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WO2018120350A1 - Procédé et dispositif de positionnement de véhicule aérien sans pilote - Google Patents

Procédé et dispositif de positionnement de véhicule aérien sans pilote Download PDF

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Publication number
WO2018120350A1
WO2018120350A1 PCT/CN2017/072477 CN2017072477W WO2018120350A1 WO 2018120350 A1 WO2018120350 A1 WO 2018120350A1 CN 2017072477 W CN2017072477 W CN 2017072477W WO 2018120350 A1 WO2018120350 A1 WO 2018120350A1
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WIPO (PCT)
Prior art keywords
drone
image
current
reference image
feature point
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PCT/CN2017/072477
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English (en)
Chinese (zh)
Inventor
雷志辉
卞一杰
杨凯斌
贾宁
Original Assignee
深圳市道通智能航空技术有限公司
湖南省道通科技有限公司
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Application filed by 深圳市道通智能航空技术有限公司, 湖南省道通科技有限公司 filed Critical 深圳市道通智能航空技术有限公司
Publication of WO2018120350A1 publication Critical patent/WO2018120350A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/12—Target-seeking control

Definitions

  • the invention relates to the field of UAV control, and in particular to a method and a device for positioning a UAV.
  • UAVs have broad applications in disaster prevention and rescue, scientific investigations, etc., and flight control systems are an important part of drones, playing an important role in the intelligent and practical use of drones.
  • the drone can automatically return to the original route.
  • the map data provided by the third party can usually be stored in the flight system of the drone, and then passed through a positioning device such as a Global Position System (GPS).
  • GPS Global Position System
  • the resolution of the map data provided by the third party is related to the height of the drone from the ground. Generally, the higher the altitude of the drone's off-ground flight, the lower the resolution. Since the flying height of the drone during the operation will change frequently, the resolution of the ground target is likely to be large, and the matching accuracy is low, resulting in poor positioning accuracy when returning.
  • the technical problem to be solved by the present invention is how to improve the positioning accuracy.
  • an embodiment of the present invention discloses a method for positioning a drone, including:
  • a reference image is generated; the current image acquired at the current time is acquired; and the current position of the drone is determined according to the reference image and the current image.
  • generating a reference image includes: collecting a ground image during the flight of the drone; and splicing the ground image to obtain a reference image.
  • the ground image is collected, including: collecting the ground image during the flight of the drone from the starting position to the returning position.
  • the method for positioning the UAV disclosed in this embodiment further includes: determining the return flight.
  • the method for positioning the UAV disclosed in this embodiment further includes: receiving, by the controller, an instruction sent by the controller for indicating the return flight.
  • the method for positioning the UAV disclosed in this embodiment further includes: determining a reverse trajectory of the UAV flying from the starting position to the returning position.
  • the method for positioning the unmanned aerial vehicle disclosed in this embodiment further includes: flying from the returning position to the starting position according to the reverse trajectory.
  • determining a current location of the drone according to the reference image and the current image including: matching the current image with the reference image, and obtaining the drone at the current time relative to the reference image a motion vector; determining, according to the motion vector, positioning information of the drone relative to the reference image at the current time; wherein the positioning information includes at least one of: a position of the drone, a height of the drone, a posture of the drone The direction of the drone, the speed of the drone and the heading of the drone.
  • the current image is matched with the reference image to obtain a motion vector of the drone relative to the reference image at the current time, including: matching the current image with the reference image to obtain a scene of the drone relative to the reference at the current time.
  • the motion vector of the image is matched with the reference image to obtain a motion vector of the drone relative to the reference image at the current time, including: matching the current image with the reference image to obtain a scene of the drone relative to the reference at the current time.
  • the current image is matched with the reference image to obtain a motion vector of the drone relative to the reference image at the current time, including: selecting a feature point of the reference image, wherein the selected feature point is used as the reference feature point. Determining a feature point matching the reference feature point in the current image, wherein the matched feature point is used as the current feature point; matching the current feature point with the reference feature point to obtain a drone at the current time relative to the reference The motion vector of the image.
  • an apparatus for positioning a drone including:
  • a reference module for generating a reference image during the flight of the drone; an acquisition module for acquiring the current image acquired at the current time; and a positioning module for the reference image generated by the reference module and the current image acquired by the acquisition module , determine the current location of the drone.
  • the reference module includes: a sampling unit, configured to collect a ground image during the flight of the drone; and a splicing unit configured to splicing the ground image collected by the sampling unit to obtain a reference image.
  • the sampling unit is specifically configured to collect a ground image during the flight of the drone from the starting position to the returning position.
  • the apparatus for positioning the UAV disclosed in this embodiment further includes: a determining module, Used to determine the return flight.
  • the determining module is further configured to receive an instruction sent by the controller to indicate a return flight.
