CN106525074B - A kind of compensation method, device, holder and the unmanned plane of holder drift - Google Patents
A kind of compensation method, device, holder and the unmanned plane of holder drift Download PDFInfo
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- CN106525074B CN106525074B CN201610893832.XA CN201610893832A CN106525074B CN 106525074 B CN106525074 B CN 106525074B CN 201610893832 A CN201610893832 A CN 201610893832A CN 106525074 B CN106525074 B CN 106525074B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
Compensation method, device, holder and the unmanned plane of a kind of holder drift provided in an embodiment of the present invention, are applied to air vehicle technique field.Wherein, the compensation method includes: that the drift angle of holder is obtained by the first image of the image acquisition device on holder and the second image, and control holder is mobile to compensate the drift angle.The technical issues of solving when being compensated to the null offset of gyroscope, more can not accurately carrying out the estimation and compensation of holder drift.
Description
Technical field
The present invention relates to air vehicle technique fields, compensation method, device, cloud in particular to a kind of drift of holder
Platform and unmanned plane.
Background technique
In the related art, it is quick to calculate acquisition gyroscope by reading gyro data for the stable platform apparatus of unmanned plane
The movement angle for feeling stage body relative inertness coordinate system, compensates the angle by closed-loop control torque motor, carrier is overcome to transport
Dynamic influence guarantees that gyroscope sensitivity stage body keeps local horizontal.But gyroscope or Inertial Measurement Unit (Inertial
Measurement unit, abbreviation IMU) in gyroscope there are null offset, accumulation, which calculates, for a long time can have large error.
In order to compensate for the error due to caused by holder drift, information is obtained using other sensors, gyroscopic drift is estimated
And error compensation.Wherein, it for airborne tripod head, can be compensated on course by the magnetic compass on the flight controller of unmanned plane
Error, but in the case where there is high-intensity magnetic field interference etc., magnetic compass is affected due to being disturbed, and is not suitable for compensating
Course error, and stabilized platform such as hand-held for specific application, there is no magnetic compasses with it for equipment sheet, and it is even more impossible to pass through magnetic sieve
Disk compensates the error on course.
Summary of the invention
In view of this, the embodiment of the invention provides compensation method, device, holder and the unmanned plane of a kind of drift of holder,
It is intended to improve the above problem.
The compensation method of a kind of holder drift provided in an embodiment of the present invention, which comprises obtain the figure on holder
The first image and the second image acquired as acquisition device.According to the coordinate information of the image characteristic point in the first image and
The variable quantity of the coordinate information of image characteristic point in second image obtains the drift angle of the holder.It will be acquired
The drift angle is sent to the holder, mends so that the holder carries out drift angle according to the drift angle of the holder
It repays.
A kind of compensation device of holder drift provided in an embodiment of the present invention, the compensation device of the holder drift include:
Image collection module, for obtaining the first image and the second image of the image acquisition device on holder.Drift value obtains
Module, for the image characteristic point in the coordinate information and second image according to the image characteristic point in the first image
The variable quantity of coordinate information obtain the drift angle of the holder.Drift about angle compensating module, described in will be acquired
Drift angle is sent to the holder, so that the holder carries out drift angle compensation according to the drift angle of the holder.
A kind of holder provided in an embodiment of the present invention, the holder includes: holder ontology, the figure that is arranged on holder ontology
As acquisition device, memory, the processor being electrically connected with the memory；And the compensation device of holder drift.The cloud
The software function that the compensation device of platform drift is installed in the memory and is executed including one or more by the processor
Module.The compensation device of the holder drift includes: image collection module, for obtaining the image acquisition device on holder
The first image and the second image.Drift value obtains module, for the coordinate according to the image characteristic point in the first image
The variable quantity of the coordinate information of information and the image characteristic point in second image obtains the drift angle of the holder.Drift
Angle compensation module, for the acquired drift angle to be sent to the holder, so that the holder is according to the cloud
The drift angle of platform carries out drift angle compensation.
A kind of unmanned plane provided in an embodiment of the present invention, memory and processor are electrically connected with the memory,
The compensation device of the compensation device of holder drift, holder drift be installed in the memory and including one or more by
The software function module that the processor executes.The compensation device of the holder drift includes: image collection module, for obtaining
The first image and the second image of image acquisition device on holder.Drift value obtains module, for according to described first
The variable quantity of the coordinate information of the coordinate information of image characteristic point in image and the image characteristic point in second image obtains
Take the drift angle of the holder.Drift about angle compensating module, for the acquired drift angle to be sent to the cloud
Platform, so that the holder carries out drift angle compensation according to the drift angle of the holder.
