A method and system for measuring the positioning accuracy of UAV targets on the opposite shore

Abstract

The present invention discloses a method and system for measuring the positioning accuracy of a target on the opposite shore by a drone. The method comprises the following steps: firstly, a target plate is installed at a suitable position on the shore, and the target plate is adjusted to be consistent with the slope of a target area by a posture adjustment device and a liftable support device; secondly, a high-precision positioning device installed on the target plate can be used to measure the real-time longitude and latitude coordinates of the target plate as the real position, and the target plate has a temperature control function, which is convenient for simulating the positioning of visible light and infrared targets by a drone; finally, the target position and deviation calculated by the drone are compared with the real position to obtain the positioning accuracy of the drone for the target on the opposite shore.

Description

Technical Field

[0001] The present invention belongs to the field of positioning accuracy measurement methods, and in particular relates to a method and system for measuring the positioning accuracy of a target on the opposite bank by an unmanned aerial vehicle. Background Art

[0002] Ground target positioning is one of the important functions of UAVs, and its purpose is to obtain the three-dimensional coordinates of the target in the geodetic coordinate system. At present, high-precision UAV target positioning has become a research hotspot for scientific researchers at home and abroad. Using target detection technology and UAV target positioning algorithm, the positioning measurement of the landing target can be completed safely and in real time by using the UAV to move forward to the target area. However, past studies have shown that the positioning accuracy of UAVs in complex environments is difficult to guarantee. Different slant distances, angles, and focal lengths will affect the positioning accuracy of UAV targets. Mastering the target positioning accuracy of UAVs in different environments will help to better analyze the impact of different parameters on positioning accuracy. Therefore, it is of great significance to study the measurement of UAV positioning accuracy of targets on the other side. Summary of the invention

[0003] To solve the above problems, we proposed a method and system for measuring the positioning accuracy of UAV targets on the other side of the river.

[0004] The technical solution of the present invention is as follows:

[0005] A UAV opposite bank target positioning accuracy measurement system, comprising a mechanical adjustment module, a UAV and a data processing module;

[0006] The mechanical adjustment module includes a visible light infrared target plate, a target plate adjustment mechanism and a liftable support device. The target plate is used to simulate a visible light or infrared target. The target plate is installed on the liftable support device through a posture adjustment device. The posture adjustment device is used to adjust the inclination angle of the target plate to be consistent with the slope where the target plate is located, so as to simulate shore targets with different slopes and observation angles. The liftable support device is used to adjust the height of the target plate to simulate the horizontal baseline and the vertical slope under different terrain conditions.

[0007] The UAV carries an optoelectronic pod for remotely photographing the target plate and sending the photographed video and its own attitude, position and slant range data to the data processing module;

[0008] The data processing module is used to identify and solve the video shot by the drone to obtain the target plate position measured by the drone when measuring the positioning accuracy of the designated single-point target on the shore by the drone; it is also used to measure the actual value of the target plate position using a high-precision positioning device, and obtain the single-point positioning accuracy of the drone to the target on the shore at the current slant range based on the comparison between the target plate position measured by the drone and the measured value;

[0009] The data processing module is used to identify and solve the video shot by the drone to obtain the vertical distance and angle of the two targets measured by the drone when measuring the positioning accuracy of the two targets specified on the opposite shore by the drone; it is also used to use high-precision positioning equipment to measure the actual value of the vertical distance and angle of the two targets, and compare the vertical distance and angle of the two targets measured by the drone with the measured values ​​to obtain the vertical distance deviation and angle deviation accuracy of the positioning of the two specified targets on the opposite shore of the drone at the current slant range;

[0010] Furthermore, the target plate has a temperature control function and is used to simulate infrared targets with different radiation temperatures.

