Rapid target calibration method and system for unmanned aerial vehicle

Abstract

The invention provides a rapid target calibration method and system for an unmanned aerial vehicle, and relates to the technical field of image processing. The system comprises a visual camera, a calibration prototype, a voiceprint collector, a prototype console, a software monitoring console and a calibration console, and is used for cooperatively verifying whether voiceprint distance measurement and the prototype console are matched in control quantity of a front-back distance, then controlling the unmanned aerial vehicle to fly horizontally through the prototype console, judging whether space angle data is measured accurately, and finally, determining whether the unmanned aerial vehicle flies or not. Corresponding prototype position information and prototype speed information are calculated based on the accurate relative distance data and the space angle data, and then an adjustment basis is provided for the distance parameter, the angle parameter, the position parameter and the speed parameter; according to the method, the advantages of voiceprint distance measurement in linear distance and the advantages of image comparison in plane angle measurement are ingeniously utilized, and the linked data verification logic lines are matched, so that a standardized, rapid and automatic target calibration task can be realized only by means of simple equipment.

Description

Technical Field

[0001] The present invention relates to the technical field of image processing, and in particular to a rapid target calibration method and system for unmanned aerial vehicles. Background Art

[0002] With the advancement of science and technology and the development of the times, drones have been used in all aspects of our lives. While drones bring us convenience, we also need to manage them reasonably and effectively. In some places where low-altitude flight control is required, we are required to set up a drone identification system to achieve the purpose of orderly management.

[0003] There are many types of existing drone identification systems; among them, the drone system based on pure visual algorithms is the most widely used. It has the advantages of easy deployment, low hardware cost, simple software algorithm, and minimal interference to the surrounding environment (especially no electromagnetic interference), and is irreplaceable by other drone identification systems.

[0004] However, when UAV systems based on pure vision algorithms are deployed in different scenarios, they need to be calibrated one by one according to different environmental conditions in order to achieve accurate identification and rapid response tracking in different scenarios. However, the calibration process often involves parameter coordination among multiple parties.

[0005] The traditional calibration method relies on manual use of various instruments and equipment, combined with image feedback for repeated calibration. The disadvantage of this is that the calibration is subjective and relies on the calibrator's experience and judgment. The UAV system based on pure visual algorithms cannot directly provide reliable data feedback. Therefore, it often takes 3-5 days to complete the calibration (based on previous engineering experience).

[0006] Therefore, it is necessary to provide a rapid target calibration method and system for UAVs to solve the technical problems that the calibration of existing UAV systems based on pure visual algorithms relies on manual execution, the calibration time is slow, and the visual feedback data is unreliable. Summary of the invention

[0007] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a method and system for rapid target calibration of unmanned aerial vehicles, aiming to solve the technical problems that the calibration of existing unmanned aerial vehicle systems based on pure visual algorithms relies on manual execution, the calibration time is slow, and the visual feedback data is unreliable.

[0008] To achieve the above objectives, the present application proposes a rapid target calibration system for drones, which is used to calibrate drone targets for drone systems based on pure vision algorithms, including: A visual camera, used to collect low-altitude image data; wherein the low-altitude image data is used for pure visual algorithm recognition by the UAV system; A calibration prototype, used to perform a calibration flight mission; wherein the calibration prototype continuously generates a specific voiceprint signal when performing the calibration flight mission; A voiceprint collector is set up together with the visual camera and is used to collect voiceprint signals around the visual camera; Prototype control console, used to control the calibration prototype to perform calibration flight missions; Software monitoring station, used to monitor the parameter information of each software layer within the UAV system and record the timestamp; The calibration console is electrically connected to the visual camera, the voiceprint collector, the prototype console and the software monitoring console respectively, and generates a corresponding calibration flight mission according to the voiceprint signal and the low-altitude image data. When executing the calibration flight mission, the prototype position information and prototype speed information of the calibration prototype are analyzed through the voiceprint signal and the low-altitude image data, and the information is compared with the parameter information of the software layer to complete the corresponding target calibration task; Among them, the calibration console parses the spatial angle data through the low-altitude image data, and parses the relative distance data through the specific voiceprint signal; the spatial angle data and relative distance data are converted into the prototype position information, and the prototype speed information is obtained by combining the change of the prototype position information with the timestamp.

