A channel tracking method and system

Abstract

The present invention relates to the technical field of unmanned aerial vehicles and unmanned fixed-wing aircraft, and in particular to a channel tracking method and system. The channel tracking method comprises: configuring a channel tracking system; a camera captures a channel image and extracts features thereof, obtains key information of a channel line and sends it to a controller; a perception module obtains attitude information of the aircraft and sends it to the controller; the controller generates and outputs control instructions based on the key information and attitude information; controls the yaw angle of a single-axis yaw direction gimbal so that the intersection of the channel line and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image, or keeps the yaw angle of the single-axis yaw direction gimbal unchanged so that the channel line is located at the center line position of the channel image. The channel tracking system comprises a controller, a perception module, and a mounting plate, a rotating boom, a single-axis yaw direction gimbal, and a camera that are colinear with the vertical center line and connected in sequence. The present invention can solve the problem of an aircraft losing its channel line when turning.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicles and unmanned fixed-wing aircraft, and in particular to a channel tracking method and system. Background Art

[0002] With the development of science and technology, a large number of retired unmanned aerial vehicles can be reused after unmanned modification, for example, they can be used in the construction of physical simulation platforms. However, since retired unmanned aerial vehicles all use relatively old technologies, it is necessary to install navigation and control systems in the process of unmanned fixed-wing aircraft modification to achieve autonomous navigation and precise control. The existing commonly used aircraft navigation and control technologies, such as high-precision inertial navigation systems, have high procurement or development costs, resulting in expensive modification costs. Although the Global Navigation Satellite System (GNSS) is relatively cheap, it requires an additional GNSS antenna to be added to the outside of the fuselage, which will affect the external aerodynamic layout of the entire aircraft. In addition, the positioning accuracy of the commonly used GNSS system is generally at the level of 2 to 3 meters, which is relatively low.

[0003] In addition, in the process of unmanned fixed-wing aircraft transformation, in order to achieve autonomous navigation and precise control, it is necessary to install a camera for tracking the course in the cockpit. However, since the cockpit is usually located in front of the fixed-wing front wheels, when the aircraft turns, it is difficult for traditional fixed cameras to continuously track the course line, resulting in loss of course information at the bend, affecting the stability and safety of the aircraft.

[0004] In view of this, it is urgent to build a new type of channel tracking system to achieve low cost, not affect the aerodynamic layout of the aircraft and avoid the loss of channel information at bends. Summary of the invention

[0005] The purpose of the present invention is to provide a course tracking method and system to solve the problem of the camera losing the course line when turning in an unmanned fixed-wing aircraft, so as to ensure that the course tracking system can stably and accurately track the course line when the aircraft is in a complex course.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] In a first aspect, the present invention provides a channel tracking method, comprising the following steps:

[0008] Configuring the course tracking system specifically includes: installing a mounting plate, a rotating boom, a single-axis yaw direction gimbal, and a camera on the aircraft in sequence in a spatial relationship with a vertical center line collinear; at the same time, configuring a perception module and a controller on the aircraft, and establishing a communication connection relationship between the perception module, the camera, the single-axis yaw direction gimbal, and the controller;

[0009] The camera captures the channel image and extracts features from the channel image to obtain channel information, the channel information at least including the channel middle line and two channel boundary lines, and sends the channel information to the controller;

[0010] The perception module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information;

[0011] The controller receives the current course information and the current attitude information of the aircraft, and generates and outputs control instructions; the controller calculates the yaw angle that the aircraft needs to adjust at the next moment through the obtained yaw angle information and longitude and latitude information, so that the yaw angle of the aircraft at the next moment approaches 0;

[0012] The single-axis yaw direction gimbal is configured to receive the control command and control the yaw angle of the single-axis yaw direction gimbal according to the yaw angle that needs to be adjusted for the aircraft, so that when the aircraft turns, the intersection point of the channel middle line and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image; or when the aircraft flies in a straight line, the yaw angle of the single-axis yaw direction gimbal is kept unchanged so that the channel middle line is located at the center line position of the channel image.

[0013] As a possible implementation method, the perception module includes a gyroscope and an accelerometer, and is also used to obtain the yaw angle of the single-axis yaw direction gimbal and the offset information of the yaw angle, and the offset information at least includes a pitch angle offset and a yaw angle offset.

