CN114200396B - Photoelectric positioning system of tethered unmanned aerial vehicle independent of satellite navigation technology - Google Patents
Photoelectric positioning system of tethered unmanned aerial vehicle independent of satellite navigation technology Download PDFInfo
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- CN114200396B CN114200396B CN202111282148.5A CN202111282148A CN114200396B CN 114200396 B CN114200396 B CN 114200396B CN 202111282148 A CN202111282148 A CN 202111282148A CN 114200396 B CN114200396 B CN 114200396B
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Abstract
The invention discloses a tethered unmanned aerial vehicle photoelectric positioning system which does not depend on satellite navigation technology, comprising: an onboard optical alignment device deployed on the tethered drone, and a ground optical alignment device and a solution positioning module deployed at the ground control station; the ground optical alignment device comprises a ground solid-state camera and a ground laser target; the airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain the coordinate value of the ground laser target on the target surface of the airborne solid-state camera, and obtaining the distance value of the tethered unmanned aerial vehicle from the ground surface through the distance measuring equipment; the ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera; and the resolving and positioning module is used for resolving and obtaining the position information of the unmanned aerial vehicle according to the optical geometric relationship so as to realize positioning.
Description
Technical Field
The invention belongs to the technical field of photoelectricity, and particularly relates to a tethered unmanned aerial vehicle photoelectric positioning system which does not depend on satellite navigation technology.
Background
The tethered unmanned aerial vehicle system connects the unmanned aerial vehicle platform with the ground control station through the tethered cable, the ground control station transmits electric energy, control instructions and the like to the tethered unmanned aerial vehicle through the tethered cable, and the tethered unmanned aerial vehicle transmits acquired information such as state, target position and the like to the ground control station through the tethered cable, so that functions such as target indication, attack guidance of a ground weapon system and the like are realized, and the tethered unmanned aerial vehicle system has the advantages of long dead time, high unmanned aerial vehicle positioning accuracy, long detection distance, high detection accuracy and the like.
The tethered unmanned aerial vehicle system can realize the functions of high-precision target indication and the like, and the tethered unmanned aerial vehicle platform has higher positioning precision, the differential satellite navigation technology is mainly adopted for realizing high-precision positioning at present, and particularly the RTK defending guiding technology can realize the positioning precision of the platform cm magnitude, so that the tethered unmanned aerial vehicle system becomes the positioning technology widely adopted by the tethered unmanned aerial vehicle platform.
Although the differential satellite navigation technology has the advantages of wide application range, extremely high positioning precision and the like, the prior art still has more defects which are difficult to overcome in practical use, for example, in a building dense area, GPS signals are easy to be shielded and reflected by a building, so that a receiving end cannot receive signals or receive multipath reflected signals, and the real-time performance and the precision of positioning are affected; when the RTK base station cannot search for satellites or data disconnection and the like occur, the system is converted into a common single-point satellite navigation mode to provide common positioning data, and the positioning precision of the tethered unmanned aerial vehicle cannot be continuously maintained; in addition, the pilot technique, once disturbed, will cause the whole system to fail to work. In view of the foregoing, there is a need to develop tethered unmanned aerial vehicle systems that do not rely on satellite navigation techniques to achieve accurate navigation.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a tethered unmanned aerial vehicle photoelectric positioning system which does not depend on satellite navigation technology. Coordinate values, heading and pitching of the tethered unmanned aerial vehicle in a tethered platform coordinate system are accurately measured through a photoelectric mutual sighting technology, and the problem that the unmanned aerial vehicle platform in the tethered unmanned aerial vehicle system can only realize high-precision positioning by means of a satellite navigation technology in the past is solved.
In order to achieve the above object, the present invention proposes a tethered unmanned aerial vehicle photoelectric positioning system that does not rely on satellite navigation technology, the system comprising: an onboard optical alignment device deployed on the tethered drone, and a ground optical alignment device and a solution positioning module deployed at the ground control station; the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
The airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain the coordinate value of the ground laser target on the target surface of the airborne solid-state camera, and is also used for obtaining the distance value of the tethered unmanned aerial vehicle from the ground surface through the distance measuring equipment;
The ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
and the resolving and positioning module is used for resolving and obtaining the position information of the unmanned aerial vehicle by combining the coordinate values with the distance values according to the optical geometric relationship, thereby realizing positioning.
As an improvement of the system, the on-board solid-state camera adopts a CMOS or CCD sensor, the ground solid-state camera adopts a CMOS or CCD sensor, and the distance resolution of the on-board solid-state camera and the ground solid-state camera in normal operation is not less than a preset threshold value.
As an improvement of the system, the airborne laser target comprises at least 2 light sources which are respectively arranged at the left side and the right side of the azimuth axis of the tethered unmanned aerial vehicle and equidistant from the azimuth axis of the unmanned aerial vehicle, wherein the connecting lines of the 2 light sources penetrate through the geometric center of the tethered unmanned aerial vehicle, and the directions of the light sources are parallel to the optical axis direction of the airborne solid-state camera;
the ground laser target comprises at least 2 light sources, a connecting line between the 2 light sources passes through a camera optical axis, a perpendicular bisector of the connecting line of the 2 light sources passes through the camera optical axis, the geometric center of the ground laser target coincides with the position of the optical axis of the ground solid-state camera, and the direction of a light source datum line is parallel to the direction of the optical axis of the ground solid-state camera.
