Method and system for measuring water surface target positioning precision of unmanned aerial vehicle

Abstract

The invention discloses a method and a system for measuring the positioning precision of a water surface target by an unmanned aerial vehicle, and belongs to the field of unmanned aerial vehicle positioning technology and precision measurement. The measurement system comprises a high-precision positioning device, a customized target ball and data acquisition equipment, and can be used for measuring the single-point positioning precision of the unmanned aerial vehicle for water surface target positioning, the linear distance deviation precision of two specified targets, and the vertical line distance deviation and angle deviation precision in a specified direction; the positioning precision measuring method comprises the steps that the high-precision positioning device is installed on a water surface ship or a customized target ball, the longitude and latitude positions of a to-be-measured target in a static or moving state are recorded, and the unmanned aerial vehicle photoelectric platform identifies and positions the target. And comparing the target position and deviation calculated by the unmanned aerial vehicle with real data to obtain the positioning precision of the unmanned aerial vehicle on the water surface target.

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 drone for a surface target. Background Art

[0002] In recent years, UAVs have attracted widespread attention from all walks of life due to their high concealment, high maneuverability and low price. UAVs can carry optoelectronic payloads such as TV cameras, infrared imagers and optoelectronic rangefinders to perform corresponding tasks. With the rapid development of target detection technology, communication and control technology, modern UAV platforms have evolved from a single reconnaissance camera platform to a comprehensive perception platform that integrates target detection, tracking and positioning, playing an increasingly important role in military and civilian fields.

[0003] The water or sea surface environment is relatively simple, and the color difference between the target and the background is obvious. For drones equipped with optoelectronic payloads, the target's location can be effectively identified and located. The positioning of sea surface targets by drones is mainly achieved by collecting and processing the data output by onboard sensors and optoelectronic pods to obtain the relative position relationship between the drone and the target. Combined with the drone's own position data read by the drone flight control system, the three-dimensional position coordinates of the target can be calculated in real time, which can achieve efficient surface target search and rescue and obstacle inspection. However, past studies have shown that the positioning accuracy of drones is difficult to guarantee. Different slant distances, angles, and focal lengths will affect the positioning accuracy of drone targets. Understanding the positioning accuracy of drones 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 drone positioning accuracy for surface targets.

[0004] The existing UAV precision measurement technology mostly uses error transfer analysis method and Monte Carlo method to conduct theoretical analysis on the UAV target positioning accuracy from the perspective of mathematical derivation and simulation analysis. However, in practical applications, the error distribution of various parameters that affect the UAV target positioning accuracy is difficult to measure directly, and the target positioning accuracy cannot be obtained through theoretical calculation. There is an urgent need for a UAV target positioning accuracy measurement method suitable for water surface environment. Summary of the invention

[0005] To solve the above problems, we proposed a method and system for measuring the positioning accuracy of UAVs for surface targets.

[0006] The technical solution of the present invention is as follows: A UAV positioning accuracy measurement system for a surface target, comprising a customized target sphere, a UAV and a data processing module; The customized target ball is connected to the ship through a cable and can move in the same direction and speed as the ship. When the ship is stationary, it represents a static target, and when it moves, it represents a dynamic target. The UAV carries an optoelectronic pod for remotely photographing a customized target ball, and sends 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 resolve the video photographed by the UAV to obtain the position of the customized target ball measured by the UAV when measuring the positioning accuracy of the UAV for a designated single-point target on the water surface; and is also used to measure the actual value of the position of the customized target ball using a high-precision positioning device, and compare the position of the customized target ball measured by the UAV with the measured value to obtain the single-point positioning accuracy of the UAV for the target on the water surface at the current slant range; The data processing module is used to identify and solve the video shot by the drone to obtain the vertical distance, straight-line distance and angle of the two targets measured by the drone when measuring the positioning accuracy of the drone for two designated targets on the water surface; it is also used to use high-precision positioning equipment to measure the actual values ​​of the straight-line distance, vertical distance and angle of the two targets, and compare the straight-line distance, vertical distance and angle of the two targets measured by the drone with the measured values ​​to obtain the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone positioning the two designated targets on the water surface at the current slant range.