[0011] The method for measuring the single-point positioning accuracy of a UAV onshore target by using the UAV onshore target positioning system comprises the following steps:

[0012] Step 1, setting a plurality of target plates near the target position to be measured on the hillside, and measuring the slope of the hillside by adjusting the angle of the target plates;

[0013] Step 2: Install a target plate at the target position to be measured on the shore, and control the drone to fly to the designated airspace; the drone remotely shoots the target plate, and sends the shot video and its own attitude, position and slant range data to the data processing module;

[0014] The data processing module identifies and solves the video taken by the drone to obtain the target plate position measured by the drone; at the same time, the high-precision positioning equipment is used to measure the actual value of the target plate position, and the single-point positioning accuracy of the drone to the onshore target at the current slant range is obtained by comparing the target plate position measured by the drone with the measured value;

[0015] Step 3: By adjusting the height and focal length parameters of the drone and repeating step 2, the single-point positioning accuracy of the drone to the target on the shore at different slant distances and focal lengths can be measured.

[0016] The method for measuring the vertical distance deviation and angle deviation accuracy of two designated targets on the opposite shore of the drone using the above-mentioned drone opposite shore target positioning system comprises the following steps:

[0017] Step 1, setting a plurality of target plates near the target position to be measured on the hillside, and measuring the slope of the hillside by adjusting the angle of the target plates;

[0018] Step 2: Install two target plates at the target position to be measured on the shore, control the drone to fly to the designated airspace, and use high-precision positioning equipment to record the longitude and latitude coordinates of the drone; the drone remotely shoots the target plate and sends the shot video and its own attitude, position and slant range data to the data processing module.

[0019] The data processing module identifies and solves the video taken by the drone to obtain the vertical distance and angle of the two targets measured by the drone; the high-precision positioning equipment is also used to measure the actual value of the vertical distance and angle of the two targets, and the vertical distance and angle of the two targets measured by the drone are compared with the measured values ​​to obtain the vertical distance deviation and angle deviation accuracy of the positioning of the two designated targets on the opposite shore of the drone at the current slant range;

[0020] Step 3: By adjusting the height and focal length parameters of the drone and repeating step 2, the vertical distance deviation and angle deviation accuracy of the positioning of two designated targets on the opposite shore of the drone at different slant distances and focal lengths can be measured.

[0021] Furthermore, the step 1 specifically includes the following steps:

[0022] Place three or more target plates in a row horizontally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a level meter, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the horizontal average slope of the hillside near the target position to be measured;

[0023] Place three or more target plates in a row longitudinally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a spirit level, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the longitudinal average slope of the hillside near the target position to be measured.

[0024] The present invention has the following beneficial technical effects:

[0025] 1) The present invention sets a visible light infrared target plate connected to a target plate adjustment mechanism and a liftable support device, and adjusts the height, distance and angle of the target plate through a laser indicator, a rangefinder and an angle measuring instrument, so as to simulate shore targets with different slopes and different observation angles.

[0026] 2) Set up a GPS positioning device with high-precision position measurement function, which can output high-precision positioning information and corresponding time information.

[0027] 3) The target plate has a temperature control function, which can simulate infrared targets with different radiation temperatures and can be used to measure the positioning accuracy of UAV targets at night and in poor visibility conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 Schematic diagram of the system of the present invention, in which each number represents the number of the target plate.

[0029] Figure 2 It is a flow chart of the present invention. DETAILED DESCRIPTION

[0030] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0031] See also Figure 1 and Figure 2 The present invention describes a UAV opposite shore target positioning accuracy measurement system and method, comprising the following steps:

[0032] The shore target positioning accuracy measurement system includes a mechanical adjustment module and a data processing module. The mechanical adjustment module is mainly composed of a visible light infrared target plate (1.5m*1.5m), a target plate adjustment mechanism, a liftable support device, etc. The target plate can be used as a visible light and infrared target plate at the same time, has a temperature control function, and can simulate infrared targets with different radiation temperatures. The target plate is installed on the attitude adjustment device below, which can simulate shore targets with different slopes and different observation angles; the liftable support device is used to simulate the horizontal baseline and the vertical slope under different terrain conditions. The data processing module includes a data acquisition terminal, a high-precision positioning device, a laser indicator, a rangefinder, and an angle measuring instrument. The high-precision positioning device has high positioning accuracy, and the position information can be transmitted to the data processing terminal in real time; the data acquisition terminal can collect the positioning information and corresponding time information of the positioning device.

