CN105676865B - Method for tracking target, device and system - Google Patents
Method for tracking target, device and system Download PDFInfo
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Abstract
The present invention relates to a kind of method for tracking target, device and system, wherein the method for tracking target includes：Reference frame is established according to the location information of target subject and aircraft, is obtained under the reference frame from the target subject to the first position vector of the aircraft；According to the current pose information of the aircraft, calculate under the reference frame from the aerial position of the aircraft to the direction vector of holder position；It according to direction vector described in the first position vector sum, calculates under the reference frame from the target subject to the second position vector of the holder position, and is the targeted attitude information of the aircraft by the second position vector median filters；According to the current pose information and targeted attitude information of the aircraft, target control amount is obtained, the target control amount is used to indicate the adjustment amount to holder motion control.Tracking accuracy of the present invention is high, can be realized round-the-clock autonomous tracking.
Description
Technical field
The present invention relates to unmanned vehicle technical field more particularly to a kind of method for tracking target, device and system.
Background technique
Unmanned vehicle (also referred to as unmanned plane, unmanned vehicle etc.) is a kind of with wireless remotecontrol or certainly
Unmanned aircraft under main, semi-autonomous process control.Since cost is relatively low for it, risk that no one was injured, mobility is good etc.
Advantage is widely used in fields such as all kinds of Aerial photographies, geological survey, line data-logging, emergency management and rescue.Wherein, unmanned plane with
By means of its unique motor-driven advantage, it is widely used in Aerial photography.As intellectualized technology develops, people are to unmanned vehicle
More stringent requirements are proposed for intelligent function, such as unmanned plane is required to automatically track target subject.
It is, in general, that aircraft is to position realization by visual sensor or based on GPS standard to the tracking of target.
Such as the scheme of patent application CN105100728A, patent CN103149939B, use visual sensor as target following
Sensor.The scheme of patent application CN104965522A is to position to realize based on GPS standard.
But existing video recognition system constitutes complexity, in the feelings that sight is blocked in short-term or targeted cache moves
Algorithm can lose target under condition, there is certain limitation.Using visual sensor as target following sensor, track algorithm
It is tediously long, it is unfavorable for the unmanned aerial vehicle onboard system integration.Target Tracking System positioning and tracking accuracy based on GPS positioning be not high, difficult
To realize influence steady lock of the target subject in capture apparatus.
Summary of the invention
Technical problem
In view of this, the technical problem to be solved by the present invention is to provide the new method for tracking target of one kind, device and be
System, can be improved the positioning and tracking accuracy of unmanned plane in shooting process.
Solution
In order to solve the above technical problem, the present invention provides a kind of method for tracking target, including：
Establish reference frame according to the location information of target subject and aircraft, obtain under the reference frame from
First position vector of the target subject to the aircraft；
According to the current pose information of the aircraft, calculate under the reference frame from the antenna of the aircraft
Direction vector of the position to holder position；
According to direction vector described in the first position vector sum, calculate under the reference frame from the mesh shot
The second position vector of the holder position is marked, and is the targeted attitude of the aircraft by the second position vector median filters
Information；
According to the current pose information and targeted attitude information of the aircraft, target control amount, the target control are obtained
Amount processed is used to indicate the adjustment amount to holder motion control.
For the above method, in one possible implementation, built according to the location information of target subject and aircraft
Vertical reference frame obtains under the reference frame from the target subject to the first position vector of the aircraft,
Including：
Location information of the target subject under geographic coordinate system is obtained from the GNSS beacon of the target subject；
Location information of the aircraft under geographic coordinate system is obtained from the GNSS receiver and antenna of the aircraft；
The reference is established according to the location information of the target subject and the aircraft under the geographic coordinate system
Coordinate system obtains the first position vector.
For the above method, in one possible implementation, according to the target subject and the aircraft in institute
It states the location information under geographic coordinate system and establishes the reference frame, obtain the first position vector, including：
According to location information P of the target subject under the geographic coordinate systemt(lont,latt,heit) and it is described
Location information P under geographic coordinate system described in aircraftu(lonu,latu,heiu), the reference is established using following formula 1 and formula 2
Coordinate system obtains the first position vector A1(x1,y1,z1),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth long axis
Radius, c are earth minor axis radius, and lon indicates that longitude, lat indicate that dimension, hei indicate height, and t indicates the target subject, u
Indicate that the aircraft, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under the reference frame.
For the above method, in one possible implementation, according to the current pose information of the aircraft, calculate
From the aerial position of the aircraft to the direction vector of holder position under the reference frame, including：
The current pose information of the aircraft is obtained from attitude transducer；
According to the current pose information of the aircraft, calculate under the reference frame from the antenna of the aircraft
Direction vector of the phase center to the holder centre of motion.