  • the apparatus for positioning the UAV further includes: a trajectory module, configured to determine, after the reference module generates the reference image, a reverse trajectory of the UAV flying from the starting position to the returning position.
  • a trajectory module configured to determine, after the reference module generates the reference image, a reverse trajectory of the UAV flying from the starting position to the returning position.
  • the device for positioning the UAV disclosed in this embodiment further includes: a returning module, configured to fly from the return position to the starting position according to the reverse trajectory determined by the trajectory module.
  • the positioning module includes: a matching unit, configured to match the current image with the reference image to obtain a motion vector of the drone relative to the reference image at the current time; and a positioning information unit configured to determine the drone according to the motion vector Positioning information relative to the reference image at the current time; wherein the positioning information includes at least one of: a position of the drone, a height of the drone, a posture of the drone, an azimuth of the drone, a drone The speed and heading of the drone.
  • the matching unit is specifically configured to perform scene matching on the current image and the reference image to obtain a motion vector of the drone relative to the reference image at the current time.
  • the matching unit includes: a selecting subunit for selecting a feature point of the reference image, wherein the selected feature point is used as a reference feature point; and the feature point determining subunit is configured to determine the reference feature in the current image Point matching feature points, wherein the matched feature points are used as the current feature points; the vector subunits are used to match the current feature points with the reference feature points to obtain the movement of the drone relative to the reference image at the current time.
  • a selecting subunit for selecting a feature point of the reference image wherein the selected feature point is used as a reference feature point
  • the feature point determining subunit is configured to determine the reference feature in the current image Point matching feature points, wherein the matched feature points are used as the current feature points
  • the vector subunits are used to match the current feature points with the reference feature points to obtain the movement of the drone relative to the reference image at the current time.
  • the method and device for positioning a drone generate a reference image during the flight of the drone, and the reference image can reflect the latest ground situation, and then obtain Taking the current image collected at the current time, since the reference image and the current image are acquired during the flight of the drone, there is a certain correlation between the reference image and the current image, and then, according to the reference image and the current image, Determining the current position of the drone; in the solution of the embodiment of the invention, the reference image is generated during the flight of the drone, and the current image is also acquired during the flight of the drone, and therefore, the generated reference The image can dynamically compensate for the difference in resolution generated during the flight of the UAV. Compared with the fixed resolution in the prior art, the UAV can better achieve dynamic matching during the return process, reducing system errors and thus improving The positioning accuracy of the return flight.
  • determining a reverse trajectory of the drone flying from the starting position to the returning position so that the drone can directly follow the reverse trajectory when flying from the returning position to the starting position.
  • the return position is flying to the starting position, which reduces the return planning of the flight path and improves the efficiency of determining the flight path when returning.
  • the drone can fly back to the starting position by following the reverse trajectory in the case of no signal or communication failure, so that the drone can smoothly return to the starting position.
  • the drone will plan a better trajectory such as bypassing obstacles when flying from the starting position to the returning position, so that the reverse trajectory according to the outward trajectory is from the returning position to the starting position.
  • a better trajectory such as bypassing obstacles when flying from the starting position to the returning position, so that the reverse trajectory according to the outward trajectory is from the returning position to the starting position.
  • FIG. 1 is a flow chart of a method for positioning a drone according to an embodiment of the present invention
  • FIG. 2 is a flowchart of a method for matching a scene to obtain a motion vector of a drone according to an embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of an apparatus for positioning a drone according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a system for positioning a drone according to an embodiment of the present invention.
  • installation In the description of the present invention, it should be noted that the terms “installation”, “connected”, and “connected” are to be understood broadly, and, for example, may be fixed connections, unless explicitly stated and defined otherwise. It can also be a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or can be indirectly connected through an intermediate medium, or can be internal communication between two components, and can be a wireless connection. It can also be a wired connection.
  • the specific meaning of the above terms in the present invention can be understood in a specific case by those skilled in the art.
  • the embodiment discloses a method for positioning the unmanned aerial vehicle.
  • a flow chart of the method for positioning the unmanned aerial vehicle is performed.
  • the methods of positioning include:
  • step S101 a reference image is generated during the flight of the drone.
  • the ground image can be collected after the drone takes off from the starting position, and the ground image collected by the drone during the moving to the destination is spliced, and the stitched result is used as the reference image.
  • the so-called ground image refers to an image taken by the drone in a bird's eye view during a flight, and the angle between the overhead viewing direction and the vertical direction is less than 90 degrees.
  • the overhead viewing direction may be vertically downward, in which case the angle of view of the overhead viewing angle is 0 degrees from the vertical.
  • the drone can store the generated reference image for subsequent use of the reference image.
  • the reference image can also be sent to other drones, so that other drones can also use the reference image.
  • the reference image generated by the drone since the hardware parameters of the drone do not change during the flight of the drone, the reference image generated by the drone itself can represent the drone.