[0014] As a possible implementation, the controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps:

[0015] S10. Determine whether the vehicle is yawed, if so, execute S11, otherwise execute S13;

[0016] S11. Extract the middle line of the channel image through LanceNet. Based on graphic projection, the middle line of the channel appears in the middle of the entire channel image and runs through the entire channel image. When the aircraft yaws, the projection of the middle line of the channel forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control output control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the field of view direction of the camera.

[0017] S12. After adjustment, continue to determine whether the deviation occurs. If so, return to S11 until it is determined that the deviation does not occur, and then execute S13.

[0018] S13. Keep the single-axis yaw gimbal’s posture unchanged.

[0019] As a possible implementation method, the curve flight control unit includes a channel line recognition subunit and a channel line control subunit; wherein the channel line recognition subunit is used to extract the channel middle line of the channel image through LanceNet; the channel line control subunit receives the channel line and calculates the yaw angle of the aircraft, and outputs control instructions.

[0020] As a possible implementation, when it is determined that the aircraft is flying on a curve, the curve flight control unit is configured to perform the following steps:

[0021] S20. Calculate the tangent angle;

[0022] S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22;

[0023] S22. Calculate the yaw angle;

[0024] S23 determines whether the yaw angle is less than or equal to the yaw angle threshold, if so, execute S24, otherwise output a control command, the uniaxial yaw direction gimbal rotates after receiving the control command to adjust the camera's field of view, after adjustment, returns to S20; otherwise, execute S24;

[0025] S24. Keep the single-axis yaw gimbal’s posture unchanged.

[0026] As a possible implementation, the tangent angle threshold is 5°.

[0027] As a possible implementation, the yaw angle threshold is 2°.

[0028] In a second aspect, the present invention provides a channel tracking system, which is applied to an aircraft. The channel tracking system includes a controller, a perception module, and a mounting plate, a rotating boom, a single-axis yaw direction gimbal, and a camera whose vertical center lines are collinear and sequentially connected; the vertical center line is collinear with the central axis inside the aircraft airport; the perception module is communicatively connected with the controller; and the perception module is configured to obtain attitude information of the aircraft;

[0029] The camera is used to capture and obtain a channel image, and at the same time, extract features from the channel image to obtain channel information, which includes at least a channel middle line and two channel boundary lines, and sends the channel information to the controller;

[0030] The perception module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information;

[0031] The controller is configured to receive the current course information and the current attitude information of the aircraft, and generate and output control instructions; the controller calculates the yaw angle that the aircraft needs to adjust at the next moment through the obtained yaw angle information and longitude and latitude information, so that the yaw angle of the aircraft at the next moment approaches 0;

[0032] The single-axis yaw direction gimbal is configured to receive the control command and control the yaw angle of the single-axis yaw direction gimbal according to the yaw angle that needs to be adjusted for the aircraft; when the aircraft turns, the intersection point of the middle line of the channel and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image; or when the aircraft flies in a straight line, the yaw angle of the single-axis yaw direction gimbal is kept unchanged so that the channel line is located at the center line position of the channel image.

[0033] As a possible implementation, the controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps:

[0034] S10. Determine whether the vehicle is yawed, if so, execute S11, otherwise execute S13;

[0035] S11. Extract the middle line of the channel image through LanceNet. Based on graphic projection, the middle line of the channel appears in the middle of the entire channel image and runs through the entire channel image. When the aircraft yaws, the projection of the middle line of the channel forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control output control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the field of view direction of the camera.

[0036] S12. After adjustment, continue to determine whether the deviation occurs. If so, return to S11 until it is determined that the deviation does not occur, and then execute S13.

[0037] S13. Keep the single-axis yaw gimbal’s posture unchanged.

[0038] As a possible implementation, the controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a curved flight, the curved flight control unit is configured to perform the following steps:

[0039] S20. Calculate the tangent angle;

[0040] S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22;

[0041] S22. Calculate the yaw angle;

[0042] S23 determines whether the yaw angle is less than or equal to the yaw angle threshold, if so, execute S24, otherwise output a control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the camera's field of view, after adjustment, returns to S20; otherwise, execute S24;

[0043] S24. Keep the single-axis yaw gimbal’s posture unchanged.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] 1. The course tracking method provided by the present invention ensures that the aircraft can accurately track the course line in a complex course through dynamic adjustment of the single-axis gimbal, thereby improving the navigation accuracy of the aircraft.