For the above method, in one possible implementation, according to the current pose information of the aircraft, calculate
From the antenna phase center of the aircraft to the direction vector in the holder centre of motion under the reference frame, including：
According to the current pose information Atti of the aircraftu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5,
It calculates under the reference frame from the antenna phase center of the aircraft to the direction vector dA ' in the holder centre of motion
(dx ', dy ', dz '),
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos
(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos
(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos
(Rollu)) formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuTable
Show the current yaw angle of aircraft u, sin () indicates SIN function；
DA (dx, dy, dz) indicate antenna phase center to the holder centre of motion direction vector the aircraft machine
Coordinate value under body coordinate system.
For the above method, in one possible implementation, sweared according to direction described in the first position vector sum
Amount calculates under the reference frame from the target subject to the second position vector of the holder position, and will be described
Second position vector median filters are the targeted attitude information of the aircraft, including：
According to the first position vector A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ', dy ', dz '),
Calculate the second position vector A from the target subject to the holder centre of motion2=(x2,y2,z2)=(A1+dA')；
It is the target appearance under body coordinate system of the aircraft by the second position vector median filters using following formula 6
State information Attic(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2
|)) formula 6,
Wherein, arcsin () is arcsin function.
For the above method, in one possible implementation, according to the current pose information and mesh of the aircraft
Posture information is marked, target control amount is obtained, including：
According to the current pose information Atti of the aircraftu(Pitchu,Rollu,Yawu) and targeted attitude information, it adopts
The target control amount Output of three axis holders is obtained with following formula 7,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
The present invention also provides a kind of target trackers, including：
First position vector module is obtained for establishing reference frame according to the location information of target subject and aircraft
To under the reference frame from the target subject to the first position vector of the aircraft；
Direction vector module calculates under the reference frame for the current pose information according to the aircraft
From the aerial position of the aircraft to the direction vector of holder position；
Second position vector module is used for the direction vector according to the first position vector sum, described with reference to seat
Mark system is lower to be calculated from the target subject to the second position vector of the holder position, and by the second position vector median filters
For the targeted attitude information of the aircraft；
Control amount module obtains target control for the current pose information and targeted attitude information according to the aircraft
Amount processed, the target control amount are used to indicate the adjustment amount to holder motion control.
For above-mentioned apparatus, in one possible implementation, the first position vector module is also used to from described
The GNSS beacon of target subject obtains location information of the target subject under geographic coordinate system；From the GNSS of the aircraft
Receiver and antenna obtain location information of the aircraft under geographic coordinate system；According to the target subject and the flight
Location information of the device under the geographic coordinate system establishes the reference frame, obtains the first position vector.
For above-mentioned apparatus, in one possible implementation, the first position vector module is also used to according to institute
State location information P of the target subject under the geographic coordinate systemt(lont,latt,heit) and the aircraft described in geography
Location information P under coordinate systemu(lonu,latu,heiu), the reference frame is established using following formula 1 and formula 2, is obtained described
First position vector A1(x1,y1,heiu-heit),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth long axis
Radius, c are earth minor axis radius, and lon indicates that longitude, lat indicate that dimension, hei indicate height, and t indicates the target subject, u
Indicate that the aircraft, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under the reference frame.
For above-mentioned apparatus, in one possible implementation, the direction vector module is also used to sense from posture
Device obtains the current pose information of the aircraft；According to the current pose information of the aircraft, calculate described with reference to seat
From the antenna phase center of the aircraft to the direction vector in the holder centre of motion under mark system.
For above-mentioned apparatus, in one possible implementation, the direction vector module is also used to be flown according to described
The current pose information Atti of row deviceu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5, calculate in the reference coordinate
Direction vector dA ' (dx ', dy ', dz ') under system from the antenna phase center of the aircraft to the holder centre of motion,
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos
(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos
(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos
(Rollu)) formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuTable
Show the current yaw angle of aircraft u, sin () indicates SIN function；
DA (dx, dy, dz) indicate antenna phase center to the holder centre of motion direction vector the aircraft machine
Coordinate value under body coordinate system.
For above-mentioned apparatus, in one possible implementation, the second position vector module is also used to according to institute
State first position vector A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ', dy ', dz '), calculate from described shot
Second position vector A of the target to the holder centre of motion2=(x2,y2,z2)=(A1+dA')；Using following formula 6, by the second
Set the targeted attitude information Atti under body coordinate system that vector median filters are the aircraftc(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2
|)) formula 6,
Wherein, arcsin () is arcsin function.
For above-mentioned apparatus, in one possible implementation, the control amount module is also used to according to the flight
The current pose information Atti of deviceu(Pitchu,Rollu,Yawu) and targeted attitude information, three axis holders are obtained using following formula 7
Target control amount Output,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
The present invention also provides a kind of Target Tracking Systems of unmanned vehicle, including are set to described unmanned winged
The cradle head controllor of row device and the positioning device for being set to target subject, wherein the cradle head controllor is implemented using the present invention
The target tracker of any one structure in example.