[0009] As a further solution, the calibration flight missions include linear away missions, linear approach missions, circling missions, plane lateral flight missions, space oblique angle flight missions, multi-type combination missions and custom route missions; wherein the multi-type combination missions are combinations of linear away missions, linear approach missions, circling missions, plane lateral flight missions and space oblique angle flight missions.

[0010] As a further solution, the target calibration task includes an initial verification task, a parameter adjustment task and a calibration verification task; wherein the initial verification task is used to verify whether the prototype position information and the prototype speed information of the analytical calibration prototype are credible; the parameter adjustment task is used to compare the prototype position information and the prototype speed information with the parameter information of the software layer, and adjust the error parameters to obtain the calibration parameter information; the calibration verification task is used to verify whether the calibration parameter information is credible.

[0011] On the other hand, the present invention provides a rapid target calibration method for a drone, using a rapid target calibration system for a drone as described in any one of the above items, comprising the following steps: Step 1: Start the calibration prototype to hover at low altitude and send out a specific voiceprint signal, and continuously obtain the voiceprint signal and low-altitude image data through the visual camera and voiceprint collector; Step 2: Calibration console control The calibration prototype is controlled through the prototype console to perform the calibration flight mission and read the voiceprint signal of the voiceprint collector and the low-altitude image data of the visual camera; Step 3: Perform the initial verification task to analyze whether the prototype position information and prototype speed information of the calibration prototype are credible; if credible, execute step 4, otherwise, fast target calibration cannot be performed; Step 4: Execute the parameter adjustment task. The calibration console reads the parameter information of the software layer through the software monitoring console, compares it with the prototype position information and prototype speed information of the analytical calibration prototype, and adjusts the error parameters to obtain the calibration parameter information calibration task; Step 5: Execute the calibration verification task. The UAV system parses the prototype position information and prototype speed information of the calibration prototype through the calibration parameter information. If the prototype position information and prototype speed information of the calibration prototype parsed by the calibration console match, the calibration verification is successful and a rapid target calibration is completed; otherwise, re-execute step 4. If the verification times exceed, the rapid target calibration fails.

[0012] As a further solution, the initial verification task is performed by the following steps: Perform initial voiceprint verification through the voiceprint collector, and proceed to the next step if the initial voiceprint verification is successful; Perform visual initial verification through a visual camera and execute the next step when the visual initial verification is successful; The initial line verification is performed through the voiceprint collector and the visual camera; if the verification is successful, the prototype position information and prototype speed information parsed by the calibration console are credible; otherwise, fast target calibration cannot be performed.

[0013] As a further solution, the initial voiceprint verification is performed through the following steps: The voiceprint signal is collected through the voiceprint collector; if a specific voiceprint signal is collected and the voiceprint wavelength is the same as the preset value, the next step is executed; otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to take the voiceprint collector as the origin and perform a linear away task or a linear approach task at a specified flight speed; The voiceprint collector continuously collects specific voiceprint signals when performing linear away tasks or linear approach tasks, and performs wavelength speed analysis to obtain the corresponding voiceprint analysis speed; Compare the specified flight speed and voiceprint analysis speed to see if they match; if so, proceed to the next step, otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to perform the hovering task in the air with the specified flight radius, taking the voiceprint collector as the origin; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to parse the relative distance data and compare it with the flight radius; if they are the same, the initial voiceprint verification is successful, otherwise, the initial voiceprint verification fails.