The compensation method of holder drift provided in an embodiment of the present invention and device are applied to cloud provided in an embodiment of the present invention
Platform and unmanned plane obtain the drift angle of holder by the first image of the image acquisition device on holder and the second image
Degree, control holder compensate the drift angle.It avoids and the null offset of gyroscope is estimated and compensated using magnetic compass
When, by the larger estimation for leading to not more accurately carry out holder drift of the interference effects such as magnetic field, null offset and compensation
Technical problem.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the block diagram of the compensation equipment of holder drift provided in an embodiment of the present invention；
Fig. 2 is the step flow chart of the compensation method for the holder drift that first embodiment of the invention provides；
Fig. 3 is the sub-step process of the step S202 of the compensation method for the holder drift that first embodiment of the invention provides
Figure；
Fig. 4 is the sub-step flow chart of the step S301 of compensation method shown in Fig. 3；
Fig. 5 is the step flow chart of the default computation rule in compensation method shown in Fig. 4；
Fig. 6 is the sub-step process of the step S203 of the compensation method for the holder drift that first embodiment of the invention provides
Figure；
Fig. 7 is the functional block diagram of the compensation device for the holder drift that second embodiment of the invention provides.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without creative efforts, shall fall within the protection scope of the present invention.Therefore,
The model of claimed invention is not intended to limit to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
It encloses, but is merely representative of selected embodiment of the invention.
Fig. 1 is the block diagram of compensation equipment 100 provided in an embodiment of the present invention, and the compensation equipment may include cloud
Platform or unmanned plane comprising holder.The compensation equipment 100 includes: compensation device 101, memory 102, storage control
103, processor 104, Peripheral Interface 105, input-output unit 106 and display unit 107.The memory 102, storage control
Device 103, processor 104, Peripheral Interface 105, input-output unit 106, each element of display unit 107 between each other directly or
Ground connection is electrically connected, to realize the transmission or interaction of data.For example, these elements can pass through one or more communication between each other
Bus or signal wire, which are realized, to be electrically connected.The compensation device 101 includes at least one can be with software or firmware (firmware)
Form be stored in the memory 102.The processor 104 is used to execute the executable module stored in memory 102,
Such as software function module or computer program that the track up device includes.
Wherein, memory 102 may be, but not limited to, random access memory (Random Access Memory,
RAM), read-only memory (Read Only Memory, ROM), programmable read only memory (Programmable Read-Only
Memory, PROM), erasable read-only memory (Erasable Programmable Read-Only Memory, EPROM),
Electricallyerasable ROM (EEROM) (Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Wherein, memory 102 is for storing program, and the processor 104 executes described program after receiving and executing instruction, subsequent
Method performed by the server/computer for the flow definition that any embodiment of the embodiment of the present invention discloses can be applied to handle
In device 104, or realized by processor 104.
Processor 104 may be a kind of IC chip, the processing capacity with signal.Above-mentioned processor 104 can
To be general processor, including central processing unit (Central Processing Unit, abbreviation CPU), network processing unit
(Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP), specific integrated circuit (ASIC),
Ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hard
Part component.It may be implemented or execute disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor
It can be microprocessor or the processor be also possible to any conventional processor etc..
Various input-output units 106 are couple processor 104 and memory 102 by the Peripheral Interface 105.One
In a little embodiments, Peripheral Interface 105, processor 104 and storage control 103 can be realized in one single chip.At other
In some examples, they can be realized by independent chip respectively.
Input-output unit 106 is used to be supplied to the interaction that user input data realizes user and the holder.It is described defeated
Entering output unit 106 may be, but not limited to, and touch screen, mouse and keyboard etc. export correspondence for the operation in response to user
Signal.
Display unit 107 provided between the unmanned plane and user an interactive interface (such as user interface) or
It is referred to for display image data to user.In the present embodiment, the display unit can be liquid crystal display or touch-control is aobvious
Show device.It can be the capacitance type touch control screen or resistance type touch control screen of support single-point and multi-point touch operation if touch control display
Deng.Single-point and multi-point touch operation is supported to refer to that touch control display can sense one or more positions on the touch control display
The touch control operation setting place while generating, and the touch control operation that this is sensed transfers to processor to be calculated and handled.
Referring to Fig. 2, being the step flow chart of the compensation method for the holder drift that first embodiment of the invention provides.Below
Detailed process shown in Fig. 2 will be described in detail.
Step S201 obtains the first image and the second image of the image acquisition device on holder.