As an improvement of the above system, the specific processing procedure of the solution positioning module is as follows:
establishing a coordinate system with a ground control station as an origin;
the abscissa m p and n p of 2 light sources of the receiver-carried laser targets on the ground solid-state camera target surface;
the ordinate k p and l p of the 2 light sources of the receiver-carried laser targets on the ground solid-state camera target surface;
the abscissa m d and n d of the 2 light sources of the ground laser target on the target surface of the airborne solid-state camera are received;
the ordinate k d and l d of the 2 light sources for receiving the ground laser targets on the target surface of the airborne solid-state camera;
According to the abscissas m p and n p and the abscissas k p and l p, calculating to obtain the azimuth alpha d-p and the pitching beta d-p of the geometrical center position of the airborne laser target deviated from the optical axis of the ground solid-state camera;
according to the abscissas m d and n d and the ordinates k d and l d, calculating to obtain the azimuth alpha p-d and the pitching beta p-d of the geometric center position of the ground laser target, which deviate from the optical axis of the airborne solid-state camera;
obtaining the elevation coordinate of the tethered unmanned aerial vehicle according to the distance L between the tethered unmanned aerial vehicle and the ground surface, which is measured by the distance measuring equipment;
and according to the optical geometric relationship, calculating the coordinates, heading and pitch of the tethered unmanned aerial vehicle according to the azimuth, pitch and elevation coordinates.
As an improvement of the system, the azimuth alpha d-p and the pitch beta d-p of the geometric center position of the airborne laser target deviating from the optical axis of the ground solid-state camera are calculated according to the abscissas m p and n p and the abscissas k p and l p; the method specifically comprises the following steps:
According to the abscissas m p and n p, the abscissas x 0-p of the geometric center position of the airborne laser target on the ground solid-state camera target surface are calculated by the following formula:
According to the following, the geometrical center position of the airborne laser target is calculated to deviate from the optical axis direction alpha d-p of the ground solid-state camera, and the geometrical center position is calculated as follows:
αd-p＝x0-p·Δθp
Wherein delta theta p is the angular resolution of the ground solid-state camera, F p is the focal length of the ground solid-state camera, and the single-phase element size of the ground solid-state camera is N p×Np;
According to the ordinate k p and l p, the ordinate y 0-p of the geometric center position of the airborne laser target on the ground solid-state camera target surface is calculated by the following formula:
according to the following, the pitch beta d-p of the geometrical center position of the airborne laser target, which deviates from the optical axis of the ground solid-state camera, is calculated as follows:
βd-p＝y0-p·Δθp。
As an improvement of the system, the azimuth alpha p-d and the pitch beta p-d of the geometric center position of the ground laser target, which deviate from the optical axis of the airborne solid-state camera, are calculated according to the abscissa m d and n d and the ordinate k d and l d; the method specifically comprises the following steps:
according to the abscissas m d and n d, the abscissas x 0-d of the geometric center position of the ground laser target on the target surface of the airborne solid-state camera are calculated by the following formula:
according to the following, the geometrical center position of the ground laser target is calculated to deviate from the optical axis direction alpha p-d of the airborne solid-state camera, and the geometrical center position is calculated as follows:
αp-d＝x0-d·Δθd
wherein delta theta d is the angular resolution of the on-board solid-state camera, F d is the focal length of the on-board solid-state camera, and the single-phase element size of the on-board solid-state camera is N d×Nd;
according to the ordinate k d and l d, the ordinate y 0-d of the geometric center position of the ground laser target on the target surface of the airborne camera is calculated by the following formula:
According to the following, the pitch beta p-d of the geometric center position of the ground laser target, which deviates from the optical axis of the airborne solid-state camera, is calculated as follows:
βp-d＝y0-d·Δθd。
as an improvement of the system, the height coordinate of the tethered unmanned aerial vehicle is obtained according to the distance L between the tethered unmanned aerial vehicle and the ground surface, which is measured by the distance measuring equipment; the method specifically comprises the following steps:
according to the distance L between the tethered unmanned aerial vehicle and the ground surface, which is measured by the distance measuring equipment, the roll v of the tethered unmanned aerial vehicle, which is output by the airborne inertial navigation equipment, is obtained by the following formula, and the height D between the tethered unmanned aerial vehicle and the ground surface is as follows:
D＝L·cosυ
According to the height delta D of the ground relative to the ground control station near the working position of the tethered unmanned aerial vehicle, the altitude coordinate z d of the tethered unmanned aerial vehicle is obtained by the following formula:
zd＝D+ΔD。
As an improvement of the system, according to the optical geometrical relationship, calculating coordinates, heading and pitch of the tethered unmanned aerial vehicle from azimuth, pitch and elevation coordinates; the method specifically comprises the following steps:
According to the optical geometrical relationship, the coordinates (x d,yd) of the tethered unmanned aerial vehicle on the xoy plane are obtained from the elevation coordinate z d as follows:
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p')
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p')
Wherein alpha 0 is the azimuth of the optical axis of the ground solid-state camera, beta 0 is the pitching of the optical axis of the ground solid-state camera, alpha d-p' is the azimuth of the geometric center position of the airborne laser target relative to the ground solid-state camera, and beta d-p is the pitching of the geometric center position of the airborne laser target deviated from the optical axis of the ground solid-state camera;
the heading alpha d of the tethered unmanned aerial vehicle relative to the ground control station is as follows:
αd＝360°-αp-d'
Wherein, alpha' p-d is the azimuth of the geometric center position of the ground laser target relative to the airborne solid-state camera;
the pitch β d of the tethered unmanned aerial vehicle relative to the ground control station is:
βd＝-(-γ0-βp-d)
wherein gamma 0 is the pitching of the optical axis of the airborne solid-state camera deviating from the reference line of the tethered unmanned aerial vehicle, and beta d,βp-d,γ0≤90°,βd,βp-d,γ0 which is smaller than or equal to 90 degrees is taken to deviate from the horizontal plane to be positive upwards and negative downwards.