[0014] As a further solution, the visual initial verification is performed by the following steps: Collect low-altitude image data through a visual camera; if the calibration prototype image is collected and can be tracked normally, execute the next step; otherwise, the visual initial verification fails; The prototype console controls the calibration prototype to perform a plane horizontal flight mission or a space oblique flight mission at a specified flight distance with the visual camera as the origin; The visual camera continuously collects images of the calibration prototype when performing a plane horizontal flight mission or a space oblique flight mission, and analyzes and obtains the spatial angle data by comparing the upper and lower frame images; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to obtain relative distance data; The calibration console combines the origin position coordinates, spatial angle data, relative distance data and camera pitch angle data to calculate the prototype position information; Compare whether the change in the prototype position information matches the flight distance; if so, the visual initial verification is successful, otherwise, the visual initial verification fails.

[0015] As a further solution, the line initial verification is performed by the following steps: Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Analyze the prototype position information and spatial angle data of the calibration prototype through the calibration console; The speed information of the prototype is obtained by combining the change of the prototype position information with the timestamp; Match the position information of each prototype with the custom route, the custom speed with the prototype speed information, and the custom angle with the space angle data; Among them, if all match, the prototype position information and prototype speed information of the analyzed and calibrated prototype are credible; otherwise, the initial verification of the line fails.

[0016] As a further solution, the parameter adjustment task is performed by the following steps: Start the UAV system and monitor parameter information through the software monitoring console; The calibration console controls the calibration prototype through the prototype console to perform multiple types of combined tasks; When performing a linear away mission or a linear approach mission, the relative distance data is obtained through analysis, and the distance parameters of the UAV system are adjusted; When performing hovering missions or horizontal flight missions, the spatial angle data is obtained through analysis, and the angle parameters of the UAV system are adjusted; When performing space oblique angle flight missions, the relative distance data and space angle data are analyzed, and the prototype position information is calculated by combining the origin position coordinates, space angle data, relative distance data and camera pitch angle data; Adjust the position parameters of the UAV system through the prototype position information; By combining the changes in the prototype position information with the timestamp, the prototype speed information is obtained, and the speed parameters of the UAV system are adjusted.

[0017] As a further solution, the calibration verification task is performed by the following steps: Start the UAV system and monitor parameter information through the software monitoring console; Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Use the UAV system to identify and track the UAV target on the calibration prototype; Obtain the distance parameters, angle parameters, position parameters and speed parameters of the UAV system and compare them; Among them, if the distance parameter and position parameter custom line, the angle parameter and the custom angle, and the custom speed and speed parameters all match, the calibration verification is successful.

[0018] Compared with related technologies, the rapid target calibration method and system for UAVs provided by the present invention have the following advantages: The present invention cleverly utilizes the advantages of voiceprint ranging in linear distance and the strengths of image comparison in plane angle measurement, and combines it with an interlocking data verification logic line to achieve standardized, fast and automated target calibration tasks with only simple equipment (the prototype console, software monitoring console and calibration console can be set up through a computer). BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0021] Figure 1 A schematic diagram of the structure of a rapid target calibration system for unmanned aerial vehicles provided by the present invention; Figure 2 A schematic diagram of the steps of a rapid target calibration method for an unmanned aerial vehicle provided by the present invention.

[0022] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0024] See also Figure 1 The embodiment of the present application provides a rapid target calibration system for drones, which is used to perform drone target calibration on a drone system based on a pure visual algorithm, including: Visual camera, used to collect low-altitude image data; the low-altitude image data is used for pure visual algorithm recognition by the UAV system; A calibration prototype, used to perform a calibration flight mission; wherein the calibration prototype continuously generates a specific voiceprint signal when performing a calibration flight mission; A voiceprint collector is set up together with the visual camera and is used to collect voiceprint signals around the visual camera; Prototype control console, used to control the calibration prototype to perform calibration flight missions; Software monitoring station, used to monitor the parameter information of each software layer within the UAV system and record the timestamp; The calibration console is electrically connected to the visual camera, the voiceprint collector, the prototype console and the software monitoring console respectively, and generates a corresponding calibration flight mission according to the voiceprint signal and the low-altitude image data. When executing the calibration flight mission, the prototype position information and prototype speed information of the calibration prototype are analyzed through the voiceprint signal and the low-altitude image data, and the information is compared with the parameter information of the software layer to complete the corresponding target calibration task; Among them, the calibration console parses the spatial angle data through low-altitude image data, and parses the relative distance data through specific voiceprint signals; the spatial angle data and relative distance data are converted into prototype position information, and the prototype speed information is obtained by combining the changes in the prototype position information with the timestamp.