Holder is generally positioned at the end of image collecting device, and the fixation bracket as image collecting device is connected with bottom
Axis realizes image collecting device in different location, the Image Acquisition of different perspectives by the way that the position of holder is mobile with attitudes vibration
Operation.Therefore, institute can be obtained by the change of the pixel coordinate of the characteristic point in the image information of image acquisition device
State the drift angle of holder.
Described image acquisition device and the holder are fixedly installed, driven by three spindle motors of the holder solid on holder
If image collecting device be rotated up in roll, pitching and boat.Described image acquisition device acquisition at least two field pictures, wherein
Including the first image and the second image, preferably the acquisition time of the first image is prior to second image.Described image is adopted
Acquisition means can acquire multiple image with any attitude, therefrom select the two field pictures for meeting computation rule as first figure
Picture and second image.Described image acquisition device can also acquire two field pictures with default rule, will be with preset rules
The front and back two field pictures of acquisition are as the first image and the second image.The preset rules may include: default acquisition image
Time, scene, three spindle motors acquire the setting rule such as posture, displacement of the first image and second image.In view of not
When same scene, different acquisition period, different postures, the difference such as amount of movement, offset of three spindle motors is larger, no
Conducive to the calculating of holder drift value, therefore preferably preset rules are that same acquisition position and same posture further can be with
The two field pictures for selecting the first image and second image to be continuously shot for described image acquisition device.As, described
The image collecting device being fixedly installed on holder is successively acquired described in Same Scene at same acquisition position with same posture
First image and the second image.Certainly, it is arranged according to the practical drift value and calculation procedure of the holder in practical application, can be incited somebody to action
The acquisition condition of the first image and second image is appropriately modified, for example, acquisition time is set to 1s
Deng.
In other embodiments, the image acquisition device the first image on the holder and described second
Before image, state deterministic process can also be increased, to carry out the measurement and compensation of holder drift in stationary state, with reality
The now compensation effect of better holder drift.The state deterministic process of holder includes: the posture information for obtaining the holder, is passed through
The posture information of the holder judges the holder state in which.If the posture information by the holder judges the cloud
Platform remains static, and executes in step S201, obtains the first image and the institute of the image acquisition device on holder
The step of stating the second image.
The posture information of the holder may include attitude angle, the three-dimensional of holder of the holder on three axis of orientations
Coordinate etc..The mode for obtaining the posture information of the holder may include: Inertial Measurement Unit, inertial navigation system by holder
The output data of IMU etc. obtains the posture information of the holder.If the posture information by the holder judges at the holder
In stationary state, the step of the first image and the second image that obtain the image collecting device on the holder can be continued to execute
Suddenly.If judging that the holder is kept in motion by the posture information of the holder, it can choose and do not execute subsequent cloud
The compensating operation of platform drift, or in the compensating operation of holder drift, by the exercise data of holder itself from the shifting of holder
It is rejected in dynamic data, or the ginseng different for the calculating process matched size of the drift angle of the holder of different motion state
Number, to obtain more accurate measurement data.Other schemes that can obtain more accurate measurement data may be applicable to this
Embodiment.
Step S202, according to the figure in the coordinate information of the image characteristic point in the first image and second image
As the variable quantity of the coordinate information of characteristic point, the drift angle of the holder is obtained.
After the first image and the second image that obtain the acquisition of described image acquisition device, pass through the first image and second
The variable quantity of the coordinate information of corresponding image characteristic point on image obtains described image acquisition dress in conjunction with Formula of Coordinate System Transformation
The deviation angle on three axis is set, the drift angle of the holder is as obtained.
The acquired drift angle is sent to the holder, so that the holder is according to the cloud by step S203
The drift angle of platform carries out drift angle compensation.
After the drift angle for obtaining the holder, corresponding compensation rate is obtained according to drift angle, control holder according to
The compensation rate carries out mobile and pose adjustment, to compensate the drift of holder itself generation.The drift angle of the holder can be with
It is the holder during described image acquisition device acquires the first image and second image, three spindle motors are in three axis
Drift angle on direction.Then correspondingly, the compensation rate can be equal for the numerical value of the drift value, contrary
Vector.
For example, if the drift angle obtained are as follows: roll, 1 °；- 1 ° of pitching；5 ° of course indicates that roll has occurred in the holder
Positive 5 ° of the drift of 1 ° positive, 1 ° of pitching negative sense and course.Corresponding compensation rate setting are as follows: roll, -1 °；1 ° of pitching；Course-
5 °, as control holder rotates 1 ° along roll negative sense, rotates in the forward direction 1 ° along pitching, negative sense moves 5 ° along row course, to compensate cloud
Positive 5 ° of the drift in 1 ° of roll forward direction, 1 ° of pitching negative sense and course that platform is occurred.