For above system, in one possible implementation, the positioning device of the target subject is GNSS beacon,
The GNSS beacon is used to obtain the location information of the target subject；
The Target Tracking System further includes：
Airborne GNSS receiver and antenna, the position that the unmanned vehicle is obtained by receiving GNSS signal are believed
Breath；
Attitude transducer, for detecting the posture information of the unmanned vehicle；
Holder and capture apparatus, the holder are used to control the shooting posture for the capture apparatus being installed on the holder；
The cradle head controllor is communicated with the GNSS receiver and antenna, the GNSS beacon and the attitude transducer
Letter, for receiving the location information of the unmanned vehicle from the GNSS receiver and antenna, from the GNSS beacon
The location information for receiving the target subject receives the posture information of the unmanned vehicle from attitude transducer；
The cradle head controllor is also connect with the holder, for sending target control amount to the holder, to control
State the shooting posture of the capture apparatus on holder.
Beneficial effect
The present invention is sensed according to acquired positional information calculation space points relationship in combination with unmanned aerial vehicle onboard
The attitude of flight vehicle that device obtains determines the holder output of capture apparatus, the tracking of target subject is realized, due to considering fuselage height
The influence to track algorithm is spent, tracking accuracy is high, can be realized round-the-clock autonomous tracking.
In addition, the present embodiment is believed using the accurate position that high-precision GNSS positioning result obtains target subject and unmanned plane
Breath, can guarantee the accuracy for further increasing calculating.
According to below with reference to the accompanying drawings becoming to detailed description of illustrative embodiments, other feature of the invention and aspect
It is clear.
Detailed description of the invention
Comprising in the description and constitute the attached drawing of part of specification and specification together illustrate it is of the invention
Exemplary embodiment, feature and aspect, and principle for explaining the present invention.
Fig. 1 shows the structural schematic diagram of the Target Tracking System of unmanned vehicle according to an embodiment of the invention；
Fig. 2 a shows the flow diagram of method for tracking target according to an embodiment of the invention；
Fig. 2 b shows the schematic illustration of method for tracking target according to an embodiment of the invention
Fig. 3 shows the flow diagram of method for tracking target according to another embodiment of the present invention；
Fig. 4 shows the structural schematic diagram of target tracker according to an embodiment of the invention.
Specific embodiment
Below with reference to attached drawing various exemplary embodiments, feature and the aspect that the present invention will be described in detail.It is identical in attached drawing
Appended drawing reference indicate element functionally identical or similar.Although the various aspects of embodiment are shown in the attached drawings, remove
It non-specifically points out, it is not necessary to attached drawing drawn to scale.
Dedicated word " exemplary " means " being used as example, embodiment or illustrative " herein.Here as " exemplary "
Illustrated any embodiment should not necessarily be construed as preferred or advantageous over other embodiments.
In addition, in order to better illustrate the present invention, numerous details is given in specific embodiment below.
It will be appreciated by those skilled in the art that without certain details, the present invention equally be can be implemented.In some instances, for
Method, means, element and circuit well known to those skilled in the art are not described in detail, in order to highlight purport of the invention.
Embodiment 1
In order to improve positioning accuracy, GNSS (Global Navigation can be used in Target Tracking System
Satellite System, global positioning navigation satellite system) technology acquisition location information.Preferably, PPP can be used
(Precise Point Positioning, single-point precision positioning) technology, the location information of acquisition can achieve decimeter grade, very
To the high-precision for being Centimeter Level.The present invention is based on GNSS technologies to be advantageously implemented precision positioning.
Fig. 1 shows the structural schematic diagram of the Target Tracking System of unmanned vehicle according to an embodiment of the invention.
As shown in Figure 1, the Target Tracking System of the unmanned vehicle mainly includes：It is set to unmanned vehicle 11 (referred to as
Unmanned plane) cradle head controllor 114 and be set to the positioning device of target subject 13.The concrete function of cradle head controllor 114 can
Referring to the associated description in embodiment 2,3 about method for tracking target.Wherein, cradle head controllor 114 can be independently of nobody
The controller of machine is arranged, and can also realize the function of cradle head controllor by the controller of unmanned plane, the present invention to this not into
Row limits.
Specifically, the unmanned plane target tracking system of the present embodiment, including：GNSS beacon 131, communication equipment 133,
113, airborne GNSS receiver and antenna 111, holder 112, cradle head controllor 114, attitude transducer 115, capture apparatus 116.
Wherein, GNSS beacon 131 is equipped in target subject 13, can use the accurate position that GNSS obtains target subject
It sets.Airborne GNSS receiver and antenna 111, holder 112, cradle head controllor 114, attitude transducer 115, capture apparatus 116, if
It sets on the target tracker 11 based on unmanned plane.GNSS beacon 131 passes through the logical of communication equipment 133 and target tracker 11
Letter equipment 113 communicates, to provide the real-time precise position information of target subject 13 to cradle head controllor 114.Communication equipment
113, communication equipment 133 may be considered a kind of both ends of communication equipment, for realizing GNSS beacon 131 and cradle head controllor
114 communication is realized for example, by 433MHz radio signal communicate in the air.Specifically, being set to each component of unmanned plane
Function is as follows：
Airborne GNSS receiver and antenna 111 are connected with cradle head controllor 114, obtain unmanned plane by receiving GNSS signal
Exact position, which can actually correspond to the spatial position of receiving antenna phase center.
