Flying dust scattering-based fragment group killing area night positioning system and method

Abstract

The invention discloses a fragment group killing area night positioning system and method based on flying dust scattering, and solves the problems that in the prior art, data acquisition and data processing need to consume a large amount of time, so that the real-time performance is poor, the method is only suitable for daytime measurement, and if image data of a fragment group killing area is acquired overnight, the real-time performance is poor. The problem of data distortion caused by the fact that a ground touching pit is buried by wind and sand is solved, a fragment group flies at an extremely high speed and completely impacts the ground in a short time, dust with the height of about 1 m is raised at the moment of touching the ground for a measurement site with a dry ground, and the horizontal projection area of the dust is consistent with the killing area of the fragment group. Therefore, a fragment group dust raising area is irradiated by adopting a mode of mutually splicing light-emitting view fields of a plurality of lasers, a laser scattering image of the fragment dust raising area is acquired in real time by utilizing an unmanned aerial vehicle holder, and the position and the coverage area of the dust raising area are calculated in real time through an airborne computer, so that the killing area of the fragment group can be positioned in real time.

Description

Technical Field

[0001] The present invention relates to a positioning system and method for the killing area of a fragment group, and particularly to a night positioning system and method for the killing area of a fragment group based on dust scattering. Background Art

[0002] The core killing parameters of fragments include flight speed, distribution density, and killing range. At present, the research work carried out in the measurement of the killing range is relatively lacking. The traditional method for measuring the killing range of a fragment group is the steel plate method, which infers the killing range of the fragment group by observing whether there are fragment holes on the scattered steel plates. This method has the advantages of intuitiveness and reliability, but it also has problems such as high labor cost, poor real-time performance, and limited coverage area.

[0003] With the progress of network technology and image technology, high-definition cameras or high-speed cameras are gradually used in the measurement site to observe the measurement area to judge whether the fragment group hits the target. This method has the advantage of being able to macroscopically judge in real time whether the fragment group hits the measurement area, but it cannot quantitatively give the killing range of the fragment group, and has certain limitations for the accurate determination of the killing range of the fragment group.

[0004] At present, the method of using an unmanned aerial vehicle (UAV) equipped with a polarization camera to scan the ground impact pits of the fragment group can measure the killing range of the fragment group. This method can relatively accurately give the killing range data of the fragment group, but because data acquisition and data processing consume a lot of time, the real-time performance of this method is greatly reduced, and this method is only applicable to daytime measurement. If data is collected overnight, there will be data distortion problems caused by the ground impact pits being buried by sand and dust. Summary of the Invention

[0005] In order to solve the technical problems of the prior art that due to the fact that data acquisition and data processing consume a lot of time, the real-time performance is poor, and it is only applicable to daytime measurement, and if the image data of the killing area of the fragment group is collected overnight, data distortion will be caused due to the ground impact pits being buried by sand and dust, the present invention provides a night positioning system and method for the killing area of a fragment group based on dust scattering.

[0006] The inventive concept of the present invention:

[0007] Since the flight speed of the fragment group is extremely fast, the fragment group will all impact the ground in a short time. For a measurement site with a relatively dry ground, when the fragment group touches the ground, dust with a height of about 1 m will be raised. The horizontal projection area of the dust is consistent with the killing area of the fragment group. Therefore, the present invention uses the method of splicing the light fields emitted by multiple lasers to irradiate the dust area of the fragment group, uses the UAV gimbal to collect the laser scattering images of the fragment dust area in real time, and calculates the position and coverage area of the dust area in real time through the on-board computer, so as to be able to locate the killing area of the fragment group in real time.

[0008] To achieve the above object and complete the above inventive concept, the present invention adopts the following technical solutions:

[0009] A night positioning system for the killing area of a fragment group based on dust scattering, characterized in that:

[0010] It includes a real-time kinematic (RTK) positioning instrument, M lasers, N coordinate marking lights, a camera, a drone and a pre-computer; M, N≥3 and are positive integers;

[0011] The RTK positioning instrument is used to determine the predetermined ground projection area of the fragment group and also to determine the physical coordinates of the N coordinate marking lights;

[0012] The M lasers are evenly arranged on the periphery of the predetermined ground projection area and are used to illuminate the sky above the predetermined ground projection area;

[0013] The N coordinate marking lights are evenly arranged on the periphery of the predetermined ground projection area and are located outside the M lasers;

[0014] The camera is installed on the drone and is used to capture the dust image including the N coordinate marking lights and the predetermined ground projection area;

[0015] The drone is used to carry and adjust the pose of the camera so that its field of view can cover the N coordinate marking lights and the predetermined ground projection area;

[0016] The pre-computer is connected to the camera and is used to locate the killing area of the fragment group through the dust image captured by the camera and the physical coordinates of the N coordinate marking lights.