In view of the drift of roll direction and pitch orientation can be by low-pass filter accelerometer data, and combine card
Kalman Filtering scheduling algorithm is accurately estimated and is compensated, therefore carries out holder using the image of above-mentioned image acquisition device
When the estimation and compensation of drift, it can be estimated and be compensated only for the drift on holder course.
The compensation method of holder provided in an embodiment of the present invention drift, control image collecting device fixed on holder according to
Preset rules successively acquire two field pictures.Pass through the coordinate information of individual features point in the first image and second image
Variation, obtain image collecting device in the offset of three axis directions, and thus to obtain cloud in conjunction with preset coordinate transformation rule
The drift value of platform.Compensation is corrected according to the drift value by cradle head controllor control holder.The drift value of holder drift obtains
The estimation and compensation for taking and drift in compensation process, will not being influenced by the interference of the factors such as external magnetic field easily, very big journey
Improve to degree the accuracy of holder drift compensation.
Fig. 3 is referred to, is the sub-step of the step S202 of the compensation method for the holder drift that first embodiment of the invention provides
Rapid flow chart.Specific explanations will be carried out to content shown in Fig. 3 below.
Step S301, according to the acquisition of the coordinate information of at least four described image characteristic points in the first image
First attitude angle of holder, according to the acquisition of the coordinate information of at least four described image characteristic points in second image
Second attitude angle of holder.
After obtaining the first image, according to the coordinate information of the image characteristic point in the first image and coordinate conversion rule
Then obtain the first attitude angle of the holder.Correspondingly, according to the picture corresponding with the first image in second image
The coordinate of vegetarian refreshments obtains the second attitude angle of the holder.Fig. 4 is referred to, is the sub-step flow chart of step S301, below will
Step shown in Fig. 4 is specifically described.
Step S401 obtains the characteristic information of the fisrt feature point and fisrt feature point in the first image.
After obtaining the first image collected, choosing from multiple pixels of the first image has certain identification
Characteristic information fisrt feature point, such as the characteristic point of the characteristic information with invariable rotary, and obtain selected first
The characteristic information of characteristic point.
Step S402, selected characteristic information is corresponding with the characteristic information of the fisrt feature point on second image
Second feature point.
After obtaining the second image collected, according to the characteristic information for the fisrt feature point chosen in the first image, from institute
The second feature point chosen in multiple pixels of the second image and there is the characteristic information of certain identification is stated, and selected by acquisition
Second feature point characteristic information.
Step S403, according to first of holder described in the pixel coordinate of the fisrt feature point and default calculating Rule
Attitude angle.
After the characteristic information for obtaining the fisrt feature point of the first image according to above-mentioned steps, from the fisrt feature point
The pixel coordinate of fisrt feature point is obtained in characteristic information.It is obtained using the pixel coordinate and default computation rule of fisrt feature point
Take the first attitude angle of the holder.The default computation rule can be the corresponding conversion of imaging coordinate system and world coordinate system
Rule obtains the first appearance when holder acquisition the first image using the pixel coordinate and coordinate transformation rule of fisrt feature point
State angle.The corresponding conversion of the imaging coordinate system and world coordinate system rule mainly includes two steps: feature on image
Conversion process of the conversion process and camera coordinates system of the imaging coordinate system and camera coordinates system put to world coordinate system.It is logical
Crossing above-mentioned conversion process may be implemented characteristic point two-dimensional coordinate three-dimensional into world coordinate system in imaging coordinate system on image
The conversion of coordinate.
Step S404, according to second of holder described in the pixel coordinate of the second feature point and default calculating Rule
Attitude angle.
After the characteristic information of second feature point for obtaining the second image, obtained from the characteristic information of the second feature point
Take the pixel coordinate of second feature point.Using the pixel coordinate and preset computation rule of second feature point, obtains holder and adopt
Collect the second attitude angle when second image.The default computation rule can be the same as applied by the first attitude angle acquisition process
Default computation rule, is the corresponding conversion rule of imaging coordinate system and world coordinate system, and specific conversion process can join
See Fig. 5.Step shown in fig. 5 will be specifically described below.
Step S501 obtains the pixel coordinate of at least four pixels.
The corresponding conversion of imaging coordinate system and world coordinate system rule in mainly include four data, two-dimensional pixel coordinate,
Attitude angle matrix, camera internal reference matrix and three-dimensional world coordinate, therefore carry out two-dimensional coordinate using the transformation rule and sat to three-dimensional
When target is converted, the pixel coordinate of at least four pixels is needed, can just obtain the specific value of attitude angle matrix.Four pixels
Point can be four higher pixels of identification that a certain characteristic point includes, can also be with four characteristic points.Certainly, pixel
Quantity is chosen at least four, obtains multiple pixels and carries out coordinate conversion calculating, can be further improved the accurate of calculating process
Degree.