Holder 112 is preferably made of the motor of several freedom degrees or steering engine, can control the capture apparatus being installed on
Carry out multivariant swing.
Cradle head controllor 114 is preferably made of microcontroller and its peripheral circuit, horizontal stage electric machine driving circuit, is received each
Control holder is swung after the information that part is transmitted carries out calculation processing.
Attitude transducer 115 is preferably made of MEMS sensor, provides the Pitch of unmanned plane for cradle head controllor 114
(pitch angle), Roll (roll angle), Yaw (yaw angle) three directions posture information.
Capture apparatus 116 is preferably made of camera or video camera.Attitude transducer 115 is connected with cradle head controllor 114,
For detecting and providing unmanned plane current pose information.Such as camera of capture apparatus 116 is fixed on holder 112, holder control
Device 114 processed controls the swing of holder 112 to control the shooting posture of capture apparatus, realizes the tracking to target subject.
Embodiment 2
Fig. 2 a shows the flow diagram of method for tracking target according to an embodiment of the invention.As shown in Figure 2 a, the mesh
Mark tracking can specifically include following steps：
Step 201 establishes reference frame according to the location information of target subject and aircraft, obtains described with reference to seat
From the target subject to the first position vector of the aircraft under mark system；
Step 202, the current pose information according to the aircraft calculate under the reference frame from the flight
Direction vector of the aerial position of device to holder position；
Step 203, the direction vector according to the first position vector sum calculate under the reference frame from institute
Target subject is stated to the second position vector of the holder position, and is the aircraft by the second position vector median filters
Targeted attitude information；
Step 204, current pose information and targeted attitude information according to the aircraft, obtain target control amount, institute
It states target control amount and is used to indicate adjustment amount to holder motion control.
Specifically, as shown in Figure 2 b, airborne GNSS receiver and antenna 43 are set above the body of unmanned plane 41,
Setting holder 45 and capture apparatus (not shown), capture apparatus are usually loaded into holder 45 below the body of unmanned plane 41
On.It is A from target subject 47 to the first position vector of antenna phase center (such as geometric center of antenna)1, from antenna phase
The direction vector of position center to the holder centre of motion (such as rotation center of holder) is dA ', is transported from target subject 47 to holder
The second position vector at dynamic center is A2.The second position arrow that first position vector is obtained is corrected by the direction vector
Amount is the vector representation in practical the holder centre of motion and target subject, can eliminate GNSS antenna and pacify with the holder centre of motion
Load onto the position difference of physical presence.
In one possible implementation, step 201 may include：
Step 2011 obtains position of the target subject under geographic coordinate system from the GNSS beacon of the target subject
Information；
Step 2012 obtains the aircraft under geographic coordinate system from the GNSS receiver and antenna of the aircraft
Location information；
Step 2013 is established according to the location information of the target subject and the aircraft under the geographic coordinate system
Reference frame is obtained in the first position vector.
In one possible implementation, step 2013 may include：, according to the target subject in the geographical seat
Location information P under mark systemt(lont,latt,heit) and the aircraft described in location information P under geographic coordinate systemu
(lonu,latu,heiu), reference frame, such as cartesian coordinate system are established using following formula 1 and formula 2, obtained in the reference
First position vector A under coordinate system from the target subject to the aircraft1(x1,y1,heiu-heit),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth long axis
Radius, c are earth minor axis radius, and lon indicates that longitude, lat indicate that dimension, hei indicate height, and t indicates the target subject, u
Indicate that the aircraft, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under reference frame.
In one possible implementation, step 202 may include：
Step 2021, the current pose information that the aircraft is obtained from attitude transducer；
Step 2022, the current pose information according to the aircraft calculate and fly under the reference frame from described
Direction vector of the antenna phase center of row device to the holder centre of motion.
In one possible implementation, step 2022 may include：According to the current pose information of the aircraft
Attiu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5, calculate under the reference frame from the aircraft
Antenna phase center to the holder centre of motion direction vector dA ' (dx ', dy ', dz '),
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos
(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos
(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos
(Rollu)) formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuTable
Show the current yaw angle of aircraft u, sin () indicates SIN function；DA (dx, dy, dz) indicates that antenna phase center is transported to holder
The direction vector at dynamic center coordinate value under the body coordinate system of the aircraft.