[0033] The above-mentioned drone onshore target positioning accuracy measurement system can be used to measure the single-point positioning accuracy of drones (including optoelectronic payloads) to onshore targets. The specific steps are: install a target plate to a suitable location on the shore, and use high-precision positioning equipment to record the longitude and latitude coordinates of the target. Control the drone to fly to the designated airspace, and the drone optoelectronic pod collects the target plate video in real time and transmits it to the ground positioning solution computer, and compares the calculated drone target positioning data with the measured position information collected by the data acquisition equipment. By adjusting the height of the drone and the pod parameters, the positioning accuracy of the drone to the onshore target at different slant distances and different focal lengths can be measured.

[0034] The above-mentioned UAV onshore target positioning accuracy measurement system can also be used to measure the vertical distance deviation and angle deviation accuracy of the UAV (including the optoelectronic payload) positioning two designated targets on the shore, including the following steps:

[0035] The target plate Figure 1Install it at a suitable location on the shore (it is recommended that the distance between target No. 2 and target No. 3 and the distance between target No. 4 and target No. 5 should not be less than 20 meters). The distance between targets is measured with a rangefinder and indicated with a laser pointer to ensure that target plates No. 1, 2, and 3 are in the same straight line and at the same height, and target plates No. 1, 4, and 5 are in the same straight line. Use a level to measure, adjust the target surfaces of all target plates to the horizontal, use a laser pointer and a goniometer to measure the angle between the line connecting target plates No. 1, 4, and 5 and the horizontal direction, ensure that the angle is consistent with the actual slope on the shore, and record the measured slope size, and then use the pitch and roll adjustment device to adjust the target surface to the same state as the terrain where the target is located.

[0036] High-precision positioning equipment is used to record the longitude and latitude coordinates of each target, and the drone is controlled to fly to the designated airspace. The drone's optoelectronic pod collects target video in real time and transmits it to the ground positioning solution computer, and the calculated target surface orientation and distance data are compared with the measured position information collected by the data acquisition equipment. By adjusting the target surface height and tilt angle, the vertical distance deviation and angle deviation accuracy of the drone's positioning of two designated targets on the opposite shore at different altitudes and slopes can be measured.

[0037] The above is an example of the best implementation of the present invention, and the parts not described in detail are common knowledge of ordinary technicians in the field. The protection scope of the present invention shall be based on the content of the claims, and any equivalent transformation based on the technical enlightenment of the present invention is also within the protection scope of the present invention.

Claims

1. A UAV onshore target positioning accuracy measurement system, characterized in that: Includes mechanical adjustment module, drone and data processing module; The mechanical adjustment module includes a visible light infrared target plate, a target plate adjustment mechanism and a liftable support device. The target plate is used to simulate a visible light or infrared target. The target plate is installed on the liftable support device through a posture adjustment device. The posture adjustment device is used to adjust the inclination angle of the target plate to be consistent with the slope where the target plate is located, so as to simulate shore targets with different slopes and observation angles. The liftable support device is used to adjust the height of the target plate to simulate the horizontal baseline and the vertical slope under different terrain conditions. The UAV carries an optoelectronic pod for remotely photographing the target plate and sending the photographed video and its own attitude, position and slant range data to the data processing module; The data processing module is used to identify and solve the video shot by the drone to obtain the target plate position measured by the drone when measuring the positioning accuracy of the designated single-point target on the shore by the drone; it is also used to measure the actual value of the target plate position using a high-precision positioning device, and obtain the single-point positioning accuracy of the drone to the target on the shore at the current slant range based on the comparison between the target plate position measured by the drone and the measured value; The data processing module is used to identify and solve the video taken by the drone to obtain the vertical distance and angle of the two targets measured by the drone when measuring the positioning accuracy of two designated targets on the opposite bank of the drone; it is also used to use high-precision positioning equipment to measure the actual values ​​of the vertical distance and angle of the two targets, and compare the vertical distance and angle of the two targets measured by the drone with the measured values ​​to obtain the vertical distance deviation and angle deviation accuracy of the positioning of the two designated targets on the opposite bank of the drone at the current slant range.