[0025] It should be noted that during the calibration process, the main thing is to calibrate and adjust the distance parameters, angle parameters, position parameters and speed parameters obtained by the UAV system after discovering the UAV, so that it can accurately obtain the corresponding parameter data, thereby meeting the UAV monitoring and positioning needs.

[0026] However, UAV systems based on pure visual algorithms can only obtain parameters through image differences due to the lack of other reliable data sources. Therefore, when calibrating UAV targets, it is often necessary to manually debug the parameters one by one, and the debugging methods are different, making it difficult to achieve fast and accurate target calibration.

[0027] The present invention conducts an in-depth analysis on this issue and finds that during the calibration process, the parameter that is prone to problems is mainly the distance parameter. The reason is that the pure vision algorithm identifies the distance by combining the target size with other image features (especially the monocular system). When the target size feature is not clear, the distance parameter obtained is also inaccurate.

[0028] In addition, although the front-to-back distance between the upper and lower frame images is not obvious, the distance when the plane moves will directly reflect the position difference of the image target, and the spatial angle data (that is, the spatial angle value) can be obtained. In other words, the spatial angle data can be obtained through the image.

[0029] Combined with the known origin position coordinates (visual camera), relative distance data and camera pitch angle data, the prototype position information can be calculated. Then, the time-varying state of the prototype position information can be calculated to obtain the corresponding prototype speed information, and the distance parameters, angle parameters, position parameters and speed parameters can be calibrated and adjusted.

[0030] According to the above analysis, the core of the problem becomes how to accurately measure the relative distance data and verify whether the measured spatial angle data is accurate. We need to accurately measure the relative distance data, which means we need to use external means, such as radar ranging, laser ranging and other technologies; among them, radar ranging requires the use of large radar equipment, which has high deployment costs, large volume, and signal interference, and is not suitable for complex electromagnetic scenes in cities. Laser ranging requires accurate projection onto the drone and accurate reception of the reflected laser, which requires high sensitivity and accuracy of the equipment.

[0031] To this end, the present invention performs distance measurement based on specific soundprint signals. The specific soundprint signals can be the sound generated by the drone itself during flight and related to the rotation speed of the wings, or can be specific audio played by installed speakers. Combined with the Doppler effect, accurate speed measurement can be achieved. Based on the known origin position coordinates and timestamp, the corresponding relative distance data can be calculated.

[0032] The Doppler effect is: the received frequency of the wave becomes higher when the wave source moves towards the observer, and the received frequency becomes lower when the wave source moves away from the observer; where, assuming that the wavelength of the original wave source is λ, the wave speed is c, and the observer's moving speed is v: when the observer approaches the wave source, the observed wave source frequency is (c+v) / λ, if the observer moves away from the wave source, the observed wave source frequency is (cv) / λ, therefore, when the wavelength and source frequency are known, we can calculate the corresponding moving speed v.

[0033] The advantage of doing this is that it can measure distance with simple equipment, and the propagation characteristics of the wave determine its outward diffusion. There is no need to locate the target. You only need to set the voiceprint collector to identify and collect specific voiceprint signals to obtain the wavelength and source frequency. Combined with the sound propagation speed of the specific voiceprint signal, you can calculate the moving speed of the calibration prototype (the linear moving speed of the origin position coordinates). However, when it comes to plane moving speed, the change is not obvious, but we can make up for this part through image recognition, thus forming a complete data verification logic line.