In one possible implementation, step 203 may include：
Step 2031, according to the first position vector A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ',
Dy ', dz '), calculate the second position vector A from the target subject to the holder centre of motion2=(x2,y2,z2)=(A1+
dA')；
Step 2032, using following formula 6, be the aircraft under body coordinate system by the second position vector median filters
Targeted attitude information Attic(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2
|)) formula 6.
Wherein, arcsin () is arcsin function.
In one possible implementation, step 204 may include：According to the current pose information of the aircraft
Attiu(Pitchu,Rollu,Yawu) and targeted attitude information, the target control amount of three axis holders is obtained using following formula 7
Output,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
The method for tracking target of the present embodiment is tied simultaneously according to acquired positional information calculation space points relationship
The attitude of flight vehicle that unmanned aerial vehicle onboard sensor obtains is closed, the output of camera holder is determined, realizes the tracking of target subject, due to
Influence of the fuselage height to track algorithm is considered, tracking accuracy is high, can be realized round-the-clock autonomous tracking.
In addition, the present embodiment is believed using the accurate position that high-precision GNSS positioning result obtains target subject and unmanned plane
Breath obtains the accurate relative position relationship of target and camera optical axis, and the sensing with unmanned plane by succinct calculation method
Device information carries out close coupling, realizes the control to camera pan-tilt, can guarantee the accuracy for further increasing calculating, realization pair
The tracking of target.
Embodiment 3
Fig. 3 shows the flow diagram of method for tracking target according to another embodiment of the present invention.As shown in figure 3, this reality
Be illustrated so that GNSS technology realizes shooting tracking as an example when applying, in the present embodiment with implement 2 identical formula and have
Identical meaning, details are not described herein.The method for tracking target can specifically include following steps：
Step 301：GNSS beacon reception GNSS signal carries out precision positioning, obtains the position P of target subjectt(lont,
latt,heit) (usual latt,lontUnit is degree, heitUnit is rice).
Step 302：It is enterprising that the position of target subject is encoded and modulated 433MHz radio signal by communication equipment
Row transmitting；
Step 303：The position P for the target subject that cradle head controllor receiving communication device transmitst, while obtaining airborne GNSS
The unmanned plane position P that receiver and antenna transmitu(lonu,latu,heiu), Pt、PuFor the coordinate value under geographic coordinate system.So
Afterwards, with PtFor dot, establish right-handed coordinate system as x-axis using positive east orientation (assume that target subject and unmanned plane motor area at this time
Domain is plane rather than ellipsoid), which is referred to as local cartesian coordinate system.
Referring to above-mentioned formula 1 and formula 2, a=6378137.0, c=6356752.3 under WGS-84 coordinate system calculate gained
Lat0=111183.865, lon0=111319.491 are A so as to obtain the position vector of unmanned plane1(x1,y1,heiu-
heit), wherein:
x1=(lonu-lont)*cos(latt) * 111319.491 formula 1-1,
y1=(latu-latt) * 111183.865 formula 2-1,
Parameter in above formula can also using with other standards as WGS-84 standard class for example Xi'an 54, Beijing 84,
CGCS2000 etc., may be slightly different using the calculated numerical value of various criterion, and the present invention does not limit specific calculating standard.
Step 304：Cradle head controllor obtains the attitude of flight vehicle Atti that attitude transducer measuresu(Pitchu,Rollu,
Yawu), it can be existed by the direction vector in antenna phase center to the holder centre of motion in airborne GNSS receiver and Anneta module
Expression under aircraft coordinate system：DA (dx, dy, dz) (is determined) that then direction vector is in step by installation site on aircraft
It can be expressed as in the coordinate system established in 303：DA ' (dx ', dy ', dz '), the wherein calculation method of dA ' (dx ', dy ', dz ')
It may refer to the formula 3 of embodiment 2.
Step 305：By step 303 gained A1Target subject can be calculated into holder movement with step 304 gained dA '
Heart direction vector, i.e. holder centre of motion position vector are A2=(x2,y2,z2)=(A1+ dA '), this may further be calculated
Direction vector targeted attitude information Atti represented under body coordinate systemc(Pitchc,Rollc,Yawc)=(arcsin (x2/
|A2|),arcsin(y2/|A2|),arcsin(z2/|A2|))。
Step 306：According to step 305 gained AtticWith Atti in step 304uIt can be concluded that three axis holder target control amount
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu)。
The target control amount is output to horizontal stage electric machine for example, by second order control loop by cradle head controllor, is realized to mesh
Target tracking.
The method for tracking target of the present embodiment can use high-precision GNSS location technology, such as PPP technology is obtained and is shot
The exact position of target and unmanned plane, then space points relationship is calculated, it is obtained in combination with unmanned aerial vehicle onboard sensor
Attitude of flight vehicle determines the output of camera holder, realizes the tracking of target subject, has tracking accuracy high, can be realized whole day
Wait autonomous tracking.Have the characteristics that calculating is simple, real-time is high, application environment is wide compared to existing Visual Tracking；It compares
In having the method for tracking target based on GPS positioning, have the characteristics that tracking accuracy is high, tracking is stable.