[0046] 2. The path tracking method provided by the present invention adopts different control processes to realize the control of straight flight and curved flight, has stable path tracking capability, and can ensure the overall stability and safety of the aircraft.

[0047] 3. The channel tracking system provided by the present invention adopts a single-axis pan-tilt design, which is simpler and more economical than a multi-axis pan-tilt, and reduces the modification cost.

[0048] 4. The course tracking system provided by the present invention installs the camera on the central axis of the aircraft, and dynamically adjusts the single-axis yaw direction gimbal, which can achieve stable and accurate monitoring. With the help of the camera's high-resolution and high-sensitivity image sensor, it can accurately capture and identify the course line under various lighting conditions, and can effectively avoid the problem of the camera losing the course line when turning. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0050] Figure 1 A schematic diagram of the structure of a channel tracking system provided by an embodiment of the present invention;

[0051] Figure 2 A flow chart of a channel tracking method provided by an embodiment of the present invention.

[0052] Reference numerals:

[0053] 1-Mounting plate, 2-Rotating crane arm, 3-Single-axis yaw gimbal, 4-Camera. DETAILED DESCRIPTION

[0054] In order to clearly describe the technical solutions of the embodiments of the present invention, in the embodiments of the present invention, words such as "first" and "second" are used to distinguish the same items or similar items with basically the same functions and effects. For example, the first threshold and the second threshold are only used to distinguish different thresholds, and their order is not limited. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit them to be different.

[0055] It should be noted that, in the present invention, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0056] In the present invention, "at least one" means one or more, and "plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. The following at least one item (items) or similar expressions thereof refer to any combination of these items, including any combination of single items (items) or plural items (items). For example, at least one item (items) of a, b or c can mean: a, b, c, the combination of a and b, the combination of a and c, the combination of b and c, or the combination of a, b and c, where a, b, c can be single or multiple.

[0057] The present invention provides a course tracking method and system, which can solve the problem of a camera losing the course line when turning in an unmanned fixed-wing aircraft, and ensure that the aircraft can stably and accurately track the course line even in a complex course.

[0058] In a first aspect, the present invention provides a channel tracking method, comprising the following steps:

[0059] To configure the channel tracking system, see Figure 1 , specifically including: installing a mounting plate 1, a rotating boom 2, a single-axis yaw direction gimbal 3 and a camera 4 in sequence on the aircraft in a spatial relationship with a vertical center line being collinear; at the same time, configuring a perception module and a controller on the aircraft, and establishing a communication connection relationship among the perception module, the camera, the single-axis yaw direction gimbal and the controller.

[0060] See also Figure 1 For example, the mounting plate 1 is made of a high-strength, corrosion-resistant material (such as stainless steel) and can withstand various vibrations and impacts generated by the aircraft during flight.

[0061] See also Figure 1 For example, the single-axis yaw direction gimbal 3 can rotate in the horizontal direction. Through the mechanical structure and electronic control module, for example, the brushless motor system and the PID control module, on the one hand, the rotation of the camera 4 can be precisely controlled, and on the other hand, a stable bracket is provided for the shooting of the camera 4. The functional components are installed on the aircraft in a spatial relationship of collinearity of the vertical center line, which can achieve stable and accurate monitoring; at the same time, the single-axis yaw direction gimbal 3 can be modified according to the attitude of the aircraft, so that the camera 4 installed on the single-axis yaw direction gimbal 3 can continuously track the course line.

[0062] The channel tracking system configured in the present invention has good anti-interference ability and environmental adaptability, and can work normally in various harsh climates and environments. In addition, through the dynamic adjustment of the single-axis gimbal, it ensures that the channel line can be accurately tracked even in complex channels, thereby improving the navigation accuracy of the aircraft.

[0063] The channel tracking system configured in the present invention has broad application prospects. It can not only be applied to runway line monitoring and autonomous navigation of unmanned fixed-wing aircraft, but also can be extended to other types of drones and aircraft, such as multi-rotor drones, helicopters, etc. At the same time, the system can also be applied to ground transportation, railway transportation and other fields to achieve real-time monitoring and tracking of traffic routes and improve the safety and efficiency of traffic operation.