[0034] That is, the data verification logic line of this scheme is: first verify whether the control amount of the voiceprint ranging and the prototype console in the front and rear distance matches. If they match, it means that the voiceprint ranging is accurate and the prototype console can accurately control the calibrated prototype; based on this, the prototype console is used to control the UAV to fly horizontally in a plane, and judge whether the spatial angle data is accurately measured. Finally, the corresponding prototype position information and prototype speed information are calculated based on the accurate relative distance data and spatial angle data, thereby providing an adjustment basis for the distance parameters, angle parameters, position parameters and speed parameters.

[0035] Therefore, the calibration flight missions include linear away missions, linear approach missions, hovering missions, plane lateral flight missions, space oblique flight missions, multi-type combination missions and custom line missions; among them, The linear moving away task and the linear moving approach task, that is, the linear movement relative to the origin, can minimize the plane movement of the voiceprint ranging to the greatest extent. The hovering task is to hover with the origin as the center of the circle, mainly to judge whether the voiceprint ranging can accurately measure the hovering radius under different angles but the same distance.

[0036] The plane horizontal flight mission is to fly horizontally on a plane, which can directly affect the spatial angle value in the low-altitude image data to the greatest extent. The corresponding space oblique angle flight mission is to combine linear flight and lateral flight to fly at an oblique angle in the space position (performed when the relative distance data can be accurately measured). Multi-type combination tasks are to conduct comprehensive verification to determine whether the set parameter values ​​match the actual measured parameter values. Custom line tasks are to conduct comprehensive parameter exploration when adjusting parameters, so as to make comprehensive parameter adjustments.

[0037] Specifically, the target calibration task includes an initial verification task, a parameter adjustment task and a calibration verification task; wherein, the initial verification task is used to verify whether the prototype position information and prototype speed information of the analytical calibration prototype are credible; the parameter adjustment task is used to compare the prototype position information and prototype speed information with the parameter information of the software layer, and adjust the error parameters to obtain the calibration parameter information; the calibration verification task is used to verify whether the calibration parameter information is credible.

[0038] See also Figure 2 The present invention provides a method for rapid target calibration of unmanned aerial vehicles, using any of the above rapid target calibration systems for unmanned aerial vehicles, comprising the following steps: Step 1: Start the calibration prototype to hover at low altitude and send out a specific voiceprint signal, and continuously obtain the voiceprint signal and low-altitude image data through the visual camera and voiceprint collector; Step 2: Calibration console control The calibration prototype is controlled through the prototype console to perform the calibration flight mission and read the voiceprint signal of the voiceprint collector and the low-altitude image data of the visual camera; Step 3: Perform the initial verification task to analyze whether the prototype position information and prototype speed information of the calibration prototype are credible; if credible, execute step 4, otherwise, fast target calibration cannot be performed; Step 4: Execute the parameter adjustment task. The calibration console reads the parameter information of the software layer through the software monitoring console, compares it with the prototype position information and prototype speed information of the analytical calibration prototype, and adjusts the error parameters to obtain the calibration parameter information calibration task; Step 5: Execute the calibration verification task. The UAV system parses the prototype position information and prototype speed information of the calibration prototype through the calibration parameter information. If the prototype position information and prototype speed information of the calibration prototype parsed by the calibration console match, the calibration verification is successful and a rapid target calibration is completed; otherwise, re-execute step 4. If the verification times exceed, the rapid target calibration fails.

[0039] Specifically, the initial verification task is performed through the following steps: Perform initial voiceprint verification through the voiceprint collector, and proceed to the next step if the initial voiceprint verification is successful; Perform visual initial verification through a visual camera and execute the next step when the visual initial verification is successful; The initial line verification is performed through the voiceprint collector and the visual camera; if the verification is successful, the prototype position information and prototype speed information parsed by the calibration console are credible; otherwise, fast target calibration cannot be performed.