[0007] The method for measuring the single-point positioning accuracy of a UAV to a surface target by using the above-mentioned UAV to surface target positioning accuracy measurement system comprises the following steps: Step 1: Install a customized target ball on the ship, move the ship to the target position or control the ship to simulate the moving trajectory of the target, and control the drone to fly to the designated airspace; The drone remotely shoots the customized target ball 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 position of the customized target ball measured by the drone; it also uses a high-precision positioning device to measure the actual value of the customized target ball position, and compares the customized target ball position measured by the drone with the measured value to obtain the single-point positioning accuracy of the drone for the target on the water surface at the current slant range; Step 2: By adjusting the height and focal length parameters of the drone and repeating step 1, the single-point positioning accuracy of the drone for targets on the water surface at different slant distances and focal lengths can be measured.

[0008] The method for measuring the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of positioning two designated targets on the water surface by using the above-mentioned UAV positioning accuracy measurement system for water surface targets is characterized by comprising the following steps: Step 1: Install two customized target balls on the ship, move the ship to the target position or control the ship to simulate the moving trajectory of the target, and control the drone to fly to the designated airspace; The drone remotely shoots the customized target ball 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 straight-line distance, vertical distance and angle of the two targets measured by the drone; it also uses high-precision positioning equipment to measure the actual values ​​of the straight-line distance, vertical distance and angle of the two targets, and compares the straight-line distance, vertical distance and angle of the two targets measured by the drone with the measured values ​​to obtain the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone's positioning of the two designated targets on the water surface at the current slant range.

[0009] Step 2: By adjusting the height and focal length parameters of the drone and repeating step 1, the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone positioning two designated targets on the water surface at different slant distances and focal lengths can be measured.

[0010] The present invention has the following beneficial technical effects: 1) The customized target ball provided in the present invention can be installed with a positioning device, has a strong anti-interference ability, and can enable the positioning device to maintain a suitable posture and perform effective positioning.

[0011] 2) Set up a GPS positioning device with high-precision position measurement function, which can output high-precision positioning information and corresponding time information.

[0012] 3) The set target ball can be towed by a ship as a moving target, and the system can be used to measure the accuracy of the drone's positioning of moving targets on the water surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of single-point positioning accuracy measurement of a UAV of the present invention; Figure 2 It is a schematic diagram of the straight-line distance deviation accuracy measurement of the target positioning of the UAV of the present invention; Figure 3 A schematic diagram of measuring the vertical distance deviation and angle deviation accuracy of the target positioning of the UAV of the present invention. DETAILED DESCRIPTION

[0014] 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.

[0015] See also Figure 1 , Figure 2 , Figure 3 The present invention describes a system and method for measuring the positioning accuracy of a drone on a surface target, comprising the following steps: The surface target positioning accuracy measurement system includes a customized target ball, a high-precision positioning device, and a data acquisition terminal. The customized target ball has a large color difference with the water surface, and has a high degree of recognition in the drone video. The target ball can be installed with a positioning device, has a strong anti-interference ability, and can maintain a suitable posture to enable the positioning device to perform effective positioning when the water surface fluctuates greatly and is in motion. 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 of the positioning device and the corresponding time information.

[0016] The above-mentioned UAV surface target positioning accuracy measurement system can be used to measure the single-point static and dynamic positioning accuracy of the UAV (including the optoelectronic payload) to the surface target. The specific steps are as follows: Figure 1 As shown, a high-precision positioning device is installed in a conspicuous position on the ship, or installed on a customized target ball as a static target, or it can be dragged forward by the ship as a moving target. The positioning information of the high-precision positioning device is recorded in real time by the data acquisition terminal as the real position of the surface target to be measured. The optoelectronic payload of the drone collects the video data of the surface ship or the surface target ball and transmits it to the ground positioning solution computer, and the solved ship or target ball positioning data is compared with the measured position information collected by the data acquisition device. By adjusting the height and pod parameters of the drone, the positioning accuracy of the drone for the surface target at different slant distances and focal lengths can be measured.

[0017] The above-mentioned UAV surface target positioning accuracy measurement system can also be used to measure the straight-line distance deviation accuracy of the UAV (including the photoelectric payload) positioning two designated targets on the water surface, including the following steps: Figure 2 As shown, two high-precision positioning devices are installed in a conspicuous position on the ship, or installed on a customized target ball as a static target, or they can be dragged forward by the ship as a moving target. The positioning information of the high-precision positioning device is recorded in real time by the data acquisition terminal, and the optoelectronic payload of the drone collects the video data of the surface ship or the surface target ball and transmits it to the ground positioning solution computer. The straight-line distance between the two ships or two target balls obtained by the solution is compared with the measured straight-line distance collected by the data acquisition device. By adjusting the height and pod parameters of the drone, the straight-line distance deviation accuracy of the drone positioning two designated targets on the water surface at different slant distances and different focal lengths can be measured.