[0017] Further, the emitted light of the laser is fan-shaped laser;

[0018] The centers of the emission ends of the M lasers are located on the same horizontal plane, so that the M fan-shaped lasers are on the same horizontal plane.

[0019] Further, M = N = 4, and the marking lights emitted by the 4 coordinate marking lights have different colors.

[0020] Further, the colors of the marking lights emitted by the 4 coordinate marking lights are yellow, blue, purple and green respectively;

[0021] The fan-shaped lasers emitted by the 4 lasers are all red light.

[0022] Further, the 4 coordinate marking lights are respectively located on the extension lines of the connecting lines between the 4 lasers and the predetermined ground projection point of the predetermined explosion center within the predetermined ground projection area.

[0023] Further, the drone includes a flight unit, a front communication module disposed on and connected to the flight unit, and a control unit disposed in a remote test room and fiber-optically connected to the front communication module;

[0024] The camera is disposed on the flight unit and connected to the front communication module;

[0025] The front computer is connected to the control unit.

[0026] A method for nighttime positioning of the fragmentation cluster killing area based on dust scattering, using the above-mentioned nighttime positioning system for the fragmentation cluster killing area based on dust scattering, is characterized in that it includes the following steps:

[0027] Step 1: Use a real-time kinematic (RTK) positioning instrument to determine the predetermined ground projection area of the fragmentation cluster;

[0028] Step 2: Uniformly distribute M lasers around the periphery of the predetermined ground projection area, start the M lasers so that they can illuminate the sky above the predetermined ground projection area, then the emitted light of the lasers can scatter with the dust in the sky above the predetermined ground projection area, and the scattered area is the dust area;

[0029] Step 3: Uniformly distribute N coordinate identification lights around the periphery of the M lasers, and make the identification light emitted by each coordinate identification light perpendicular to the ground and the emission direction facing the sky;

[0030] Step 4: Start the N coordinate identification lights, use the real-time kinematic (RTK) positioning instrument to obtain the physical coordinates of the N coordinate identification lights, and send them to the front computer;

[0031] Step 5: Deploy and take off the drone, adjust its pose so that the camera's field of view can cover the N coordinate identification lights;

[0032] Step 6: Use the camera to take real-time pictures of the N coordinate identification lights and the predetermined ground projection area surrounded by them, and send the taken pictures to the front computer in real time;

[0033] Step 7: The front computer identifies the dust image with a dust area from the obtained images, calculates the physical coordinates and coverage area of the edge of the dust area in the dust image through the physical coordinates of the N coordinate identification lights, and realizes the positioning of the killing area of the fragmentation cluster.

[0034] Further, step 2 is specifically: Uniformly distribute 4 lasers around the periphery of the predetermined ground projection area, start and adjust the 4 lasers so that the 4 fan-shaped lasers emitted by the 4 lasers are on the same horizontal plane; at the same time, make the 4 fan-shaped lasers able to illuminate the sky above the predetermined ground projection area together, then the 4 fan-shaped lasers can scatter with the dust in the sky above the predetermined ground projection area, and the scattered area is the dust area;

[0035] Step 3 specifically is to evenly arrange 4 coordinate identification lights around 4 lasers, such that the 4 coordinate identification lights are respectively located on the extension lines of the lines connecting the 4 lasers and the projected point of the predetermined ground projection area corresponding to the predetermined ground zero point, and to make the identification light emitted by each coordinate identification light perpendicular to the ground, with the emission direction facing the sky.