As an improvement of the above system, the ground optical alignment device further comprises a ground reference table for realizing the initialization calibration of the optical axis pointing direction of the ground solid-state camera.
Compared with the prior art, the invention has the advantages that:
1. The high-precision positioning is realized without depending on a satellite navigation technology, the high-precision positioning and heading and pitching of the tethered unmanned aerial vehicle relative to the tethered platform are realized through a photoelectric mutual aiming technology, and the defects that the high-precision positioning cannot be realized at all times, the RTK base station signal is cut off, the satellite navigation equipment suffers from interference and the like due to the adoption of a satellite navigation technical solution are avoided;
2. The method is little influenced by environmental factors such as illumination intensity, cloud weather and the like, adopts a high-definition solid-state camera to match with a laser target, realizes accurate positioning and heading and pitching through air-ground mutual aiming, has extremely high visibility of the laser target, and can ensure that mutual aiming is realized under the conditions of daytime strong illumination, night and bad weather;
3. The equipment has simple structure and low cost. The key components are only 2 high-definition solid-state cameras, laser targets arranged on the outer edges of the camera lenses and distance measuring equipment, so that the equipment purchasing cost is low, and the installation, the debugging and the use are easy.
Drawings
FIG. 1 is a system overview block diagram of the present invention;
FIG. 2 is a schematic view of an optical alignment device;
FIG. 3 is a schematic diagram of the tethered unmanned aerial vehicle system in an operational position;
FIG. 4 is a schematic diagram of laser target imaging;
FIG. 5 is a schematic diagram of the conversion relationship between the azimuth angle of the target surface of the camera and the true azimuth angle;
FIG. 6 is a schematic diagram of a system elevation measurement;
FIG. 7 is a schematic diagram of tethered unmanned aerial vehicle pitch resolution
Fig. 8 is a schematic diagram of an on-board solid-state camera, ranging apparatus installation.
Reference numerals
1. Tethered unmanned aerial vehicle 2 and ground control station
3. Onboard optical alignment device 4 and ground optical alignment device
5. Ground power supply 6, signal processing apparatus
7. On-board solid-state camera 8, on-board laser target
9. Ranging apparatus 10, ground solid-state camera
11. Ground laser target 12 and ground reference table
13. Mooring cable
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings and examples.
The invention provides a tethered unmanned aerial vehicle photoelectric positioning system which does not depend on satellite navigation technology, and the system comprises: an onboard optical alignment device deployed on the tethered drone, and a ground optical alignment device and a solution positioning module deployed at the ground control station; the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
The airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain the coordinate value of the ground laser target on the target surface of the airborne solid-state camera, and is also used for obtaining the distance value of the tethered unmanned aerial vehicle from the ground surface through the distance measuring equipment;
The ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
and the resolving and positioning module is used for resolving and obtaining the position information of the unmanned aerial vehicle by combining the coordinate values with the distance values according to the optical geometric relationship, thereby realizing positioning.
The system is characterized in that the azimuth and the pitching of the tethered unmanned aerial vehicle are measured through a high-definition solid-state camera, a laser target and a distance measuring device, wherein the high-definition solid-state camera and the laser target are respectively arranged on the tethered unmanned aerial vehicle and the tethered platform; the distance measuring equipment carried by the tethered unmanned aerial vehicle measures the distance between the tethered unmanned aerial vehicle and the ground surface, the system calculates and outputs the accurate coordinate value of the tethered unmanned aerial vehicle in the coordinate system of the tethered platform, and the accurate position of the tethered unmanned aerial vehicle relative to the tethered platform is finally determined.
The invention will now be described in further detail with reference to the drawings and to specific examples.