[0064] The camera 4 is used to capture the channel image and extract features from the channel image to obtain channel information, which includes at least the channel middle line and two channel boundary lines, and sends the channel information to the controller;

[0065] Exemplarily, camera 4 uses a high-resolution, high-sensitivity image sensor, which can accurately capture and identify the channel line under various lighting conditions. At the same time, camera 4 is also equipped with an advanced image processing algorithm, which can process and analyze the captured images in real time. For example, the LanceNet algorithm is used to extract the features of the runway line to obtain the channel information. The channel information includes the center line of the channel and two channel boundary lines, as well as the channel direction, altitude, speed and other information.

[0066] The perception module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information;

[0067] The controller receives the course information and the attitude information of the aircraft, calculates the yaw angle that needs to be adjusted at the next moment through the obtained yaw angle information and longitude and latitude information, and generates and outputs control instructions to control the flight direction of the aircraft. The controller makes the yaw angle of the aircraft at the next moment approach 0;

[0068] Exemplarily, the controller has a built-in PID control algorithm that can calculate and output control instructions in real time.

[0069] The single-axis yaw direction gimbal 3 is configured to receive control instructions to control the yaw angle of the single-axis yaw direction gimbal 3 so that the intersection of the channel middle line and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image, or the yaw angle of the single-axis yaw direction gimbal 3 is kept unchanged so that the channel middle line is located at the center line position of the channel image, thereby ensuring that the channel middle line is always within the field of view of the camera.

[0070] Exemplarily, the controller is similar to the "brain" of the entire tracking system. It receives the channel information and the attitude information of the aircraft, calculates the yaw angle that needs to be adjusted at the next moment in real time and generates control instructions to control the single-axis yaw direction gimbal to adjust the angle and position of the camera so that the middle line of the channel is always within the camera's field of view.

[0071] As a possible implementation, the perception module includes a gyroscope and an accelerometer, wherein the gyroscope is used to obtain information such as the motion attitude, orientation, and rotation angle of the aircraft, and the accelerometer is used to obtain acceleration information during the operation of the aircraft. The perception module is used to obtain the yaw angle of the single-axis yaw direction gimbal and the offset information of the yaw angle, and the offset information at least includes the pitch angle offset and the yaw angle offset. Exemplarily, after the perception module obtains the yaw angle of the single-axis yaw direction gimbal and the offset information of the yaw angle, the direction of the single-axis yaw direction gimbal axis is controlled through the brushless motor system.

[0072] See also Figure 2 As a possible implementation, the controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps:

[0073] S10. Determine whether the vehicle is yawed, if so, execute S11, otherwise execute S13;

[0074] S11. Extract the middle line of the runway from the course image through LanceNet. Based on graphic projection, the middle line of the runway appears in the middle of the entire course image and runs through the entire course image. When the aircraft yaws, the projection of the middle line of the runway forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control output control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the camera's field of view.

[0075] S12. After adjustment, continue to determine whether the deviation occurs. If so, return to S11 until it is determined that the deviation does not occur, and then execute S13.

[0076] S13. Keep the single-axis yaw gimbal’s posture unchanged.

[0077] See also Figure 2 As a possible implementation method, the curve flight control unit includes a course line recognition subunit and a course line control subunit; wherein the course line recognition subunit is used to extract the course middle line of the course image through LanceNet; the course line control subunit receives the course line and calculates the yaw angle of the aircraft, and outputs control instructions.

[0078] As a possible implementation, when it is determined that the aircraft is flying on a curve, the curve flight control unit is configured to perform the following steps:

[0079] S20. Calculate the tangent angle;

[0080] The tangent angle is the angle between the tangent of the aircraft's flight path at the current moment and the midline of the flight path.

[0081] S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22;

[0082] As a possible implementation method, the tangent angle threshold is 5°, which is determined based on the tangent angle of the course line of the curved flight. When the tangent angle is less than or equal to the tangent angle threshold, it indicates that the aircraft has deviated from the original route on the curved course line and the single-axis yaw direction gimbal needs to be adjusted.

[0083] S22. Calculate the yaw angle;

[0084] S23 determines whether the yaw angle is less than or equal to the yaw angle threshold, if so, execute S24, otherwise output a control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the camera's field of view, after adjustment, returns to S20; otherwise, execute S24;

[0085] As a possible implementation, the yaw angle threshold is 2°.