[0036] Further, step 7 specifically includes:

[0037] 7.1. The front-end computer identifies the dust-raising image with a dust-raising area from the acquired images, obtains the identification pixel points corresponding to N coordinate identification lights in the dust-raising image, and determines the transformation relationship between the identification pixel points and the physical coordinates of the N coordinate identification lights;

[0038] 7.2. Based on the affine transformation method, the obliquely viewed dust-raising image is converted into a frontally viewed dust-raising image, and the dust-raising pixel points corresponding to the edge of the dust-raising area in the frontally viewed dust-raising image are identified;

[0039] 7.3. According to the physical coordinates of the N coordinate identification lights, the transformation relationship, and the dust-raising pixel points, the physical coordinates and the coverage area of the edge of the dust-raising area are calculated, so as to realize the positioning of the killing area of the fragment group.

[0040] Further, step 5 specifically is:

[0041] The flight end of the unmanned aerial vehicle, the camera and the front-end communication module arranged on the flight end are arranged in a safe area near the coordinate identification lights, the control end of the unmanned aerial vehicle is arranged in a remote test room, and the control end is connected to the front-end communication module through an optical fiber; the flight end is controlled by the control end to take off and adjust its pose, so that the camera field of view can cover N coordinate identification lights.

[0042] Advantages of the present invention:

[0043] 1. A night positioning system and method for the killing area of a fragment group based on dust-raising scattering provided by the present invention has the advantage of being able to acquire the image data of the killing area of the fragment group at night. Due to the poor light conditions at night, the existing high-speed photography or unmanned aerial vehicle photography method cannot acquire the pictures of the killing area of the fragment group when it touches the ground. The present invention uses line laser to irradiate the dust raised when the fragment group touches the ground, and realizes the visualization of the killing area of the fragment group by using the scattered light of the dust-raising, creating conditions for the acquisition of the image data of the killing area of the fragment group.

[0044] 2. The fragment group killing area night positioning system and method provided by the present invention have the advantages of calculating the geographical coordinates and coverage area of the fragment group killing area. In the prior art, since the calibration plate image cannot be captured at night, the photogrammetry platform cannot calculate the geographical coordinates and coverage area of the fragment group killing area. The present invention combines a coordinate identification lamp and a real-time kinematic (RTK) positioning instrument to obtain the conversion relationship between the dust pixel points in the dust image captured by the unmanned aerial vehicle (UAV) and the physical coordinates of the coordinate identification lamp, and extracts the edge pixel points of the dust area, realizing the accurate calculation of the geographical coordinates and coverage area of the fragment group killing area.

[0045] 3. The fragment group killing area night positioning system and method provided by the present invention have the advantage of real-time processing of the image data of the fragment group killing area at night. The existing photogrammetry methods all process the image data through the processes of data acquisition, data transmission, key frame extraction, and image recognition, which not only occupy a large amount of data transmission bandwidth but also cannot obtain the data of the fragment group killing range in real time. The present invention uses the UAV flight end to connect to a front-end computer to process the image data in real time. The front-end computer processes each frame of the dust image in real time through processes such as identification of the pixel points of the identification lamp, affine transformation, dust edge recognition, and killing area calculation, realizing the function of immediate acquisition and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] Figure 1 is a schematic structural diagram of an embodiment of the fragment group killing area night positioning system based on dust scattering according to the present invention; wherein, a is an oblique view captured by the UAV, and b is a front view after affine transformation; Figure 1 does not include a real-time kinematic (RTK) positioning instrument;

[0047] Figure 2 is a schematic diagram of the affine transformation in step 7.2 of the embodiment of the present invention;

[0048] Figure 3 is the effect diagram of the affine transformation and recognition in step 7.2 of the embodiment of the present invention.

[0049] Reference Numerals in the Drawings:

[0050] 1 - Laser, 11 - Fan-shaped laser, 2 - Coordinate identification lamp, 3 - Unmanned aerial vehicle (UAV), 4 - Predetermined ground projection area, 41 - Predetermined explosion center projection point. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0051] The technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings and embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0052] A fragment group kill area night positioning system based on dust scattering provided by an embodiment of the present invention, as Figure 1 shown, includes a real-time kinematic (RTK) positioning device, M lasers 1, N coordinate identification lights 2, a camera, a drone 3, and a front-end computer; M, N ≥ 3 and are positive integers; in this embodiment, M = N = 4.

[0053] The real-time kinematic positioning device is used to determine the predetermined ground projection area 4 of the fragment group, and is also used to determine the physical coordinates of the four coordinate identification lights 2.