Examples
As shown in fig. 1, an embodiment of the present invention proposes a tethered unmanned aerial vehicle photoelectric positioning system that does not rely on satellite navigation technology, the apparatus comprising: the system comprises a tethered unmanned aerial vehicle 1, a ground control station 2, an onboard optical alignment device 3, a ground optical alignment device 4, a ground power supply 5, signal processing equipment 6 and a tethered cable 13. The tethered unmanned aerial vehicle 1 is used for carrying an onboard optical alignment device 3, and selecting unmanned aerial vehicles meeting requirements according to the working requirements of a tethered unmanned aerial vehicle system, such as the type of an execution task, the weight of a load and the like; a ground control station 2 as a carrier for ground devices; the ground power supply 5 is used for supplying power to the platform and the load of the tethered unmanned aerial vehicle 1; the signal processing device 6 is used for analyzing the angle, the distance and other data acquired by the system; and the mooring cable 13 is used for connecting the mooring unmanned aerial vehicle 1 and the ground control station 2, transmitting information such as control instructions, angles and distances and transmitting power to the mooring unmanned aerial vehicle 1.
As shown in fig. 2, the on-board optical alignment device 3 includes: an onboard solid-state camera 7, an onboard laser target 8, and a ranging device 9. The airborne solid-state camera 7 is used for aiming at the ground laser target 11 and measuring the azimuth alpha p-d and the pitching beta p-d of the central position of the ground laser target 11 deviating from the optical axis direction of the airborne solid-state camera 7; an onboard laser target 8 for ground solid state camera 10 observation; and the distance measuring device 9 is used for measuring the distance L between the tethered unmanned aerial vehicle 1 and the ground surface.
The above-mentioned floor optical alignment device 4 comprises: a ground solid-state camera 10, a ground laser target 11, and a ground reference table 12. The ground solid-state camera 10 is used for aiming the airborne laser target 8 and measuring the azimuth alpha d-p and the pitching beta d-p of the central position of the airborne laser target 8 deviating from the optical axis direction of the ground solid-state camera 10; a ground laser target 11 for observation by an on-board solid-state camera 7; the ground reference table 12 is used for realizing the initial calibration of the optical axis pointing direction of the ground solid-state camera 10.
The onboard solid-state camera 7 is a 1-part high-definition camera, and a camera sensor can adopt CMOS or CCD. The scheme adopted by the embodiment is used for replacing the RTK defending guide technology to realize the accurate positioning of the tethered unmanned aerial vehicle 1, so that the positioning precision of the system is not smaller than that of the RTK defending guide technology, namely the distance resolution delta d of the airborne solid-state camera 7 and the ground solid-state camera 10 on the inclined distance R is required to be smaller than or equal to 0.1m, in addition, the mutual aiming between the airborne solid-state camera 7 and the ground solid-state camera 10 is required to be conveniently realized, namely the opposite laser targets are required to easily enter the camera view field, and the view field range of the solid-state camera at the inclined distance R is required to be large enough. The camera resolution is H×V, the focal length is f, and the single phase element size is N×N, so that the angular resolution of the solid-state camera
Horizontal angle of view
θH＝H·Δθ
Vertical angle of view
θV＝V·Δθ
And similarly, the angular resolution of the ground solid-state camera can be calculated according to the related parameters of the ground solid-state camera.
The airborne laser target 8 is a device composed of a plurality of light sources, wherein the light sources can adopt diode lasers, and an optical lens is additionally arranged outside the lasers and is used for narrowing the divergence angle of the lasers. As shown in fig. 2, the on-board laser target 8 includes not less than 2 light sources, in this example, the case of 2 light sources. The 2 light source connecting lines pass through the camera optical axis, and the perpendicular bisectors of the 2 light source connecting lines pass through the camera optical axis, as shown in fig. 2, at this time, the geometric center of the airborne laser target 8 coincides with the optical axis position of the airborne solid-state camera 7, and in addition, the direction of the light source datum line should be parallel to the optical axis of the airborne solid-state camera 7. To facilitate the ground solid state camera 10 capturing the geometric center position of the light source computer on-board laser target 8, the 2 light source pitch ρ should be at least 1 order of magnitude greater than the light source dimension d 0 to achieve a good result, but not limited to 1 order of magnitude greater. In order to ensure that the image of the light source on the target surface of the ground solid-state camera 9 is smaller than 1 pixel, the size of the light source should meet d 0≤Δd|R, and in order to ensure that the solid-state camera can observe the light source facing the laser target in the field of view, the divergence angle of the light source should meet ψ not less than max (theta H,θV). In addition, in order to ensure that the ground solid-state camera 9 can observe the light source of the on-board laser target 8 without being damaged by excessive received light intensity, the laser target light source should be set with appropriate power.
The distance measuring device 9 can be a laser distance measuring device, an infrared distance measuring device and the like.
The ground solid-state camera 10, referring to the on-board solid-state camera 7, should keep the horizontal axis of the camera target surface when the calibration is installed.
The ground laser target 11 refers to the airborne laser target 8.
The photoelectric positioning method of the tethered unmanned aerial vehicle which does not depend on satellite navigation technology comprises the following specific steps:
Step one: a coordinate system with the ground control station 2 as the origin is established.