[0086] As an example, the yaw angle threshold is determined based on the acceptable offset range in curved flight. When the yaw angle is less than or equal to the yaw angle threshold, the aircraft is considered to be within the acceptable yaw range and there is no need to adjust the single-axis yaw direction gimbal. When the yaw angle is greater than the yaw angle threshold, the aircraft is considered to have yawed. At this time, the camera's field of view needs to be adjusted so that it can accurately track the course line.

[0087] S24. Keep the single-axis yaw gimbal’s posture unchanged.

[0088] The path tracking method provided by the present invention adopts different control processes to realize the control of straight flight and curved flight, has a stable path tracking capability, and can ensure the overall stability and safety of the aircraft.

[0089] In a second aspect, the present invention provides a track tracking system, which is applied to an aircraft, see Figure 1 The channel tracking system includes a controller, a perception module, and a mounting plate 1, a rotating boom 2, a single-axis yaw direction gimbal 3, and a camera 4, which are collinear with a vertical centerline and connected in sequence; wherein the controller and the perception module are deployed on the aircraft (not shown in the figure); the vertical centerline is collinear with the central axis inside the aircraft airport; the perception module is communicatively connected with the controller; the perception module is configured to obtain the attitude information of the aircraft;

[0090] The camera 4 is used to capture and obtain a channel image, and at the same time extract features from the channel image to obtain channel information, the channel information at least including a channel middle line and two channel boundary lines, and the channel information is sent to the controller;

[0091] For example, the camera uses a high-resolution, high-sensitivity image sensor that can accurately capture and identify channel lines under various lighting conditions. At the same time, the camera is also equipped with advanced image processing algorithms that can process and analyze the captured images in real time. For example, the LanceNet algorithm is used to extract the features of the runway line to obtain channel information. The channel information includes the center line of the channel and two channel boundary lines, as well as information such as the channel direction, altitude, and speed.

[0092] The perception module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information;

[0093] The controller is configured to receive the navigation channel information and the attitude information of the aircraft, and generate and output the control command; the controller calculates the yaw angle to be adjusted at the next moment by using the obtained yaw angle information and the longitude and latitude information, so that the yaw angle of the aircraft at the next moment approaches 0;

[0094] Exemplarily, the controller has a built-in PID control algorithm that can calculate and output control instructions in real time. The controller is similar to the "brain" of the entire tracking system. It receives the channel information and the attitude information of the aircraft, calculates the yaw angle that needs to be adjusted at the next moment in real time and generates control instructions to control the single-axis yaw direction gimbal to adjust the angle and position of the camera so that the channel line is always within the camera's field of view.

[0095] The single-axis yaw direction gimbal is configured to receive a control command to control the yaw angle of the single-axis yaw direction gimbal so that the intersection of the course line and the horizontal center line of the course image is always located on the left and right sides of the vertical center line of the course image, or to keep the yaw angle of the single-axis yaw direction gimbal unchanged so that the course line is located at the center line position of the course image.

[0096] The channel tracking system provided by the present invention adopts a single-axis pan-tilt head design, which is simpler and more economical than a multi-axis pan-tilt head and reduces the modification cost.

[0097] As a possible implementation, see Figure 2 The controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps:

[0098] S10. Determine whether the vehicle is yawed, if so, execute S11, otherwise execute S13;

[0099] S11. Extract the middle line of the channel image through LanceNet. Based on graphic projection, the middle line of the channel appears in the middle of the entire channel image and runs through the entire channel image. When the aircraft yaws, the projection of the middle line of the channel forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control output control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the field of view direction of the camera.

[0100] S12. After adjustment, continue to determine whether the deviation occurs. If so, return to S11 until it is determined that the deviation does not occur, and then execute S13.

[0101] S13. Keep the single-axis yaw gimbal’s posture unchanged.

[0102] As a possible implementation, see Figure 2 The controller includes a straight flight control unit and a curve flight control unit; when it is determined to be a curve flight, the curve flight control unit is configured to perform the following steps:

[0103] S20. Calculate the tangent angle;

[0104] The tangent angle is the angle between the tangent of the middle line of the channel at the current moment and the tangent of the middle line of the channel at the next moment.