[0054] The four lasers 1 are evenly arranged on the periphery of the predetermined ground projection area 4, and are used to illuminate the sky above the predetermined ground projection area 4; the emitted light of the four lasers 1 is a fan-shaped laser 11 with uniform brightness; the centers of the emission ends of the four lasers 1 are located on the same horizontal plane, so that the four fan-shaped lasers 11 are located on the same horizontal plane. The fan-shaped lasers 11 emitted by the four lasers 1 are all red light. When the fan-shaped laser 11 is incident on the edge of the dust raised by the fragments hitting the ground, a strong scattering phenomenon will occur, and the scattered light can effectively identify the edge of the dust raised by the fragments hitting the ground on the image.

[0055] The four coordinate identification lights 2 are evenly arranged on the periphery of the four lasers 1, and are located on the extension lines of the connections between the four lasers 1 and the predetermined ground zero projection point 41 in the predetermined ground projection area 4. The four coordinate identification lights 2 can emit surface light consistent with the shape of the calibration board, and the relationship between all pixel points on the image and the physical coordinates can be obtained through their physical coordinates. The identification lights emitted by the four coordinate identification lights 2 have different colors, which are yellow, blue, purple, and green in clockwise order.

[0056] The camera is installed on the flight end of the drone 3 and is used to capture the dust image including the four coordinate identification lights 2 and the predetermined ground projection area 4.

[0057] The drone 3 includes a flight end, a front-end communication module arranged on the flight end and connected to the flight end, and a control end arranged in a remote test room and fiber-optically connected to the front-end communication module; the camera is arranged on the flight end and is connected to the front-end communication module; the flight end can carry the camera and hover around the strike range of the fragment group, and by tilting and adjusting the pose of the camera, its field of view can cover the four coordinate identification lights 2 and the predetermined ground projection area 4.

[0058] The front-end computer is connected to the camera and the control end, and is used to locate the kill area of the fragment group through the dust image captured by the camera and the physical coordinates of the four coordinate identification lights 2.

[0059] The method for night positioning using the above-mentioned fragment group kill area night positioning system includes the following steps:

[0060] Step 1: Use a real-time kinematic (RTK) positioning instrument to determine the predetermined ground projection area 4 of the fragment group.

[0061] Step 2: Deploy the lasers:

[0062] Uniformly deploy the four lasers 1 around the periphery of the predetermined ground projection area 4. Start the four lasers 1 in sequence, and adjust the level, pitch angle, and spatial angle of the four lasers 1 so that the four fan-shaped lasers 11 emitted by the four lasers 1 are on the same horizontal plane; at the same time, ensure that the four fan-shaped lasers 11 can illuminate the airspace above the predetermined ground projection area 4 together, so that the four fan-shaped lasers 11 can scatter with the dust in the airspace above the predetermined ground projection area 4, and the scattered area is the dust area.

[0063] Step 3: Deploy the identification lights:

[0064] Uniformly deploy the four coordinate identification lights 2 around the periphery of the four lasers 1, so that the four coordinate identification lights 2 are respectively located on the extension lines of the connections between the four lasers 1 and the predetermined ground zero projection point 41 within the predetermined ground projection area 4, and the distance between the coordinate identification light 2 and the corresponding laser 1 is 1 m. Also, ensure that the identification light emitted by each coordinate identification light 2 is perpendicular to the ground and the emission direction is towards the sky. The colors of the four coordinate identification lights 2 are yellow, blue, purple, and green in sequence, and they are deployed in a clockwise direction.

[0065] Step 4: Start the four coordinate identification lights 2, use the real-time kinematic (RTK) positioning instrument to obtain the physical coordinates of the four coordinate identification lights 2, and send them to the front-end computer.

[0066] Step 5: Deploy the unmanned aerial vehicle (UAV):

[0067] Deploy the flight end of the UAV 3, the camera and the front-end communication module set on the flight end, in a safe area near the coordinate identification lights 2. Place the control end of the UAV 3 in the remote test room, and connect the control end and the front-end communication module through an optical fiber; the flight end and the front-end communication module transmit flight control instructions and video transmission signals wirelessly; control the flight end to take off and adjust its pose through the control end so that the camera's field of view can cover the four coordinate identification lights 2.