As shown in fig. 3, a coordinate system is established with the position of the ground laser target 11 as an origin, the origin of coordinates is O, the xOy plane is a horizontal plane, and the y-axis direction is set to be the relative north of the coordinate system.
Step two: the onboard solid-state camera 7 and the ground solid-state camera 10 are mutually aimed, and the azimuth and the pitching of the geometric center of the laser target deviating from the optical axis of the opposite camera are calculated by identifying the laser target
The ground solid-state camera 10 captures the light source of the airborne laser target 8, the imaging situation on the camera target surface is as shown in fig. 4, the abscissa values of 2 light sources on the ground solid-state camera 10 target surface are m and n respectively, and then the geometrical center position of the airborne laser target 8 is on the abscissa of the ground solid-state camera 10 target surface
In practical engineering applications, in view of reducing errors, a method of averaging over multiple measurements may be used, in this example, taking x 0 = (m+n)/2 for convenience of description. Thereby, the azimuth of the geometrical center position of the airborne laser target 8 deviating from the optical axis of the ground solid-state camera 10 can be calculated
αd-p＝x0·Δθ
As shown in fig. 5, point a is a preset working position of the tethered unmanned aerial vehicle (1), point B is an actual position of the tethered unmanned aerial vehicle 1, and a 'and B' are projections of point a and point B on the xOy plane respectively, so that the angle aob=α d-p,∠AOA′＝∠BOB′＝β0. Let AA '=bb' =h, oa=ob=r, and the geometric center position of the onboard laser target 8 is azimuth +.a 'OB' =α d-p 'with respect to the ground solid-state camera 9, the point a coordinates are (0, h·tan β 0, h), and the point B coordinates are (h·tan β 0·sinαd-p′,h·tanβ0·cosαd-p', h). From vector geometry relations, there are
Can be deduced
Similarly, if the ordinate values of the 82 light sources of the airborne laser target on the target surface of the ground solid-state camera 10 are k and l, respectively, the ordinate of the geometric center position of the airborne laser target 8 on the target surface of the ground solid-state camera 10
From this, the pitch of the geometrical center position of the onboard laser target 8 deviating from the optical axis of the ground solid-state camera 10 can be calculated
βd-p＝y0·Δθ
The method for acquiring the azimuth and pitching of the geometric center position of the ground laser target 11, which deviates from the optical axis of the airborne solid-state camera 7, by the airborne solid-state camera 7 is consistent with the method, and the azimuth alpha p-d and the pitching beta p-d of the geometric center position of the ground laser target 11, which deviates from the optical axis of the airborne solid-state camera 7, are measured.
Similarly, the geometric center position of the ground laser target (10) is opposite to the azimuth of the tethered unmanned aerial vehicle 1
Step three: measuring the altitude coordinates of the tethered unmanned aerial vehicle 1
The distance measuring equipment 9 measures the distance L between the tethered unmanned aerial vehicle 1 and the ground surface, and the airborne inertial navigation equipment outputs the transverse rolling v of the tethered unmanned aerial vehicle 1, as shown in fig. 6, so that the height of the tethered unmanned aerial vehicle 1 from the ground surface can be calculated
D＝L·cosυ
In practical engineering application, the height delta D of the ground near the working position of the tethered unmanned aerial vehicle 1 relative to the ground control station (xOy coordinate plane) is measured in advance, height measurement compensation is set in the system, and the altitude coordinate of the tethered unmanned aerial vehicle 1 obtained by the system is obtained
zd＝D+ΔD
Step four: through the acquired angle and elevation coordinate information, calculating the accurate coordinates, heading and pitching of the tethered unmanned aerial vehicle 1 relative to the ground control station 2
From the geometrical relationship shown in fig. 3, the x-coordinate of the tethered unmanned aerial vehicle 1
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p')
Y-coordinate of tethered unmanned aerial vehicle 1
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p')
Heading of tethered unmanned aerial vehicle 1 relative to ground control station 2
αd＝360°-αp-d'
As shown in fig. 7, the tethered drone 1 is pitched relative to the ground control station 2
βd＝-(-γ0-βp-d)
Wherein gamma 0 is the pitch of the onboard solid-state camera 7 with its optical axis deviating from the reference line of the tethered unmanned aerial vehicle 1.
A system configuration step:
step one: selecting a tethered unmanned aerial vehicle 1, and presetting relative coordinates of working positions of the tethered unmanned aerial vehicle 1
And selecting a proper unmanned aerial vehicle according to task requirements, and presetting the working position of the tethered unmanned aerial vehicle 1. The working position of the tethered unmanned aerial vehicle 1 is A, the projection point of the point A on the xOy plane is B, in this example, AB=200m is preset, and for the convenience of calculation, OB=200m is set, then
Step two: determining solid state camera and laser target specifications
2 Solid-state cameras were selected, the resolution of which was hχv=1920×1080, the focal length of which was f=135 mm, and the single-phase size of which was n×n=4×4 μm. Angular resolution of the solid-state camera
Horizontal angle of view
θH＝H·Δθ＝1920×0.0296mrad≈3.256°
Vertical angle of view
θV＝V·Δθ＝1080×0.0296mrad≈1.832°
Distance resolution of the solid-state camera at the slant r=282.8m at this time
Δd|R＝282.8m＝R·Δθ＝282.8m×0.0296mrad≈8.37mm
The light source size d 0 = 5mm of the selected laser target, the light source divergence angle ψ is greater than or equal to max (θ H,θV) = 3.256 °, and the light source pitch ρ of 2 laser targets = 150mm.