[0105] S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22;

[0106] As an example, the tangent angle threshold is 5°. The tangent angle threshold is determined based on the tangent angle of the course line of the curved flight. When the tangent angle is less than or equal to the tangent angle threshold, it indicates that the aircraft is flying on the curved course line and a normal deviation occurs due to the curve of the route. At this time, there is no need to adjust the single-axis yaw direction gimbal.

[0107] S22. Calculate the yaw angle;

[0108] S23 determines whether the yaw angle is less than or equal to the yaw angle threshold, if so, execute S24, otherwise output a control command, the single-axis yaw direction gimbal rotates after receiving the control command to adjust the camera's field of view, after adjustment, returns to S20; otherwise, execute S24;

[0109] As an example, the yaw angle threshold is 2°.

[0110] As an example, the yaw angle threshold is determined based on the acceptable offset range in curved flight. When the yaw angle is less than or equal to the yaw angle threshold, the aircraft is considered to be within the acceptable yaw range and there is no need to adjust the single-axis yaw direction gimbal. When the yaw angle is greater than the yaw angle threshold, the aircraft is considered to have yawed. At this time, the camera's field of view needs to be adjusted so that it can accurately track the course line.

[0111] S24. Keep the single-axis yaw gimbal’s posture unchanged.

[0112] The course tracking system provided by the present invention installs a camera on the central axis of the aircraft, and dynamically adjusts the single-axis yaw direction gimbal, so as to achieve stable and accurate monitoring. With the help of the camera's high-resolution and high-sensitivity image sensor, the course line can be accurately captured and identified under various lighting conditions, and the problem of the camera losing the course line when turning can be effectively avoided.

[0113] Although the present invention is described herein in conjunction with various embodiments, in the process of implementing the claimed invention, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the drawings, etc. In the specification, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the specification. Certain measures are recorded in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0114] Although the present invention has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present invention. Accordingly, this specification and the accompanying drawings are merely exemplary illustrations of the present invention and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present invention. Obviously, those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, the present invention is intended to include such modifications and variations if they fall within the scope of the present invention and its equivalents.

Claims

1. A channel tracking method, characterized in that: The steps include: Configuring the course tracking system specifically includes: installing a mounting plate, a rotating boom, a single-axis yaw direction gimbal, and a camera on the aircraft in sequence in a spatial relationship with a vertical center line collinear; at the same time, configuring a perception module and a controller on the aircraft, and establishing a communication connection relationship between the perception module, the camera, the single-axis yaw direction gimbal, and the controller; The camera captures a channel image and simultaneously extracts features from the channel image to obtain channel information, the channel information at least including a channel middle line and two channel boundary lines, and sends the channel information to a controller; The sensing module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information; The controller receives the current course information and the current attitude information of the aircraft, and generates and outputs control instructions; the controller calculates the yaw angle that the aircraft needs to adjust at the next moment through the obtained yaw angle information and longitude and latitude information, so that the yaw angle of the aircraft at the next moment approaches 0; The single-axis yaw direction gimbal is configured to receive the control command, and control the yaw angle of the single-axis yaw direction gimbal according to the yaw angle that needs to be adjusted by the aircraft, so that when the aircraft turns, the intersection point of the channel middle line and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image; or when the aircraft flies in a straight line, the yaw angle of the single-axis yaw direction gimbal is kept unchanged, so that the channel middle line is located at the center line position of the channel image; The controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps: S10. Determine whether the vehicle is yawed, if yes, execute S11, otherwise execute S13; S11. Extract the middle line of the channel image through LanceNet. Based on graphic projection, the middle line of the channel appears in the middle of the entire channel image and runs through the entire channel image. When the aircraft yaws, the projection of the middle line of the channel forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control, a control command is output. The single-axis yaw direction gimbal rotates after receiving the control command to adjust the field of view of the camera. S12. After adjustment, continue to determine whether the vehicle is yawed. If so, return to S11 and execute until it is determined that the vehicle is not yawed, then execute S13; S13. Keep the posture of the single-axis yaw gimbal unchanged.

2. The channel tracking method according to claim 1, characterized in that: The sensing module includes a gyroscope and an accelerometer, and is also used to obtain the yaw angle of the single-axis yaw direction gimbal and the offset information of the yaw angle, wherein the offset information at least includes a pitch angle offset and a yaw angle offset.