[0040] More specifically, the initial voiceprint verification is performed through the following steps: The voiceprint signal is collected through the voiceprint collector; if a specific voiceprint signal is collected and the voiceprint wavelength is the same as the preset value, the next step is executed; otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to take the voiceprint collector as the origin and perform a linear away task or a linear approach task at a specified flight speed; The voiceprint collector continuously collects specific voiceprint signals when performing linear away tasks or linear approach tasks, and performs wavelength speed analysis to obtain the corresponding voiceprint analysis speed; Compare the specified flight speed and voiceprint analysis speed to see if they match; if so, proceed to the next step, otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to perform the hovering task in the air with the specified flight radius, taking the voiceprint collector as the origin; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to parse the relative distance data and compare it with the flight radius; if they are the same, the initial voiceprint verification is successful, otherwise, the initial voiceprint verification fails.

[0041] Furthermore, visual initial verification is performed by the following steps: Collect low-altitude image data through a visual camera; if the calibration prototype image is collected and can be tracked normally, execute the next step; otherwise, the visual initial verification fails; The prototype console controls the calibration prototype to perform a plane horizontal flight mission or a space oblique flight mission at a specified flight distance with the visual camera as the origin; The visual camera continuously collects images of the calibration prototype when performing a plane horizontal flight mission or a space oblique flight mission, and analyzes and obtains the spatial angle data by comparing the upper and lower frame images; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to obtain relative distance data; The calibration console combines the origin position coordinates, spatial angle data, relative distance data and camera pitch angle data to calculate the prototype position information; Compare whether the change in the prototype position information matches the flight distance; if so, the visual initial verification is successful, otherwise, the visual initial verification fails.

[0042] Furthermore, the initial verification of the circuit is performed by the following steps: Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Analyze the prototype position information and spatial angle data of the calibration prototype through the calibration console; The speed information of the prototype is obtained by combining the change of the prototype position information with the timestamp; Match the position information of each prototype with the custom route, the custom speed with the prototype speed information, and the custom angle with the space angle data; Among them, if all match, the prototype position information and prototype speed information of the analyzed and calibrated prototype are credible; otherwise, the initial verification of the line fails.

[0043] In detail, the parameter adjustment task is performed through the following steps: Start the UAV system and monitor parameter information through the software monitoring console; The calibration console controls the calibration prototype through the prototype console to perform multiple types of combined tasks; When performing a linear away mission or a linear approach mission, the relative distance data is obtained through analysis, and the distance parameters of the UAV system are adjusted; When performing hovering missions or horizontal flight missions, the spatial angle data is obtained through analysis, and the angle parameters of the UAV system are adjusted; When performing space oblique-angle flight missions, the relative distance data and space angle data are analyzed, and the prototype position information is calculated by combining the origin position coordinates, space angle data, relative distance data and camera pitch angle data; Adjust the position parameters of the UAV system through the prototype position information; By combining the changes in the prototype position information with the timestamp, the prototype speed information is obtained, and the speed parameters of the UAV system are adjusted.

[0044] In more detail, the calibration verification task is performed through the following steps: Start the UAV system and monitor parameter information through the software monitoring console; Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Use the UAV system to identify and track the UAV target on the calibration prototype; Obtain the distance parameters, angle parameters, position parameters and speed parameters of the UAV system and compare them; Among them, if the distance parameter and position parameter custom line, the angle parameter and the custom angle, and the custom speed and speed parameters all match, the calibration verification is successful.