Embodiment 4
Fig. 4 shows the structural schematic diagram of target tracker according to an embodiment of the invention.As shown in figure 4, the target
Tracking device can be with, including：
First position vector module 51, for establishing reference frame according to the location information of target subject and aircraft,
It obtains under the reference frame from the target subject to the first position vector of the aircraft；
Direction vector module 53 is calculated for the current pose information according to the aircraft in the reference frame
Under from the aerial position of the aircraft to the direction vector of holder position；
Second position vector module 55 is used for the direction vector according to the first position vector sum, in the reference
It calculates under coordinate system from the target subject to the second position vector of the holder position, and the second position vector is turned
It is changed to the targeted attitude information of the aircraft；
Control amount module 57 obtains target for the current pose information and targeted attitude information according to the aircraft
Control amount, the target control amount are used to indicate the adjustment amount to holder motion control.
In one possible implementation, the first position vector module 51 is also used to from the target subject
GNSS beacon obtains location information of the target subject under geographic coordinate system；From the GNSS receiver and day of the aircraft
Line obtains location information of the aircraft under geographic coordinate system；Described according to the target subject and the aircraft
Location information under reason coordinate system establishes the reference frame, obtains the first position vector.
In one possible implementation, the first position vector module 51 is also used to be existed according to the target subject
Location information P under the geographic coordinate systemt(lont,latt,heit) and the aircraft described in position under geographic coordinate system
Confidence ceases Pu(lonu,latu,heiu), the reference frame is established using following formula 1 and formula 2, obtains the first position vector
A1(x1,y1,heiu-heit),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth long axis
Radius, c are earth minor axis radius, and lon indicates that longitude, lat indicate that dimension, hei indicate height, and t indicates the target subject, u
Indicate that the aircraft, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under the reference frame.In WGS-
Specific example under 84 coordinate systems may refer to above-mentioned formula 1-1 and formula 2-1.It is of course also possible to use other standards are calculated,
The present invention does not limit specific calculating standard.
In one possible implementation, the direction vector module 53 is also used to obtain described fly from attitude transducer
The current pose information of row device；According to the current pose information of the aircraft, calculate under the reference frame from described
Direction vector of the antenna phase center of aircraft to the holder centre of motion.
The direction vector module 53 is also used to the current appearance according to the aircraft in one possible implementation
State information Attiu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5, calculates and fly under the reference frame from described
The antenna phase center of row device to the holder centre of motion direction vector dA ' (dx ', dy ', dz '),
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos
(Pitchu)sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos
(Pitchu)cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos
(Rollu)) formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuTable
Show the current yaw angle of aircraft u, sin () indicates SIN function；
DA (dx, dy, dz) indicate antenna phase center to the holder centre of motion direction vector the aircraft machine
Coordinate value under body coordinate system.
In one possible implementation, the second position vector module 55 is also used to be sweared according to the first position
Measure A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ', dy ', dz '), calculate from the target subject to holder and transport
The second position vector A at dynamic center2=(x2,y2,z2)=(A1+dA')；Using following formula 6, it is by the second position vector median filters
The targeted attitude information Atti under body coordinate system of the aircraftc(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2
|)) formula 6.
In one possible implementation, the control amount module 57 is also used to the current pose according to the aircraft
Information Attiu(Pitchu,Rollu,Yawu) and targeted attitude information, the target control amount of three axis holders is obtained using following formula 7
Output,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
Each module of the target tracker of the present embodiment can be realized by the cradle head controllor of unmanned plane, according to institute
The positional information calculation space points relationship of acquisition, in combination with unmanned aerial vehicle onboard sensor obtain attitude of flight vehicle,
It determines the output of camera holder, realizes the tracking of target subject, due to considering influence of the fuselage height to track algorithm, track
Precision is high, can be realized round-the-clock autonomous tracking.
Using high-precision GNSS positioning result obtain target subject and unmanned plane accurate location information, can guarantee into
One step improves the accuracy calculated.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (16)
1. a kind of method for tracking target, which is characterized in that including：
Reference frame is established according to the location information of target subject and aircraft, is obtained under the reference frame from described
First position vector of the target subject to the aircraft；
According to the current pose information of the aircraft, calculate under the reference frame from the aerial position of the aircraft
To the direction vector of holder position；
According to direction vector described in the first position vector sum, calculate under the reference frame from the target subject to
The second position vector of the holder position, and the targeted attitude that the second position vector median filters are the aircraft is believed
Breath；
According to the current pose information and targeted attitude information of the aircraft, target control amount, the target control amount are obtained
It is used to indicate the adjustment amount to holder motion control.