3. The channel tracking method according to claim 1, characterized in that: The curved flight control unit includes a course line recognition subunit and a course line control subunit; wherein the course line recognition subunit is used to extract the course middle line of the course image through LanceNet; the course line control subunit receives the course line and calculates the yaw angle of the aircraft, and outputs a control instruction.

4. The channel tracking method according to claim 3, characterized in that: When it is determined to be a curve flight, the curve flight control unit is configured to perform the following steps: S20. Calculate the tangent angle; S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22; S22. Calculate the yaw angle; S23. Determine whether the yaw angle is less than or equal to the yaw angle threshold. If so, execute S24. Otherwise, output a control instruction. The single-axis yaw direction gimbal rotates after receiving the control instruction to adjust the field of view of the camera. After adjustment, return to S20. Otherwise, execute S24. S24. Keep the posture of the single-axis yaw gimbal unchanged.

5. The channel tracking method according to claim 4, characterized in that: The tangent angle threshold is 5°.

6. The channel tracking method according to claim 4, characterized in that: The yaw angle threshold is 2°.

7. A channel tracking system, characterized in that: Applied to an aircraft, the channel tracking system comprises a controller, a perception module, and a mounting plate, a rotating boom, a single-axis yaw direction gimbal, and a camera whose vertical center lines are collinear and sequentially connected; the vertical center line is collinear with the central axis inside the aircraft airport; the perception module is communicatively connected with the controller; the perception module is configured to obtain attitude information of the aircraft; The camera is used to capture and obtain a channel image, and at the same time, extract features from the channel image to obtain channel information, wherein the channel information at least includes a channel middle line and two channel boundary lines, and the channel information is sent to a controller; The sensing module obtains the attitude information of the aircraft and sends the attitude information to the controller; the attitude information at least includes latitude and longitude information and yaw angle information; The controller is configured to receive the current course information and the current attitude information of the aircraft, and generate and output a control instruction; the controller calculates the yaw angle that the aircraft needs to adjust at the next moment through the obtained yaw angle information and longitude and latitude information, so that the yaw angle of the aircraft at the next moment approaches 0; The single-axis yaw direction gimbal is configured to receive the control command, and control the yaw angle of the single-axis yaw direction gimbal according to the yaw angle that needs to be adjusted by the aircraft; when the aircraft turns, the intersection point of the middle line of the channel and the horizontal center line of the channel image is always located on the left and right sides of the vertical center line of the channel image; or when the aircraft flies in a straight line, the yaw angle of the single-axis yaw direction gimbal is kept unchanged, so that the channel line is located at the center line position of the channel image; The controller includes a straight flight control unit and a curved flight control unit; when it is determined to be a straight flight, the straight flight control unit is configured to perform the following steps: S10. Determine whether the vehicle is yawed, if yes, execute S11, otherwise execute S13; S11. Extract the middle line of the channel image through LanceNet. Based on graphic projection, the middle line of the channel appears in the middle of the entire channel image and runs through the entire channel image. When the aircraft yaws, the projection of the middle line of the channel forms an angle with the projection at the previous moment. The angle is the yaw angle. Based on the yaw angle control, a control instruction is output. The single-axis yaw direction gimbal rotates after receiving the control instruction to adjust the field of view of the camera. S12. After adjustment, continue to determine whether the vehicle is yawed. If so, return to S11 and execute until it is determined that the vehicle is not yawed, then execute S13; S13. Keep the posture of the single-axis yaw gimbal unchanged.

8. The track tracking system according to claim 7, characterized in that: The controller includes a straight flight control unit and a curve flight control unit; when it is determined to be a curve flight, the curve flight control unit is configured to perform the following steps: S20. Calculate the tangent angle; S21. Determine whether the tangent angle is less than or equal to the tangent angle threshold, if so, execute S24, otherwise execute S22; S22. Calculate the yaw angle; S23. Determine whether the yaw angle is less than or equal to the yaw angle threshold. If so, execute S24. Otherwise, output a control instruction. The single-axis yaw direction gimbal rotates after receiving the control instruction to adjust the field of view of the camera. After adjustment, return to S20. Otherwise, execute S24. S24. Keep the posture of the single-axis yaw gimbal unchanged.

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