[0018] The above-mentioned UAV surface target positioning accuracy measurement system can also be used for a method of measuring the vertical distance deviation and angle deviation accuracy of a UAV to a surface target relative to a specified direction, comprising the following steps: Figure 3As shown, two high-precision positioning devices are installed in a conspicuous position on the ship, or installed on a customized target ball as a static target, or can be dragged forward by the ship as a moving target. The positioning information of the high-precision positioning device is recorded in real time by the data acquisition terminal, and the optoelectronic payload of the drone collects the video data of the surface ship or the surface target ball and transmits it to the ground positioning solution computer. The position information of the two ships or two target balls is solved, and the vertical distance deviation and angle deviation of one target relative to the other in the specified direction are calculated and compared with the measured data collected by the data acquisition device. By adjusting the height and pod parameters of the drone, the vertical distance deviation and angle deviation accuracy of the drone to the surface target relative to the specified direction at different slant distances and focal lengths can be measured.

[0019] 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 system for measuring the positioning accuracy of a drone to a surface target, characterized in that: Including customized target sphere, drone and data processing module; The customized target ball is connected to the ship through a cable and can move in the same direction and speed as the ship. When the ship is stationary, it represents a static target, and when it moves, it represents a dynamic target. The UAV carries an optoelectronic pod for remotely photographing a customized target ball, and sends 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 resolve the video photographed by the UAV to obtain the position of the customized target ball measured by the UAV when measuring the positioning accuracy of the UAV for a designated single-point target on the water surface; and is also used to measure the actual value of the position of the customized target ball using a high-precision positioning device, and compare the position of the customized target ball measured by the UAV with the measured value to obtain the single-point positioning accuracy of the UAV for the target on the water surface at the current slant range; The data processing module is used to identify and solve the video shot by the drone to obtain the vertical distance, straight-line distance and angle of the two targets measured by the drone when measuring the positioning accuracy of the drone for two designated targets on the water surface; it is also used to use high-precision positioning equipment to measure the actual values ​​of the straight-line distance, vertical distance and angle of the two targets, and compare the straight-line distance, vertical distance and angle of the two targets measured by the drone with the measured values ​​to obtain the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone positioning the two designated targets on the water surface at the current slant range.

2. A method for measuring the single-point positioning accuracy of a UAV to a surface target using the UAV to surface target positioning accuracy measurement system of claim 1, characterized in that: The following steps are involved: Step 1: Install a customized target ball on the ship, move the ship to the target position or control the ship to simulate the moving trajectory of the target, and control the drone to fly to the designated airspace; The drone remotely shoots the customized target ball 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 position of the customized target ball measured by the drone; it also uses a high-precision positioning device to measure the actual value of the customized target ball position, and compares the customized target ball position measured by the drone with the measured value to obtain the single-point positioning accuracy of the drone for the target on the water surface at the current slant range; Step 2: By adjusting the height and focal length parameters of the drone and repeating step 1, the single-point positioning accuracy of the drone for targets on the water surface at different slant distances and focal lengths can be measured.

3. A method for measuring the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of positioning two designated targets on the water surface by using the UAV positioning accuracy measurement system for water surface targets of claim 1, characterized in that: The following steps are involved: Step 1: Install two customized target balls on the ship, move the ship to the target position or control the ship to simulate the moving trajectory of the target, and control the drone to fly to the designated airspace; The drone remotely shoots the customized target ball 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 straight-line distance, vertical distance and angle of the two targets measured by the drone; the high-precision positioning equipment is also used to measure the actual values ​​of the straight-line distance, vertical distance and angle of the two targets, and the straight-line distance, vertical distance and angle of the two targets measured by the drone are compared with the measured values ​​to obtain the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone positioning the two designated targets on the water surface at the current slant range; Step 2: By adjusting the height and focal length parameters of the drone and repeating step 1, the straight-line distance deviation, vertical distance deviation and angle deviation accuracy of the drone positioning two designated targets on the water surface at different slant distances and focal lengths can be measured.

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