The pixel coordinate of at least four pixels is substituted into Formula of Coordinate System Transformation respectively, obtains posture by step S502
Angular moment battle array.
If OXYZ is world coordinate system, uv is the image coordinate system as unit of pixel.If certain object point P is in world coordinates
Coordinate under system is (X, Y, Z), then corresponding picture point p is (u, v) in the coordinate of image coordinate system.
After the pixel coordinate for obtaining at least described pixel, the pixel coordinate of each pixel is brought into coordinate respectively
Conversion formula:
In above-mentioned Formula of Coordinate System Transformation,The two-dimensional pixel coordinate of the characteristic point on image acquired in indicating, R are indicated
Attitude angle matrix, C indicate the internal reference matrix of camera,Indicate the three-dimensional world coordinate of the corresponding object point of characteristic point.Correlation is joined
Number brings above-mentioned Formula of Coordinate System Transformation (one) into, can obtain:
In above-mentioned formula (two), fu, fv, u0、v0It is only related with the inner parameter of image collecting device, therefore matrix M1 is referred to as
Intrinsic Matrix.fu=f/dX, fv=f/dY, the normalization focal length that is referred to as on u axis and v axis；F is the focal length of camera, dXWith
dYRespectively indicate the size of unit pixel on sensor u axis and v axis.u0And v0What is then indicated is optical centre, i.e. video camera
The intersection point of optical axis and the plane of delineation, is usually located at picture centre, therefore its value often takes the half of resolution ratio.
For example, work as the focal length f=35mm of certain image collecting device, and highest resolution: 4256 × 2832, size sensor:
36.0×23.9mm.Then u0=4256/2=2128；V0=2832/2=1416.Dx=36.0/4256；Dy=23.9/2832.
Fu=f/dx=4137.8；Fv=f/dy=4147.3.
In above-mentioned formula (two),In 1 indicate Projection Depth, geometric meaning is that object point P is sat in camera coordinates system
Target Z component, under normal circumstances, the value are set as 1.R, t constitute the external parameter matrix of image collecting device, are referred to as rotation
Torque battle array and translation matrix.R is the matrix of a 3X3, and t is then the matrix of a 3X1.Quaternion method expression can be used in R
Eulerian angles expression can be used.It can be withIt is reduced to the attitude angle matrix of 3x1Wherein, θ x indicates pitch orientation
Attitude angle indicates angle when holder rotates around x axis.θ y indicates the attitude angle in course, indicates angle when holder is rotated around y-axis
Degree.θ z indicates the attitude angle in roll direction, indicates angle when holder is rotated around z-axis.
Step S503 obtains attitude angle according to the attitude angle matrix.
After obtaining attitude angle matrix according to above-mentioned Formula of Coordinate System Transformation, three axis directions are obtained based on the attitude angle matrix
Attitude angle: θ x, θ y and θ z.Certainly, if having used drift of the modes such as low-pass filter to roll direction and pitch orientation
When shifting compensates, the present embodiment according to attitude angle matrix obtain attitude angle the step of in, can only obtain holder course
On attitude angle.
Step S302 obtains the drift value of the holder according to first attitude angle and second attitude angle.
According to above-mentioned default computation rule, the first attitude angle of holder when acquisition the first image is obtained
Or the first course attitude angle [θ1Y], and acquire the second attitude angle of holder when second imageOr second boat
To attitude angle [θ2y].Posture angle offset is obtained according to first attitude angle and second attitude angleOr course posture angle offset [Δ θ y]=[θ2y-θ1y].Appearance of three spindle motors in three axis directions
State angle drift value or course attitude angle drift value, the drift value of the as described holder.
In above-described embodiment, if 1 ° positive roll, positive 5 ° of the drift of 1 ° of pitching negative sense and course has occurred in the holder
It moves, then the attitude angle drift moment matrix of the holder may be expressed as:
The compensation method for the holder drift that the embodiments of the present invention provide, the satisfaction for obtaining image acquisition device are pre-
If the first image and the second image of rule.According to Formula of Coordinate System Transformation, the pixel of the fisrt feature point on the first image is obtained
The of the corresponding holder of pixel coordinate of first attitude angle of the corresponding holder of coordinate and the second feature point on the second image
Two attitude angles.Three spindle motors of the holder are obtained in three axis according to the difference of first attitude angle and second attitude angle
The drift value of the drift value in direction or drift value right on the course, control three axis of holder carries out the drift compensation of three axis directions,
Or only control holder carries out the drift compensation in course according to the drift value in course.Pass through the image acquired in real time and default calculating
Rule carries out the real-time estimation and compensation of holder drift, the drift compensation of control holder itself that can be more accurate, easy, pole
Reduce to big degree the influence of holder drift.