  • the so-called departure trajectory refers to the flight path of the drone from the starting position to the destination position. trace.
  • Step S102 Acquire a current image collected at a current time.
  • the current image acquired at the current time can be acquired during the flight of the drone.
  • the drone acquires the image acquired by the image acquisition device on the drone at the current moment in order to determine the current time position.
  • Step S103 determining the current position of the drone based on the reference image and the current image.
  • the current image and the reference image may be compared to obtain a difference between the current image and the reference image, and the motion vector of the drone may be estimated according to the difference, thereby determining the drone's motion vector. current position.
  • the operation of generating the reference image may include: collecting a ground image during the flight of the drone; and splicing the ground image to obtain a reference image.
  • the ground image may be collected at preset intervals, and the preset interval may be determined according to prior knowledge to determine a time interval preset in the time domain, or a preset distance interval in the position.
  • the preset intervals may be equal intervals or non-equal intervals.
  • the overall mode splicing may be used, or the segmentation mode may be used for image splicing.
  • the segmentation mode may be used for image splicing.
  • there is usually an overlapping area between adjacent frame images and the front and rear two frames of the overlapping portion may be combined into a large seamless image.
  • the overlapping area of one of the images may be directly rounded off, and the extra portion of the image may be stitched to another frame image, and the fusion is performed in the seam region to obtain a mosaic image.
  • the ground image is acquired during the flight of the drone from the starting position to the returning position.
  • the so-called starting position refers to the position where the drone starts to take off;
  • the so-called return position is Refers to the position where the drone starts to return to the starting position after taking off.
  • the returning position is the destination of the drone, but in the specific implementation process, the returning position may also be the location where the drone receives the returning instruction during the flight to the destination.
  • the return location can also be a location where the drone encounters a special situation in the process of flying to the destination to determine the need to return. For example, during the flight, there are sudden situations such as insufficient power, no GPS signal, and drone failure. At this time, the flight control system in the drone determines the return flight.
  • the method may further include:
  • step S104 it is determined that the return flight.
  • the drone may actively determine the return flight, for example, the drone encounters a special situation during the flight and needs to return. For example, when the drone is in a state of insufficient power, no GPS signal, or a drone failure during the flight, the flight control system in the drone determines the return flight. After flying to the destination to complete the task, the drone can also take the initiative to determine the need to return.
  • the controller may also control the drone to return. Specifically, the drone receives an instruction sent by the controller to indicate a return flight. After receiving the instruction, the drone determines to return.
  • the controller may be a remote control dedicated to the drone, or a terminal that remotely controls the drone, such as a mobile terminal, a computer, a notebook, or the like.
  • the method further includes:
  • Step S105 determining a reverse trajectory of the drone flying from the starting position to the returning position.
  • the captured image is in the process of flying from the starting position to the returning position.
  • the flight path of the drone can be determined according to the image attributes.
  • the flight path from the return position to the starting position along the departure path forms a reverse trajectory of the drone flying from the starting position to the returning position.
  • the drone can perform the returning operation based on the reverse trajectory.
  • the step S103 may specifically include: matching the current image with the reference image to obtain a motion vector of the drone relative to the reference image at the current time; and determining, according to the motion vector, the positioning of the drone relative to the reference image at the current time. information.
  • the positioning information includes at least one of the following: the position of the drone, the height of the drone, the attitude of the drone, the azimuth of the drone, the speed of the drone, and the heading of the drone.
  • the direction of the UAV refers to the relative angle between the current image and the reference image acquired by the aircraft at the current time.
  • the heading of the UAV refers to the actual flight direction of the UAV.
  • the current image and the reference image may be scene-matched to obtain a current time of the drone relative to the reference image.
  • the motion vector specifically, please refer to Figure 2.
  • the method shown in Figure 2 includes:
  • Step S201 selecting feature points of the reference image, and the selected feature points are used as reference feature points.
  • reference feature points such as texture-rich Object edge points, etc.
  • the feature points can be described by mathematical methods such as gradient histograms and local random binary features.
  • Step S202 determining a feature point matching the reference feature point in the current image, and the feature point obtained by the matching is used as the current feature point.
  • the pixels in the current image can be described by the same mathematical description, and the current feature points in the current image that match the reference feature points can be determined using mathematical knowledge.
  • Step S203 matching the current feature point with the reference feature point to obtain a motion vector of the drone relative to the reference image at the current time.
  • the current feature points and the reference feature points can be matched by an affine transformation model or a projective transformation model.
  • a description of the affine transformation model or the projective transformation model is as follows.
  • the affine transformation model can be established by means of equations. Specifically, the transformation model established by the equations is as follows:
  • the affine transformation model can also be established by the form of a matrix.