Step three: calibration fixed ground optical alignment device 4
The ground laser target 11 is arranged on the outer edge of a lens of the ground solid-state camera 10, the ground solid-state camera 10 is arranged on the ground reference table 12, the horizontal axis of the target surface of the ground solid-state camera 10 is calibrated to be horizontal, the elevation angle beta 0 of the optical axis of the ground solid-state camera 10 is adjusted, as shown in fig. 3, when beta 0 is adjusted to be less than aob=45°, the optical axis of the ground solid-state camera 10 is locked to pitch; the ground reference table 12 is adjusted to be directed so that the optical axis direction alpha 0 of the ground solid-state camera 10 is directed to B, < boy=ζ, and when alpha 0 is adjusted to ζ, the ground reference table 12 is locked. At this time, the calibration and fixation of the ground optical alignment device 4 are completed, and the optical axis of the ground solid-state camera 10 is directed to a.
Step four: calibration mounting on-board optical alignment device 3 and distance measuring equipment 9
After the airborne laser target 8 is installed on the outer edge of the lens of the airborne solid-state camera 7, according to the set working position of the tethered unmanned aerial vehicle 1, determining the pitching gamma 0 of the optical axis of the airborne solid-state camera 7 deviating from the datum line of the tethered unmanned aerial vehicle 1, as shown in fig. 8, the optical axis orientation of the airborne solid-state camera 7 should be the same as AJ, gamma 0 = - <oao' = -45 °, AK in fig. 8 is the optical axis orientation after the fixed installation of the airborne optical alignment device 3, and calibrating the optical source orientation of the airborne laser target 8 to be parallel to AK.
As shown in fig. 8, the ranging apparatus 9 is calibrated to be perpendicular to the tethered unmanned aerial vehicle reference plane and then fixedly mounted on the tethered unmanned aerial vehicle 1.
Step five: the tethered unmanned aerial vehicle 1 lifts off and realizes mutual aiming with the ground control station 2, and the system acquires the relative azimuth, pitching and elevation coordinate information of the air and the ground
The tethered unmanned aerial vehicle 1 is powered on to lift off, goes to a preset working position, adjusts the heading of the tethered unmanned aerial vehicle 1, enables 112 light sources of the ground laser targets to fall into the field of view of the airborne solid-state camera 7, and achieves air-ground mutual aiming.
The ground solid-state camera 10 captures the light source of the airborne laser target 8, the imaging situation on the camera target surface is as shown in fig. 4, the abscissa values of 2 light sources on the ground solid-state camera 10 target surface are m and n respectively, and then the geometrical center position of the airborne laser target 8 is on the abscissa of the ground solid-state camera 10 target surface
Thereby, the azimuth of the geometrical center position of the airborne laser target 8 deviating from the optical axis of the ground solid-state camera 10 can be calculated
The ordinate values of the 82 light sources of the airborne laser target on the target surface of the ground solid-state camera 10 are l 0 and k 0 respectively, so that the ordinate of the geometric center position of the airborne laser target 8 on the target surface of the ground solid-state camera 10
From this, the pitch of the geometrical center position of the onboard laser target 8 deviating from the optical axis of the ground solid-state camera 10 can be calculated
The method for acquiring the azimuth and pitching of the geometric center position of the ground laser target 11, which deviates from the optical axis of the airborne solid-state camera 7, by the airborne solid-state camera 7 is consistent with the method, and the azimuth alpha p-d＝φ1 and pitching of the geometric center position of the ground laser target 11, which deviates from the optical axis of the airborne solid-state camera 7, are measured
The distance measuring device 9 measures the distance L=L 0 between the tethered unmanned aerial vehicle 1 and the ground surface, and the airborne inertial navigation device outputs the roll v=v 0 of the tethered unmanned aerial vehicle 1, as shown in fig. 5, so that the height of the tethered unmanned aerial vehicle 1 from the ground surface can be calculated
D＝L·cosυ＝L0·cosυ0
Survey to the height delta d=delta D 0 of the ground near the working position of the tethered unmanned aerial vehicle 1 relative to the ground control station, namely the xOy coordinate plane, setting height measurement compensation in the system, and obtaining the altitude coordinate of the tethered unmanned aerial vehicle 1 by the system
zd＝D+ΔD＝L0 cosυ0+ΔD0
Step six: through the acquired angle and elevation coordinate information, calculating the accurate coordinates, heading and pitching of the tethered unmanned aerial vehicle 1 relative to the ground control station 2
From the geometrical relationship shown in fig. 3, the x-coordinate of the tethered unmanned aerial vehicle 1
Y-coordinate of tethered unmanned aerial vehicle 1
Heading of tethered unmanned aerial vehicle 1 relative to ground control station 2
αd＝360°-αp-d'＝360°-φ1'
As shown in fig. 7, the tethered drone 1 is pitched relative to the ground control station 2
Feasibility analysis:
regardless of the effect of terrain shading, the horizontal coverage of the camera at an oblique distance r=282.8m
Vertical coverage
The selected solid-state camera may be considered to have a sufficiently large field of view at r=282.8m to facilitate mutual sighting between the on-board solid-state camera 7 and the ground solid-state camera 10, i.e. the opposed laser targets should be able to enter the camera field of view relatively easily, and the solution is easy to implement.