2. The UAV opposite shore target positioning accuracy measurement system according to claim 1 is characterized in that: The target plate has a temperature control function and is used to simulate infrared targets with different radiation temperatures.

3. A method for measuring the single-point positioning accuracy of a UAV to a target on the shore using the UAV to shore target positioning accuracy measurement system according to claim 1, characterized in that: The following steps are involved: Step 1, setting a plurality of target plates near the target position to be measured on the hillside, and measuring the slope of the hillside by adjusting the angle of the target plates; Step 2: Install a target plate at the target position to be measured on the shore, and control the drone to fly to the designated airspace; the drone remotely shoots the target plate, and sends the shot video and its own attitude, position and slant range data to the data processing module; The data processing module identifies and solves the video taken by the drone to obtain the target plate position measured by the drone; at the same time, the high-precision positioning equipment is used to measure the actual value of the target plate position, and the single-point positioning accuracy of the drone to the onshore target at the current slant range is obtained by comparing the target plate position measured by the drone with the measured value; Step 3: By adjusting the height and focal length parameters of the drone and repeating step 2, the single-point positioning accuracy of the drone to the target on the shore at different slant distances and focal lengths can be measured.

4. The method according to claim 3, characterized in that: The step 1 specifically comprises the following steps: Place three or more target plates in a row horizontally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a level meter, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the horizontal average slope of the hillside near the target position to be measured; Place three or more target plates in a row longitudinally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a spirit level, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the longitudinal average slope of the hillside near the target position to be measured.

5. A method for measuring the vertical distance deviation and angle deviation accuracy of two designated targets on the opposite shore of a drone using the drone opposite shore target positioning accuracy measurement system of claim 1, characterized in that: The following steps are involved: Step 1, setting a plurality of target plates near the target position to be measured on the hillside, and measuring the slope of the hillside by adjusting the angle of the target plates; Step 2: Install two target plates at the target position to be measured on the shore, control the drone to fly to the designated airspace, and use high-precision positioning equipment to record the longitude and latitude coordinates of the drone; the drone remotely shoots the target plate and sends the shot video and its own attitude, position and slant range data to the data processing module. The data processing module identifies and solves the video taken by the drone to obtain the vertical distance and angle of the two targets measured by the drone; the high-precision positioning equipment is also used to measure the actual value of the vertical distance and angle of the two targets, and the vertical distance and angle of the two targets measured by the drone are compared with the measured values ​​to obtain the vertical distance deviation and angle deviation accuracy of the positioning of the two designated targets on the opposite shore of the drone at the current slant range; Step 3: By adjusting the height and focal length parameters of the drone and repeating step 2, the vertical distance deviation and angle deviation accuracy of the positioning of two designated targets on the opposite shore of the drone at different slant distances and focal lengths can be measured.

6. The method according to claim 5, characterized in that: The step 1 specifically comprises the following steps: Place three or more target plates in a row horizontally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a level meter, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the horizontal average slope of the hillside near the target position to be measured; Place three or more target plates in a row longitudinally at the target position to be measured and adjust the lifting support device to the same height. After adjusting the target surface of the target plate to be horizontal with the help of a spirit level, measure the inclination angle of the center line of all target plates relative to the horizontal plane to obtain the longitudinal average slope of the hillside near the target position to be measured.

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