera field of view angle calculation module, which acquires the visual angle and equivalent focal length of the electro-optical pod at the moment through imaging internal parameter and electro-optical pod camera field of view angle calculation;

[0110] An indication target relative pose calculation module, which acquires indication information of the indication target relative to the electro-optical pod camera coordinate system;

[0111] A target indication guiding visual design module, which facilitates operators to understand and recognize target indication guiding visual elements and displays them in a visual manner;

[0112] An indication target dynamic visual drawing module, which visualizes the quantified indication information in a two-dimensional situation map, an electro-optical pod camera video screen and a target indication window.

[0113] Embodiment 10

[0114] A readable storage medium, in which a computer program is stored, the computer program is loaded and executed by a processor to perform the method of any one of Embodiments 1-8.

[0115] The units described in the embodiments of the present application can be implemented by software, or by hardware, or by a combination of software and hardware. The units described can also be located in a single processor. In some cases, the names of the units do not limit the units themselves.

[0116] According to an aspect of the present application, there is provided a computer program product or computer program, comprising computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to cause the computer device to perform the method provided in the various optional implementation manners.

[0117] As another aspect, the present application also provides a computer readable medium, which can be included in the electronic device described in the above embodiments, or can exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to implement the method described in the above embodiments.

[0118] The parts of the present application not involved are the same as or can be implemented by the prior art.

[0119] The above technical solution is only one embodiment of the present application. Based on the application method and principle disclosed in the present application, those skilled in the art can easily make various types of improvements or modifications without being limited to the method described in the above specific embodiments. Therefore, the above described method is only preferred, and is not limited in meaning.

[0120] In addition to the above examples, those skilled in the art can obtain other embodiments by making changes based on the above disclosure or by using knowledge or technology in related fields. The features of each embodiment can be interchanged or replaced. Changes and variations made by those skilled in the art do not deviate from the spirit and scope of the present application, and should be within the protection scope of the claims of the present application.

Claims

1. A method for quantitatively indicating a target search of an unmanned aerial vehicle (UAV) photoelectric image, characterized in that, The method comprises the following steps: S1, obtaining position information, attitude information and coverage range information of the photoelectric pod camera in a geographic coordinate system by using absolute parameter calculation of the photoelectric pod camera of the unmanned aerial vehicle; S2, calculating the visual angle and equivalent focal length of the photoelectric pod at the corresponding moment by using field angle calculation of the photoelectric pod camera and imaging internal parameters and field angle of the photoelectric pod camera; S3, indicating target relative pose calculation, obtaining indication information of the target relative to the photoelectric pod camera coordinate system; S4, target indication guidance visualization design, facilitating the operator to understand and recognize the target indication guidance visualization elements, and displaying in a visual manner; S5, indicating target dynamic visualization drawing, visualizing the quantitative indication information in the two-dimensional situation map, the photoelectric pod camera video screen and the target indication window; In step S3, the indication information indicating the target relative to the photoelectric pod camera coordinate system includes the azimuth angle of the target in the photoelectric pod camera coordinate system Y t , the pitch angle P t , and the slant range D t ; where the target azimuth angle in the photo-optical pod camera coordinate system Y t and the pitch angle P t is obtained by indicating the vector composed of the target and the photo-optical pod camera geographical coordinate combination; and the slant range D t is determined by the module of the vector. In step S4, the target indication guidance visualization design specifically visualizes the azimuth angle, pitch angle, slant distance, field angle and focal length of the photoelectric pod camera relative to the photoelectric pod camera coordinate system; The target indication guiding visual elements include equivalent focal length of the electro-optical pod camera f , field of view lateral angle V x , field of view longitudinal angle V y , yaw angle of the electro-optical pod camera in the geographical coordinate system Y NED , pitch angle P NED , roll angle R NED , quadrilateral area of the electro-optical pod camera image in the ground projection S EO , geographical coordinates of multiple target indication targets, azimuth angle of the multiple targets in the electro-optical pod camera coordinate system Y t , pitch angle P t , and slant range D t , distance of the multiple targets from the electro-optical pod camera D p , and prompt information indicating that the target falls within the field of view of the electro-optical pod camera.

2. The method of claim 1, wherein, In step S1, the position information includes longitude, latitude and height of the electro-optical pod camera in a geographical coordinate system; the attitude information includes yaw angle, pitch angle and roll angle of the electro-optical pod camera in the geographical coordinate system; and the coverage range information includes a quadrilateral area of a ground projection of the electro-optical pod camera image. Y NED P NED R NED S EO ​​​​ 3.The UAV photoelectric image target search quantization indication method according to claim 1, characterized in that, In step S2, the imaging intrinsic parameters include focal length and pixel size information of the electro-optical pod camera; and the view angle includes horizontal and vertical field of view angles V x . V y .

4. The method of claim 1, wherein, In step S5, the indicating target dynamic visualization drawing specifically includes drawing of the target indication guidance visualization elements, and instant feedback and quantitative value feedback through the visualization interface of the unmanned aerial vehicle operator to assist the unmanned aerial vehicle operator in formulating the next precise control instruction.

5. The unmanned aerial vehicle photoelectric image target search quantitative indication method according to claim 2, characterized in that, The position information is calculated by the longitude Lon p , latitude Lat p and altitude Alt p of the drone platform, the mounting position of the optoelectronic gondola camera D ​ The attitude information is obtained by measuring the yaw angle of the electro-optical pod camera relative to the UAV platform. Y EO Pitch angle P EO and roll angle R EO And the yaw angle of the drone platform in the geographic coordinate system Y P Pitch angle P P and roll angle R P Mapping to the Earth-centered ECEF coordinate system, and then calculating the attitude information of the electro-optical pod camera in the ECEF coordinate system through the transformation from rotation angle to rotation matrix and the transfer relationship of rotation matrix, the yaw angle of the electro-optical pod camera in the geographic coordinate system is obtained by using geographic coordinate transformation. Y NED Pitch angle P NED Roll angle R NED ; The coverage information is obtained by calculating the position information and attitude information of the optoelectronic pod camera, and through the principle of optoelectronic imaging, a collinear equation is established, and the quadrilateral area of the optoelectronic pod camera image on the ground projection is calculated by using the optimization principle S EO .

6. An unmanned aerial vehicle photoelectric image target search quantification indication device, characterized in that, comprise an unmanned aerial vehicle photoelectric pod camera absolute parameter calculation module for obtaining position information, attitude information and coverage range information of the photoelectric pod camera in a geographic coordinate system; a photoelectric pod camera field angle calculation module for calculating the visual angle and equivalent focal length of the photoelectric pod at the corresponding moment by using field angle calculation of the photoelectric pod camera and imaging internal parameters and field angle of the photoelectric pod camera; an indicating target relative pose calculation module for obtaining indication information of the target relative to the photoelectric pod camera coordinate system; a target indication guidance visualization design module for facilitating the operator to understand and recognize the target indication guidance visualization elements, and displaying in a visual manner; an indicating target dynamic visualization drawing module for visualizing the quantitative indication information in the two-dimensional situation map, the photoelectric pod camera video screen and the target indication window; and for executing the unmanned aerial vehicle photoelectric image target search quantitative indication method according to claim 1.

7. A readable storage medium characterized by, A computer program is stored in a readable storage medium, and the computer program is loaded and executed by a processor to execute the method according to any one of claims 1-5.

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