[0068] Then, check whether the lasers 1 and the coordinate identification lights 2 can emit light normally; start the UAV 3, check whether the communication between the flight end, the front-end computer, the front-end communication module, and the control end is normal, check whether the battery power of the flight end is sufficient, and check whether the pitch and rotation of the pan-tilt head for installing the camera are normal; after checking and confirming that everything is normal, the personnel evacuate to the remote test room.

[0069] Step 6: Use the camera to take real-time pictures of the four coordinate identification lights 2 and the predetermined ground projection area 4 they enclose, obtain multiple frames of dust images, and send them to the front-end computer in real time.

[0070] Step 7: The front computer identifies each frame of the dust image to determine whether there is a dust area in the obtained dust image. If there is no dust area, no further processing is performed; if there is a dust area, the physical coordinates and coverage area of the edge of the dust area in the dust image are calculated through the physical coordinates of the four coordinate identification lights 2 in the dust image, so as to locate the killing area of the fragment group. Specifically, it includes:

[0071] 7.1 The front computer identifies the dust image with a dust area from the obtained images, obtains the identification pixel points corresponding to the four coordinate identification lights in the dust image, and determines the transformation relationship between the identification pixel points and the physical coordinates of the four coordinate identification lights.

[0072] 7.2 As shown in Figure 2 and Figure 3 , the skew dust image is converted into a frontal dust image based on the affine transformation method, and the dust pixel points corresponding to the edge of the dust area in the frontal dust image are identified.

[0073] As shown in Figure 2 , when the skew view a is converted into the front view b through the affine transformation method, the vertices T1'-T4' correspond to T1-T4 respectively.

[0074] 7.3 Calculate the physical coordinates and coverage area of the edge of the dust area based on the physical coordinates of the four coordinate identification lights, the transformation relationship, and the dust pixel points, so as to locate the killing area of the fragment group.

[0075] Equipment withdrawal: After the experiment, land the UAV flight end at the take-off point; after confirming safety, personnel enter the experimental area to recover the flight end, the front communication module, the identification lights, and the laser.

[0076] The above is only the specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any change or replacement within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A night positioning system for the fragmentation cluster killing area based on dust scattering, characterized in that: It includes a real-time kinematic positioning instrument, M lasers (1), N coordinate identification lights (2), a camera, a drone (3) and a front-end computer; M, N≥3 and are positive integers; The real-time kinematic positioning instrument is used to determine the predetermined ground projection area (4) of the fragmentation cluster, and is also used to determine the physical coordinates of the N coordinate identification lights (2); The M lasers (1) are evenly arranged on the periphery of the predetermined ground projection area (4) and are used to illuminate the sky above the predetermined ground projection area (4); The N coordinate identification lights (2) are evenly arranged on the periphery of the predetermined ground projection area (4) and are located outside the M lasers (1); The camera is installed on the drone (3) and is used to capture the dust image including the N coordinate identification lights (2) and the predetermined ground projection area (4); The drone (3) is used to carry and adjust the pose of the camera so that its field of view can cover the N coordinate identification lights (2) and the predetermined ground projection area (4); The front-end computer is connected to the camera and is used to locate the killing area of the fragmentation cluster through the dust image captured by the camera and the physical coordinates of the N coordinate identification lights (2).

2. The night positioning system for the fragmentation cluster killing area based on dust scattering according to claim 1, characterized in that: The emitted light of the laser (1) is fan-shaped laser light (11); The centers of the emission ends of the M lasers (1) are located on the same horizontal plane, so that the M fan-shaped laser lights (11) are located on the same horizontal plane.

3. The night positioning system for the fragmentation cluster killing area based on dust scattering according to claim 1 or 2, characterized in that: M = N = 4, and the identification lights emitted by the 4 coordinate identification lights (2) have different colors.

4. The night positioning system for the fragmentation cluster killing area based on dust scattering according to claim 3, characterized in that: The colors of the identification lights emitted by the 4 coordinate identification lights (2) are yellow, blue, purple and green respectively; The fan-shaped laser lights (11) emitted by the 4 lasers (1) are all red light.

5. The night positioning system for the fragmentation cluster killing area based on dust scattering according to claim 4, characterized in that: The 4 coordinate identification lights (2) are respectively located on the extension lines of the connections between the 4 lasers (1) and the predetermined ground zero projection point (41) within the predetermined ground projection area (4).