2. joining the method according to claim 1, wherein being established according to the location information of target subject and aircraft
Coordinate system is examined, is obtained under the reference frame from the target subject to the first position vector of the aircraft, including：
Location information of the target subject under geographic coordinate system is obtained from the GNSS beacon of the target subject；
Location information of the aircraft under geographic coordinate system is obtained from the GNSS receiver and antenna of the aircraft；
The reference coordinate is established according to the location information of the target subject and the aircraft under the geographic coordinate system
System, obtains the first position vector.
3. according to the method described in claim 2, it is characterized in that, described according to the target subject and the aircraft
Location information under reason coordinate system establishes the reference frame, obtains the first position vector, including：
According to location information P of the target subject under the geographic coordinate systemt(lont,latt,heit) and the aircraft
Location information P under the geographic coordinate systemu(lonu,latu,heiu), the reference frame is established using following formula 1 and formula 2,
Obtain the first position vector A1(x1,y1,z1),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth major axis radius,
C is earth minor axis radius, and lon indicates that longitude, lat indicate that latitude, hei indicate height, and t indicates the target subject, and u indicates institute
State aircraft, lonuIndicate the longitude of the aircraft, latuIndicate the latitude of the aircraft, heiuIndicate the aircraft
Height, lontIndicate the longitude of the target subject, lattIndicate the latitude of the target subject, heitIndicate described shot
The height of target, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under the reference frame.
4. according to the method in any one of claims 1 to 3, which is characterized in that according to the current pose of the aircraft
Information calculates under the reference frame from the aerial position of the aircraft to the direction vector of holder position, including：
The current pose information of the aircraft is obtained from attitude transducer；
According to the current pose information of the aircraft, calculate under the reference frame from the antenna phase of the aircraft
Direction vector of the center to the holder centre of motion.
5. according to the method described in claim 4, it is characterized in that, being calculated according to the current pose information of the aircraft
From the antenna phase center of the aircraft to the direction vector in the holder centre of motion under the reference frame, including：
According to the current pose information Atti of the aircraftu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5, calculate
Under the reference frame from the antenna phase center of the aircraft to the holder centre of motion direction vector dA ' (dx ',
Dy ', dz '),
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos(Pitchu)
sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos(Pitchu)
cos( Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos(Rollu))
Formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuIt indicates to fly
The current yaw angle of row device u, sin () indicate SIN function；
DA (dx, dy, dz) indicates that antenna phase center is sat to the direction vector in the holder centre of motion in the body of the aircraft
Mark is lower coordinate value.
6. according to the method described in claim 5, it is characterized in that, the direction vector according to the first position vector sum,
It calculates under the reference frame from the target subject to the second position vector of the holder position, and by described second
Position vector is converted to the targeted attitude information of the aircraft, including：
According to the first position vector A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ', dy ', dz '), calculate
Second position vector A from the target subject to the holder centre of motion2=(x2,y2,z2)=(A1+dA')；
Using following formula 6, the targeted attitude under body coordinate system that the second position vector median filters are the aircraft is believed
Cease Attic(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2|))
Formula 6,
Wherein, heiuIndicate the height of the aircraft, heitIndicate the height of the target subject, arcsin () is arcsine
Function.
7. according to the method described in claim 6, it is characterized in that, according to the current pose information and target appearance of the aircraft
State information obtains target control amount, including：
According to the current pose information Atti of the aircraftu(Pitchu,Rollu,Yawu) and targeted attitude information, using following formula
7 obtain the target control amount Output of three axis holders,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
8. a kind of target tracker, which is characterized in that including：
First position vector module is obtained for establishing reference frame according to the location information of target subject and aircraft
From the target subject to the first position vector of the aircraft under the reference frame；
Direction vector module calculates under the reference frame for the current pose information according to the aircraft from institute
The aerial position of aircraft is stated to the direction vector of holder position；
Second position vector module is used for the direction vector according to the first position vector sum, in the reference frame
Lower calculating is institute from the target subject to the second position vector of the holder position, and by the second position vector median filters
State the targeted attitude information of aircraft；
Control amount module obtains target control amount for the current pose information and targeted attitude information according to the aircraft,
The target control amount is used to indicate the adjustment amount to holder motion control.
9. device according to claim 8, which is characterized in that the first position vector module is also used to from described shot
The GNSS beacon of target obtains location information of the target subject under geographic coordinate system；It is received from the GNSS of the aircraft
Machine and antenna obtain location information of the aircraft under geographic coordinate system；Existed according to the target subject and the aircraft
Location information under the geographic coordinate system establishes the reference frame, obtains the first position vector.