[0045] The above are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A rapid target calibration system for UAVs, used for UAV target calibration based on pure visual algorithm, characterized in that: include: A visual camera, used to collect low-altitude image data; wherein the low-altitude image data is used for pure visual algorithm recognition by the UAV system; A calibration prototype, used to perform a calibration flight mission; wherein the calibration prototype continuously generates a specific voiceprint signal when performing the calibration flight mission; A voiceprint collector is set up together with the visual camera and is used to collect voiceprint signals around the visual camera; Prototype control console, used to control the calibration prototype to perform calibration flight missions; Software monitoring station, used to monitor the parameter information of each software layer within the UAV system and record the timestamp; The calibration console is electrically connected to the visual camera, the voiceprint collector, the prototype console and the software monitoring console respectively, and generates a corresponding calibration flight mission according to the voiceprint signal and the low-altitude image data. When executing the calibration flight mission, the prototype position information and prototype speed information of the calibration prototype are analyzed through the voiceprint signal and the low-altitude image data, and the information is compared with the parameter information of the software layer to complete the corresponding target calibration task; Among them, the calibration console parses the spatial angle data through the low-altitude image data, and parses the relative distance data through the specific voiceprint signal; the spatial angle data and relative distance data are converted into the prototype position information, and the prototype speed information is obtained by combining the change of the prototype position information with the timestamp.

2. A rapid target calibration system for unmanned aerial vehicles according to claim 1, characterized in that: The calibration flight missions include linear away missions, linear approach missions, circling missions, plane lateral flight missions, space oblique angle flight missions, multi-type combination missions and custom route missions; wherein the multi-type combination missions are combinations of linear away missions, linear approach missions, circling missions, plane lateral flight missions and space oblique angle flight missions.

3. A rapid target calibration system for unmanned aerial vehicles according to claim 1, characterized in that: The target calibration task includes an initial verification task, a parameter adjustment task and a calibration verification task; wherein the initial verification task is used to verify whether the prototype position information and prototype speed information of the analytical calibration prototype are credible; the parameter adjustment task is used to compare the prototype position information and prototype speed information with the parameter information of the software layer, and adjust the error parameters to obtain the calibration parameter information; the calibration verification task is used to verify whether the calibration parameter information is credible.

4. A method for rapid target calibration of a UAV, using a rapid target calibration system for a UAV as claimed in any one of claims 1 to 3, characterized in that: The following steps are involved: Step 1: Start the calibration prototype to hover at low altitude and send out a specific voiceprint signal, and continuously obtain the voiceprint signal and low-altitude image data through the visual camera and voiceprint collector; Step 2: Calibration console control The calibration prototype is controlled through the prototype console to perform the calibration flight mission and read the voiceprint signal of the voiceprint collector and the low-altitude image data of the visual camera; Step 3: Perform the initial verification task to analyze whether the prototype position information and prototype speed information of the calibration prototype are credible; if credible, execute step 4, otherwise, fast target calibration cannot be performed; Step 4: Execute the parameter adjustment task. The calibration console reads the parameter information of the software layer through the software monitoring console, compares it with the prototype position information and prototype speed information of the analytical calibration prototype, and adjusts the error parameters to obtain the calibration parameter information calibration task; Step 5: Execute the calibration verification task. The UAV system parses the prototype position information and prototype speed information of the calibration prototype through the calibration parameter information. If the prototype position information and prototype speed information of the calibration prototype parsed by the calibration console match, the calibration verification is successful and a rapid target calibration is completed; otherwise, re-execute step 4. If the verification times exceed, the rapid target calibration fails.

5. A rapid target calibration method for a UAV according to claim 4, characterized in that: The initial verification task is performed through the following steps: Perform initial voiceprint verification through the voiceprint collector, and proceed to the next step if the initial voiceprint verification is successful; Perform visual initial verification through a visual camera and execute the next step when the visual initial verification is successful; Perform initial line verification through voiceprint collector and visual camera; If the verification is successful, the prototype position information and prototype speed information of the calibration prototype analyzed by the calibration console are credible; otherwise, fast target calibration cannot be performed.