Fig. 6 is referred to, is the sub-step of the step S203 of the compensation method for the holder drift that first embodiment of the invention provides
Rapid flow chart will carry out specific explanations to step shown in fig. 6 below.
Step S601 obtains the goal-selling angle of the holder.
After the drift value for obtaining the holder according to above-mentioned steps, institute is obtained according to the current motion data of the holder
State the real offset of holder.It is cradle head controllor is that the holder is default firstly, obtain the goal-selling angle of the holder
Object attitude angle, can indicate are as follows:For example, if cradle head controllor is the Image Acquisition for controlling holder and driving its fixed
The goal-selling angle, then can be set as by the image in device acquisition front:
Step S602 obtains the practical mesh of the holder according to the drift angle of the holder and the goal-selling angle
Mark angle.
After obtaining the drift value of the holder and the goal-selling angle of the holder, obtaining cradle head controllor should actually be set
The target angle for the holder set as is obtained according to the difference of the goal-selling angle of the drift value of the holder and the holder
The realistic objective angle for taking the holder, can indicate are as follows:It is applied in above-described embodiment, if institute
The attitude angle matrix for stating the drift of holder isGoal-selling angle matrix isThe then realistic objective of the holder
Angle is
Step S603 obtains the current time angle of the holder and the deviation angle of the realistic objective angle.
The current time angle of the holder is obtained by the cradle head controllor, the current time angle includes described
Holder current time in the attitude angle of three axis directions, can indicate are as follows:Then the holder current time angle and institute
The offset for stating realistic objective can indicate are as follows:
For example, the current time angle of the holder obtained are as follows:Then the holder current time angle and institute
State the offset of realistic objective angle are as follows:
Step S604 controls the holder according to the mobile drift angle to compensate the holder of the deviation angle.
After obtaining the current time angle of the holder and the offset of the realistic objective angle, controls the holder and press
It is moved according to the deviation angle, to compensate the drift angle of holder.
For example, if the offset of the holder current time angle and the realistic objective angle are as follows:Control cloud
Platform rotates 2 ° along the negative direction of pitch orientation, and the negative direction along course moves 3 °, and the negative direction along roll rotates 1 °, to compensate cloud
The error that platform itself drift generates.
Fig. 7 is referred to, for the functional block diagram for the compensation device 101 that the holder that second embodiment of the invention provides drifts about.
The compensation device 101 includes: image collection module 701, drift value acquisition module 702 and drift angle compensating module 703.
Described image obtains module 701, for obtaining the first image and second of the image acquisition device on holder
Image.
The drift value obtains module 702, for according to the coordinate information of the image characteristic point in the first image and
The variable quantity of the coordinate information of image characteristic point in second image obtains the drift angle of the holder.
The drift angle compensating module 703, for the drift angle of the acquired holder to be sent to the cloud
Platform, so that the holder carries out drift angle compensation according to the drift angle of the holder.
On the basis of the above embodiments, the drift value obtains module 702 and is specifically used for:
The of the holder is obtained according to the coordinate information of at least four described image characteristic points in the first image
One attitude angle is believed according to the coordinate of at least four described image characteristic point corresponding with the first image in second image
Breath, obtains the second attitude angle of the holder；
The drift angle of the holder is obtained according to first attitude angle and second attitude angle.
On the basis of the above embodiments, the drift angle compensating module 703 is specifically used for:
Obtain the goal-selling angle of the holder；
The realistic objective angle of the holder is obtained according to the drift value and the goal-selling angle；
Obtain the current time angle of the holder and the offset of the target angle；
The holder is controlled according to the mobile drift value to compensate the holder of the offset.
The compensation device of holder provided in an embodiment of the present invention drift, control image collecting device fixed on holder according to
Preset rules successively acquire two field pictures.Pass through the coordinate information of individual features point in the first image and second image
Variation, obtain image collecting device in the offset of three axis directions, and thus to obtain cloud in conjunction with preset coordinate transformation rule
The drift value of platform.Compensation is corrected according to the drift value by cradle head controllor control holder.The drift value of holder drift obtains
The estimation and compensation for taking and drift in compensation process, will not being influenced by the interference of the factors such as external magnetic field easily, very big journey
Improve to degree the accuracy of holder drift compensation.The specific implementation of the compensation device of holder drift provided in an embodiment of the present invention
Process refers to the specific implementation process of the compensation method of above-mentioned holder drift, and this is no longer going to repeat them.