10. device according to claim 9, which is characterized in that the first position vector module is also used to according to
Location information P of the target subject under the geographic coordinate systemt(lont,latt,heit) and the aircraft described in geography sit
Location information P under mark systemu(lonu,latu,heiu), the reference frame is established using following formula 1 and formula 2, obtains described
One position vector A1(x1,y1,heiu-heit),
x1=(lonu-lont)*cos(latt) * lon0 formula 1,
y1=(latu-latt) * lat0 formula 2,
z1=heiu-heitFormula 3,
Wherein, lon0=2* π * a/360, lat0=(2* π * c+4* (a-c))/360, π is pi, and a is earth major axis radius,
C is earth minor axis radius, and lon indicates that longitude, lat indicate that latitude, hei indicate height, and t indicates the target subject, and u indicates institute
State aircraft, lonuIndicate the longitude of the aircraft, latuIndicate the latitude of the aircraft, heiuIndicate the aircraft
Height, lontIndicate the longitude of the target subject, lattIndicate the latitude of the target subject, heitIndicate described shot
The height of target, cos () indicate cosine function, x1、y1、z1Indicate the coordinate value under the reference frame.
11. the device according to any one of claim 8 to 10, which is characterized in that the direction vector module is also used to
The current pose information of the aircraft is obtained from attitude transducer；According to the current pose information of the aircraft, calculate
From the antenna phase center of the aircraft to the direction vector in the holder centre of motion under the reference frame.
12. device according to claim 11, which is characterized in that the direction vector module is also used to according to the flight
The current pose information Atti of deviceu(Pitchu,Rollu,Yawu), using following formula 3 to formula 5, calculate under the reference frame
Direction vector dA ' (dx ', dy ', dz ') from the antenna phase center of the aircraft to the holder centre of motion,
Dx '=dx (cos (Rollu)cos(Yawu)-sin(Pitchu)sin(Rollu)sin(Yawu))-dy(cos(Pitchu)
sin(Yawu))+dz(sin(Rollu)cos(Yawu)+sin(Pitchu)cos(Rollu)sin(Yawu)) formula 3,
Dy '=dx (cos (Rollu)sin(Yawu)-sin(Pitchu)sin(Rollu)cos(Yawu))-dy(cos(Pitchu)
cos(Yawu))+dz(sin(Rollu)sin(Yawu)+sin(Pitchu)cos(Rollu)cos(Yawu)) formula 4,
Dz '=dx (- cos (Pitchu)sin(Rollu))-dy(sin(Pitchu)+dz(cos(Pitchu)cos(Rollu))
Formula 5,
Wherein, PitchuIndicate the current pitch angle of aircraft u, RolluIndicate the current roll angle of aircraft u, YawuIt indicates to fly
The current yaw angle of row device u, sin () indicate SIN function；
DA (dx, dy, dz) indicates that antenna phase center is sat to the direction vector in the holder centre of motion in the body of the aircraft
Mark is lower coordinate value.
13. device according to claim 12, which is characterized in that the second position vector module is also used to according to
First position vector A1(x1,y1,heiu-heit) and the direction vector dA ' (dx ', dy ', dz '), calculate from the mesh shot
Mark the second position vector A in the holder centre of motion2=(x2,y2,z2)=(A1+dA')；Using following formula 6, by the second position
Vector median filters are the targeted attitude information Atti under body coordinate system of the aircraftc(Pitchc,Rollc,Yawc)：
Attic(Pitchc,Rollc,Yawc)=(arcsin (x2/|A2|),arcsin(y2/|A2|),arcsin(z2/|A2|))
Formula 6,
Wherein, heiuIndicate the height of the aircraft, heitIndicate the height of the target subject, arcsin () is arcsine
Function.
14. device according to claim 13, which is characterized in that the control amount module is also used to according to the aircraft
Current pose information Attiu(Pitchu,Rollu,Yawu) and targeted attitude information, the mesh of three axis holders is obtained using following formula 7
Control amount Output is marked,
Output=(Pitchc-Pitchu,Rollc-Rollu,Yawc-Yawu) formula 7.
15. a kind of Target Tracking System of unmanned vehicle, which is characterized in that including being set to the nolo flight
The cradle head controllor of device and the positioning device for being set to target subject,
Wherein, the cradle head controllor, using the target tracker as described in any one of claim 8 to 14.
16. system according to claim 15, which is characterized in that the positioning device of the target subject is GNSS beacon,
The GNSS beacon is used to obtain the location information of the target subject；
The Target Tracking System further includes：
Airborne GNSS receiver and antenna obtain the location information of the unmanned vehicle by receiving GNSS signal；
Attitude transducer, for detecting the posture information of the unmanned vehicle；
Holder and capture apparatus, the holder are used to control the shooting posture for the capture apparatus being installed on the holder；
The cradle head controllor is communicated with the GNSS receiver and antenna, the GNSS beacon and the attitude transducer,
For receiving the location information of the unmanned vehicle from the GNSS receiver and antenna, from the GNSS beacon reception
The location information of the target subject receives the posture information of the unmanned vehicle from attitude transducer；
The cradle head controllor is also connect with the holder, for sending target control amount to the holder, to control the cloud
The shooting posture of the capture apparatus on platform.
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| PCT/CN2016/086312 WO2017177542A1 (en) | 2016-04-12 | 2016-06-17 | Object tracking method, device and system |
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