6. The night positioning system for the fragmentation cluster killing area based on dust scattering according to claim 5, characterized in that: The drone (3) includes a flight end, a front-end communication module arranged on the flight end and connected to the flight end, and a control end arranged in a remote test room and fiber-optically connected to the front-end communication module; The camera is arranged on the flight end and is connected to the front-end communication module; The front-end computer is connected to the control end.

7. A method for nighttime positioning of the fragmentation cluster killing area based on dust scattering, which uses the nighttime positioning system for the fragmentation cluster killing area based on dust scattering according to any one of claims 1-6, characterized in that, It includes the following steps: Step 1, use the real-time kinematic positioning instrument to determine the predetermined ground projection area (4) of the fragmentation cluster; Step 2: Uniformly arrange M lasers (1) around the periphery of the predetermined ground projection area (4), and start the M lasers (1) so that they can illuminate the sky above the predetermined ground projection area (4). Then, the emitted light of the lasers (1) can scatter with the dust in the sky above the predetermined ground projection area (4), and the area where the scattering occurs is the dust area; Step 3: Uniformly arrange N coordinate identification lights (2) around the periphery of the M lasers (1), and make the identification light emitted by each coordinate identification light (2) perpendicular to the ground, with the emission direction facing the sky; Step 4: Start the N coordinate identification lights (2), use a real-time kinematic (RTK) positioning instrument to obtain the physical coordinates of the N coordinate identification lights (2), and send them to the front-end computer; Step 5: Deploy and take off the unmanned aerial vehicle (3), and adjust its pose so that the camera field of view can cover the N coordinate identification lights (2); Step 6: Use the camera to take real-time pictures of the N coordinate identification lights (2) and the predetermined ground projection area (4) surrounded by them, and send the taken images to the front-end computer in real time; Step 7: The front-end computer identifies the dust image with a dust area from the obtained images, calculates the physical coordinates and coverage area of the edge of the dust area in the dust image through the physical coordinates of the N coordinate identification lights (2), and realizes the positioning of the fragmentation cluster's killing area.

8. The method for nighttime positioning of the fragmentation cluster's killing area based on dust scattering according to claim 7, characterized in that: Step 2 specifically is to uniformly arrange 4 lasers (1) around the periphery of the predetermined ground projection area (4), start and adjust the 4 lasers (1) so that the 4 fan-shaped lasers (11) emitted by the 4 lasers (1) are on the same horizontal plane; at the same time, make the 4 fan-shaped lasers (11) able to illuminate the sky above the predetermined ground projection area (4) together. Then, the 4 fan-shaped lasers (11) can scatter with the dust in the sky above the predetermined ground projection area (4), and the area where the scattering occurs is the dust area; Step 3 specifically is to uniformly arrange 4 coordinate identification lights (2) around the periphery of the 4 lasers (1), make the 4 coordinate identification lights (2) respectively located on the extension lines of the lines connecting the 4 lasers (1) and the predetermined ground zero projection point (41) in the predetermined ground projection area (4), and make the identification light emitted by each coordinate identification light (2) perpendicular to the ground, with the emission direction facing the sky.

9. The method for night positioning of the fragmentation cluster killing area based on dust scattering according to claim 8, wherein Step 7 specifically includes: 7.1 The front-end computer identifies the dust image with a dust area from the obtained images, obtains the identification pixel points corresponding to the N coordinate identification lights (2) in the dust image, and determines the transformation relationship between the identification pixel points and the physical coordinates of the N coordinate identification lights (2); 7.2 Based on the affine transformation method, convert the oblique dust image into a frontal dust image, and identify the dust pixel points corresponding to the edge of the dust area in the frontal dust image; 7.3 Calculate the physical coordinates and coverage area of the edge of the dust area according to the physical coordinates of the N coordinate identification lights, the transformation relationship, and the dust pixel points, and realize the positioning of the fragmentation cluster's killing area.

10. The method for nighttime positioning of the fragmentation cluster killing area based on dust scattering according to claim 9, characterized in that, Step 5 specifically is: Deploy the flight end of the drone (3), the camera and the pre-communication module arranged on the flight end in a safe area near the coordinate identification lamp (2), deploy the control end of the drone (3) in the remote test room, and connect the control end and the pre-communication module through an optical fiber; control the flight end to take off and adjust its pose through the control end so that the camera field of view can cover N coordinate identification lamps (2).

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