Continuing with referring to Fig. 1 and Fig. 7, the holder of third embodiment of the invention offer is shown.The holder includes: holder
Ontology, the image collecting device being arranged on holder ontology, memory 102, the processor being electrically connected with the memory 102
104；And
The compensation device 104 of holder drift.The compensation device 101 of the holder drift is installed in the memory 102
And the software function module executed including one or more by the processor 104.The compensation device 101 includes: that image obtains
Modulus block 701, drift value obtain module 702 and drift angle compensating module 703.
Described image obtains module 701, for obtaining the first image and second of the image acquisition device on holder
Image.
The drift value obtains module 702, for according to the coordinate information of the image characteristic point in the first image and
The variable quantity of the coordinate information of image characteristic point in second image obtains the drift angle of the holder.
The drift angle compensating module 703, for the drift angle of the acquired holder to be sent to the cloud
Platform, so that the holder carries out drift angle compensation according to the drift angle of the holder.
Holder provided in an embodiment of the present invention, by image collecting device fixed on control holder according to preset rules elder generation
After acquire two field pictures.Pass through the variation of the coordinate information of individual features point in the first image and second image, knot
It closes preset coordinate transformation rule and obtains image collecting device in the offset of three axis directions, and thus to obtain the drift of holder
Amount.Compensation is corrected according to the drift value by cradle head controllor control holder.The drift value of holder drift obtains and compensation
In the process, the estimation and compensation that will not be influenced drift by the interference of the factors such as external magnetic field easily, are dramatically improved
The accuracy of holder drift compensation.The specific implementation process of the compensation device of holder drift provided in an embodiment of the present invention please join
See the specific implementation process of the compensation method of above-mentioned holder drift, this is no longer going to repeat them.
Continuing with referring to Fig. 1 and Fig. 7, the unmanned plane of fourth embodiment of the invention offer is shown.The unmanned plane includes:
Memory 102；And
Processor 104 is electrically connected with the memory 102；And
The compensation device 101 of the compensation device 101 of holder drift, the holder drift is installed in the memory 102
And the software function module executed including one or more by the processor 104, the compensation device 101 include: that image obtains
Modulus block 701, drift value obtain module 702 and drift angle compensating module 703.
Described image obtains module 701, for obtaining the first image and second of the image acquisition device on holder
Image.
The drift value obtains module 702, for according to the coordinate information of the image characteristic point in the first image and
The variable quantity of the coordinate information of image characteristic point in second image obtains the drift angle of the holder.
The drift angle compensating module 703, for the drift angle of the acquired holder to be sent to the cloud
Platform, so that the holder carries out drift angle compensation according to the drift angle of the holder.
Unmanned plane provided in an embodiment of the present invention, by image collecting device fixed on control holder according to preset rules
Successively acquisition two field pictures.By the variation of the coordinate information of individual features point in the first image and second image,
Image collecting device is obtained in the offset of three axis directions in conjunction with preset coordinate transformation rule, and thus to obtain the drift of holder
Amount.Compensation is corrected according to the drift value by cradle head controllor control holder.The drift value of holder drift obtains and compensation
In the process, the estimation and compensation that will not be influenced drift by the interference of the factors such as external magnetic field easily, are dramatically improved
The accuracy of holder drift compensation.The specific implementation process of the compensation device of holder drift provided in an embodiment of the present invention please join
See the specific implementation process of the compensation method of above-mentioned holder drift, this is no longer going to repeat them.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
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, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. a kind of compensation method of holder drift, which is characterized in that the described method includes:
Obtain the first image and the second image of the image acquisition device on holder；
Obtain the characteristic information of 1 fisrt feature points and fisrt feature point in the first image；
The characteristic information corresponding at least four second of selected characteristic information and the fisrt feature point on second image
Characteristic point；
According to the pixel coordinate of the fisrt feature point and default the first attitude angle for calculating holder described in Rule；
According to the pixel coordinate of the second feature point and default the second attitude angle for calculating holder described in Rule；
According to the difference of first attitude angle and second attitude angle, the drift angle of the holder is obtained；
The drift angle of the acquired holder is sent to the holder, so that drift of the holder according to the holder
Angle carries out drift angle compensation.
2. the method according to claim 1, wherein obtaining the first figure of the image acquisition device on holder
Before the step of picture and the second image, the method also includes:
Obtain the posture information of the holder；
If judging that the holder remains static by the posture information of the holder, executes the image obtained on holder and adopt
The step of the first image and the second image of acquisition means acquisition.