6. A rapid target calibration method for a UAV according to claim 5, characterized in that: The initial voiceprint verification is performed through the following steps: The voiceprint signal is collected through the voiceprint collector; if a specific voiceprint signal is collected and the voiceprint wavelength is the same as the preset value, the next step is executed; otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to take the voiceprint collector as the origin and perform a linear away task or a linear approach task at a specified flight speed; The voiceprint collector continuously collects specific voiceprint signals when performing linear away tasks or linear approach tasks, and performs wavelength speed analysis to obtain the corresponding voiceprint analysis speed; Compare the specified flight speed and voiceprint analysis speed to see if they match; if so, proceed to the next step, otherwise, the initial voiceprint verification fails; The prototype console controls the calibration prototype to perform the hovering task in the air with the specified flight radius, taking the voiceprint collector as the origin; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to parse the relative distance data and compare it with the flight radius; if they are the same, the initial voiceprint verification is successful, otherwise, the initial voiceprint verification fails.

7. A rapid target calibration method for a UAV according to claim 6, characterized in that: The visual initial verification is performed by the following steps: Collect low-altitude image data through visual cameras; Among them, if the calibration prototype image is acquired and can be tracked normally, the next step is executed; otherwise, the initial visual verification fails; The prototype console controls the calibration prototype to perform a plane horizontal flight mission or a space oblique flight mission at a specified flight distance with the visual camera as the origin; The visual camera continuously collects images of the calibration prototype when performing a plane horizontal flight mission or a space oblique angle flight mission, and analyzes and obtains the spatial angle data by comparing the upper and lower frame images; The calibration console combines the origin position coordinates, voiceprint analysis speed and timestamp to obtain relative distance data; The calibration console combines the origin position coordinates, spatial angle data, relative distance data and camera pitch angle data to calculate the prototype position information; Compare whether the change in the position information of the prototype matches the flight distance; If so, the visual initial verification succeeds, otherwise, the visual initial verification fails.

8. A method for rapid target calibration of a UAV according to claim 7, characterized in that: The initial verification of the line is performed by the following steps: Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Analyze the prototype position information and spatial angle data of the calibration prototype through the calibration console; The speed information of the prototype is obtained by combining the change of the prototype position information with the timestamp; Match the position information of each prototype with the custom route, the custom speed with the prototype speed information, and the custom angle with the space angle data; Among them, if all match, the prototype position information and prototype speed information of the analyzed and calibrated prototype are credible; otherwise, the initial verification of the line fails.

9. A rapid target calibration method for a UAV according to claim 8, characterized in that: The parameter adjustment task is performed by the following steps: Start the UAV system and monitor parameter information through the software monitoring console; The calibration console controls the calibration prototype through the prototype console to perform multiple types of combined tasks; When performing a linear away mission or a linear approach mission, the relative distance data is obtained through analysis, and the distance parameters of the UAV system are adjusted; When performing hovering missions or horizontal flight missions, the spatial angle data is obtained through analysis, and the angle parameters of the UAV system are adjusted; When performing space oblique angle flight missions, the relative distance data and space angle data are analyzed, and the prototype position information is calculated by combining the origin position coordinates, space angle data, relative distance data and camera pitch angle data; Adjust the position parameters of the UAV system through the prototype position information; By combining the changes in the prototype position information with the timestamp, the prototype speed information is obtained, and the speed parameters of the UAV system are adjusted.

10. A rapid target calibration method for a UAV according to claim 9, characterized in that: The calibration verification task is performed through the following steps: Start the UAV system and monitor parameter information through the software monitoring console; Set the custom route, custom speed and custom angle used in the custom route mission; The prototype console controls the calibrated prototype to execute custom line tasks; Use the UAV system to identify and track the UAV target on the calibration prototype; Obtain the distance parameters, angle parameters, position parameters and speed parameters of the UAV system and compare them; Among them, if the distance parameter and position parameter custom line, the angle parameter and the custom angle, and the custom speed and speed parameters all match, the calibration verification is successful.

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