The distance measurement precision of the distance measurement equipment such as a laser distance measuring machine can reach millimeter magnitude within the range of flying height h=200m, and the measurement precision I L of L is less than or equal to 10mm in the example, so that the positioning precision of the tethered unmanned aerial vehicle 1 relative to the ground control station 2 is realized
Therefore, the positioning precision of the photoelectric mutual sighting device for determining the relative position and the posture between the tethered unmanned aerial vehicle and the tethered platform without depending on the satellite navigation technology is superior to that of the RTK satellite navigation technology.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and are not limiting. Although the present invention has been described in detail with reference to the embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the present invention, which is intended to be covered by the appended claims.
Claims (6)
1. A tethered unmanned aerial vehicle optoelectronic positioning system that does not rely on satellite navigation technology, the system comprising: an onboard optical alignment device deployed on the tethered drone, and a ground optical alignment device and a solution positioning module deployed at the ground control station; the ground optical alignment device comprises a ground solid-state camera and a ground laser target;
The airborne optical alignment device is used for imaging the ground laser target through the airborne solid-state camera to obtain the coordinate value of the ground laser target on the target surface of the airborne solid-state camera, and is also used for obtaining the distance value of the tethered unmanned aerial vehicle from the ground surface through the distance measuring equipment;
The ground optical alignment device is used for imaging the airborne laser target through the ground solid-state camera to obtain the coordinate value of the airborne laser target on the target surface of the ground solid-state camera;
the resolving and positioning module is used for resolving and obtaining the position information of the unmanned aerial vehicle according to the optical geometric relationship by combining the coordinate values with the distance values, so as to realize positioning;
the specific processing procedure of the resolving and positioning module is as follows:
establishing a coordinate system with a ground control station as an origin;
the abscissa m p and n p of 2 light sources of the receiver-carried laser targets on the ground solid-state camera target surface;
the ordinate k p and l p of the 2 light sources of the receiver-carried laser targets on the ground solid-state camera target surface;
the abscissa m d and n d of the 2 light sources of the ground laser target on the target surface of the airborne solid-state camera are received;
the ordinate k d and l d of the 2 light sources for receiving the ground laser targets on the target surface of the airborne solid-state camera;
According to the abscissas m p and n p and the abscissas k p and l p, calculating to obtain the azimuth alpha d-p and the pitching beta d-p of the geometrical center position of the airborne laser target deviated from the optical axis of the ground solid-state camera;
according to the abscissas m d and n d and the ordinates k d and l d, calculating to obtain the azimuth alpha p-d and the pitching beta p-d of the geometric center position of the ground laser target, which deviate from the optical axis of the airborne solid-state camera;
obtaining the elevation coordinate of the tethered unmanned aerial vehicle according to the distance L between the tethered unmanned aerial vehicle and the ground surface, which is measured by the distance measuring equipment;
according to the optical geometrical relationship, calculating coordinates, heading and pitch of the tethered unmanned aerial vehicle according to the azimuth, pitch and elevation coordinates;
According to the abscissa m p and n p and the ordinate k p and l p, the azimuth alpha d-p and the pitching beta d-p of the geometrical center position of the airborne laser target deviating from the optical axis of the ground solid-state camera are calculated; the method specifically comprises the following steps:
According to the abscissas m p and n p, the abscissas x 0-p of the geometric center position of the airborne laser target on the ground solid-state camera target surface are calculated by the following formula:
According to the following, the geometrical center position of the airborne laser target is calculated to deviate from the optical axis direction alpha d-p of the ground solid-state camera, and the geometrical center position is calculated as follows:
αd-p＝x0-p·Δθp
Wherein delta theta p is the angular resolution of the ground solid-state camera, F p is the focal length of the ground solid-state camera, and the single-phase element size of the ground solid-state camera is N p×Np;
According to the ordinate k p and l p, the ordinate y 0-p of the geometric center position of the airborne laser target on the ground solid-state camera target surface is calculated by the following formula:
according to the following, the pitch beta d-p of the geometrical center position of the airborne laser target, which deviates from the optical axis of the ground solid-state camera, is calculated as follows:
βd-p＝y0-p·Δθp；
According to the abscissa m d and n d and the ordinate k d and l d, the azimuth alpha p-d and the pitching beta p-d of the geometric center position of the ground laser target, which deviate from the optical axis of the airborne solid-state camera, are calculated; the method specifically comprises the following steps:
according to the abscissas m d and n d, the abscissas x 0-d of the geometric center position of the ground laser target on the target surface of the airborne solid-state camera are calculated by the following formula:
according to the following, the geometrical center position of the ground laser target is calculated to deviate from the optical axis direction alpha p-d of the airborne solid-state camera, and the geometrical center position is calculated as follows:
αp-d＝x0-d·Δθd
wherein delta theta d is the angular resolution of the on-board solid-state camera, F d is the focal length of the on-board solid-state camera, and the single-phase element size of the on-board solid-state camera is N d×Nd;
according to the ordinate k d and l d, the ordinate y 0-d of the geometric center position of the ground laser target on the target surface of the airborne camera is calculated by the following formula:
According to the following, the pitch beta p-d of the geometric center position of the ground laser target, which deviates from the optical axis of the airborne solid-state camera, is calculated as follows:
βp-d＝y0-d·Δθd。
2. The tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology according to claim 1, wherein the on-board solid-state camera adopts a CMOS or CCD sensor, the ground solid-state camera adopts a CMOS or CCD sensor, and the distance resolution of the on-board solid-state camera and the ground solid-state camera is not less than a preset threshold value in normal operation.