3. the method according to claim 1, wherein first attitude angle includes the first course angle, described the
Two attitude angles obtain the holder according to the difference of first attitude angle and second attitude angle including the second course angle
Drift angle the step of include:
According to the difference of first course angle and second course angle, the heading effect angle of the holder is obtained.
4. the method according to claim 1, wherein the drift angle of the acquired holder is sent to institute
Holder is stated, so that the holder includes: the step of carrying out drift angle compensation according to the drift angle of the holder
Obtain the goal-selling angle of the holder；
The realistic objective angle of the holder is obtained according to the drift angle of the holder and the goal-selling angle；
Obtain the current time angle of the holder and the deviation angle of the realistic objective angle；
The holder is controlled according to the mobile drift angle to compensate the holder of the deviation angle.
5. a kind of compensation device of holder drift, which is characterized in that the compensation device of the holder drift includes:
Image collection module, for obtaining the first image and the second image of the image acquisition device on holder；
Angle of drifting about obtains module, for obtaining 1 fisrt feature points and the fisrt feature in the first image
The characteristic information of point；Selected characteristic information and the characteristic information of the fisrt feature point are corresponding at least on second image
Four second feature points；According to the pixel coordinate of the fisrt feature point and default the first appearance for calculating holder described in Rule
State angle；According to the pixel coordinate of the second feature point and default the second attitude angle for calculating holder described in Rule；According to
The difference of first attitude angle and second attitude angle obtains the drift angle of the holder；
Drift about angle compensating module, for the drift angle of the acquired holder to be sent to the holder, so that described
Holder carries out drift angle compensation according to the drift angle of the holder.
6. device according to claim 5, which is characterized in that the drift angle compensating module is specifically used for:
Obtain the goal-selling angle of the holder；
The realistic objective angle of the holder is obtained according to the drift angle of the holder and the goal-selling angle；
Obtain the current time angle of the holder and the deviation angle of the realistic objective angle；
The holder is controlled according to the mobile drift angle to compensate the holder of the deviation angle.
7. a kind of holder, which is characterized in that the holder includes:
Holder ontology, the image collecting device being arranged on holder ontology, memory, the processing being electrically connected with the memory
Device；And
The compensation device of the compensation device of holder drift, the holder drift is installed in the memory and including one or more
A software function module executed by the processor, the compensation device that the holder drifts about include:
Image collection module, for obtaining the first image and the second image of the image acquisition device on holder；
Angle of drifting about obtains module, for obtaining 1 fisrt feature points and the fisrt feature in the first image
The characteristic information of point；Selected characteristic information and the characteristic information of the fisrt feature point are corresponding at least on second image
Four second feature points；According to the pixel coordinate of the fisrt feature point and default the first appearance for calculating holder described in Rule
State angle；According to the pixel coordinate of the second feature point and default the second attitude angle for calculating holder described in Rule；According to
The difference of first attitude angle and second attitude angle obtains the drift angle of the holder；
Drift about angle compensating module, for the drift angle of the acquired holder to be sent to the holder, so that described
Holder carries out drift angle compensation according to the drift angle of the holder.
8. a kind of unmanned plane, which is characterized in that the unmanned plane includes:
Memory；And
Processor is electrically connected with the memory；And
The compensation device of the compensation device of holder drift, the holder drift is installed in the memory and including one or more
A software function module executed by the processor, the compensation device that the holder drifts about include:
Image collection module, for obtaining the first image and the second image of the image acquisition device on holder；
Angle of drifting about obtains module, for obtaining 1 fisrt feature points and the fisrt feature in the first image
The characteristic information of point；Selected characteristic information and the characteristic information of the fisrt feature point are corresponding at least on second image
Four second feature points；According to the pixel coordinate of the fisrt feature point and default the first appearance for calculating holder described in Rule
State angle；According to the pixel coordinate of the second feature point and default the second attitude angle for calculating holder described in Rule；According to
The difference of first attitude angle and second attitude angle obtains the drift angle of the holder；
Drift about angle compensating module, for the drift angle of the acquired holder to be sent to the holder, so that described
Holder carries out drift angle compensation according to the drift angle of the holder.
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| CN201610893832.XA CN106525074B (en) | 2016-10-13 | 2016-10-13 | A kind of compensation method, device, holder and the unmanned plane of holder drift |
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| CN201610893832.XA CN106525074B (en) | 2016-10-13 | 2016-10-13 | A kind of compensation method, device, holder and the unmanned plane of holder drift |
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