3. The tethered unmanned aerial vehicle photoelectric positioning system not relying on satellite navigation technology according to claim 1, wherein the onboard laser target comprises not less than 2 light sources which are respectively arranged at the left and right sides of the azimuth axis of the tethered unmanned aerial vehicle and equidistant from the azimuth axis of the unmanned aerial vehicle, 2 light source connecting lines pass through the geometric center of the tethered unmanned aerial vehicle, and the light source directions are parallel to the optical axis direction of the onboard solid state camera;
the ground laser target comprises at least 2 light sources, a connecting line between the 2 light sources passes through a camera optical axis, a perpendicular bisector of the connecting line of the 2 light sources passes through the camera optical axis, the geometric center of the ground laser target coincides with the position of the optical axis of the ground solid-state camera, and the direction of a light source datum line is parallel to the direction of the optical axis of the ground solid-state camera.
4. The photoelectric positioning system of the tethered unmanned aerial vehicle without depending on satellite navigation technology according to claim 3, wherein the altitude coordinate of the tethered unmanned aerial vehicle is obtained according to the distance L between the tethered unmanned aerial vehicle and the ground surface measured by the ranging equipment; the method specifically comprises the following steps:
according to the distance L between the tethered unmanned aerial vehicle and the ground surface, which is measured by the distance measuring equipment, the roll v of the tethered unmanned aerial vehicle, which is output by the airborne inertial navigation equipment, is obtained by the following formula, and the height D between the tethered unmanned aerial vehicle and the ground surface is as follows:
D＝L·cosυ
According to the height delta D of the ground relative to the ground control station near the working position of the tethered unmanned aerial vehicle, the altitude coordinate z d of the tethered unmanned aerial vehicle is obtained by the following formula:
zd＝D+ΔD。
5. The tethered unmanned aerial vehicle photoelectric positioning system independent of satellite navigation technology according to claim 4, wherein the coordinates, heading and pitch of the tethered unmanned aerial vehicle are calculated from azimuth, pitch and elevation coordinates according to optical geometrical relations; the method specifically comprises the following steps:
According to the optical geometrical relationship, the coordinates (x d,yd) of the tethered unmanned aerial vehicle on the xoy plane are obtained from the elevation coordinate z d as follows:
xd＝zd·cot(β0+βd-p)·cos(α0+αd-p')
yd＝zd·cot(β0+βd-p)·sin(α0+αd-p')
Wherein, alpha 0 is the azimuth of the optical axis of the ground solid-state camera, beta 0 is the pitching of the optical axis of the ground solid-state camera, alpha d -p' is the azimuth of the geometrical center position of the airborne laser target relative to the ground solid-state camera, and beta d-p is the pitching of the geometrical center position of the airborne laser target deviated from the optical axis of the ground solid-state camera;
the heading alpha d of the tethered unmanned aerial vehicle relative to the ground control station is as follows:
αd＝360°-αp-d'
Wherein, alpha' p-d is the azimuth of the geometric center position of the ground laser target relative to the airborne solid-state camera;
the pitch β d of the tethered unmanned aerial vehicle relative to the ground control station is:
βd＝-(-γ0-βp-d)
wherein gamma 0 is the pitching of the optical axis of the airborne solid-state camera deviating from the reference line of the tethered unmanned aerial vehicle, and beta d,βp-d,γ0≤90°,βd,βp-d,γ0 which is smaller than or equal to 90 degrees is taken to deviate from the horizontal plane to be positive upwards and negative downwards.
6. The tethered unmanned aerial vehicle optoelectronic positioning system of claim 1, wherein the ground optical alignment device further comprises a ground reference stage for performing an initial calibration of the ground solid state camera optical axis pointing.
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