  • the transformation model established by the matrix is as follows:
  • (x, y) is the coordinate of the reference feature point in the reference image
  • (x', y') is the coordinate of the feature point in the current image that matches the reference feature point, a0, a1, a2, b0, b1, and b2 Transform parameters for affine.
  • the complete affine transformation parameters can be solved; when the matched feature points are more than three groups, the least squares solution can be solved. More precise affine transformation parameters.
  • the affine transformation parameters calculated from the affine transformation model can be used to represent the motion vector of the drone.
  • the projective transformation model can be established by means of equations. Specifically, the transformation model is established by the following formula:
  • the projective transformation matrix calculated from the projective transformation model can be used to represent the motion vector of the drone.
  • the UAV return positioning device includes: a reference module 301, an acquisition module 302, and a positioning module 303, where:
  • the reference module 301 is configured to generate a reference image during the flight of the drone; the acquisition module 302 is configured to acquire the current image acquired at the current time; the positioning module 303 is configured to collect the reference image generated by the reference module 301 and the acquisition module 302. The current image determines the current location of the drone.
  • the reference module 301 includes: a sampling unit, configured to collect a ground image during the flight of the drone; and a splicing unit configured to splicing the ground image collected by the sampling unit to obtain a reference image.
  • the sampling unit is specifically configured to acquire a ground image during the flight of the drone from the starting position to the return position.
  • the sampling unit may be an imaging device, such as a camera, a digital camera, etc.; the splicing unit may be a processor or a chip or the like.
  • the acquisition module 302 can be an imaging device such as a camera, a digital camera, or the like.
  • the location module 303 can be a processor or a chip.
  • the sampling unit and the acquisition module 302 may be the same camera device.
  • the method further includes: a determining module, configured to determine a return flight.
  • the determining module is further configured to receive an instruction sent by the controller to indicate a return flight.
  • the determining module may be a wireless signal receiver, such as an antenna for receiving a WiFi signal, an antenna for receiving an LTE (Long Term Evolution) signal, or an antenna for receiving a Bluetooth signal.
  • the determining module can also include a processor on this basis.
  • the method further includes: a trajectory module, configured to determine, after the reference module 301 generates the reference image, a reverse trajectory of the drone flying from the starting position to the returning position.
  • a trajectory module configured to determine, after the reference module 301 generates the reference image, a reverse trajectory of the drone flying from the starting position to the returning position.
  • the method further includes: a returning module for flying from the returning position to the starting position according to the reverse trajectory determined by the trajectory module.
  • the foregoing trajectory module and the returning module may be a processor or a computing chip, respectively.
  • the above trajectory module and the returning module may be the same processor or a computing chip.
  • the positioning module includes: a matching unit configured to match the current image with the reference image to obtain a motion vector of the drone relative to the reference image at the current time; and a positioning information unit configured to use the motion vector Determining the positioning information of the drone relative to the reference image at the current time; wherein the positioning information includes at least one of the following: the position of the drone, the height of the drone, the posture of the drone, and the orientation of the drone The speed of the drone and the heading of the drone.
  • the matching unit is further configured to perform scene matching on the current image with the reference image to obtain a motion vector of the drone relative to the reference image at the current time.
  • the matching unit includes: a selecting subunit for selecting a feature point of the reference image, wherein the selected feature point is used as a reference feature point; and the feature point determining subunit is configured to determine the current image a feature point matching the reference feature point, wherein the matched feature point is used as the current feature point; the vector sub-unit is used to match the current feature point with the reference feature point to obtain a drone relative to the current time The motion vector of the reference image.
  • the drone includes a body 401, an image capture device 402, and a processor (not shown), wherein:
  • the body 401 is used to carry various components of the drone, such as a battery, an engine (motor), and a camera Like first class;
  • the image capture device 402 is disposed on the body 401, and the image capture device 402 is configured to acquire images.
  • the image collection device 402 may be a camera.
  • image acquisition device 402 can be used for panoramic photography.
  • the image capture device 402 can include a multi-view camera, can also include a panoramic camera, and can include both a multi-view camera and a panoramic camera to capture images or video from multiple angles.
  • the processor is for performing the method disclosed in the embodiment shown in FIG.
  • the method and device for positioning a drone provided by the embodiment of the present invention provide a method and a device for positioning a drone according to an embodiment of the present invention, and generate a reference image during the flight of the drone, and the reference image can reflect The latest ground situation, and then, the current image acquired at the current time is acquired. Since the reference image and the current image are acquired during the flight of the drone, there is a certain correlation between the reference image and the current image, and then, The current position of the drone can be determined according to the reference image and the current image. In the solution of the embodiment of the present invention, the reference image is generated during the flight of the drone, and the current image is acquired during the flight of the drone.
  • the generated reference image can dynamically compensate for the difference in resolution generated during the flight of the drone, and the dynamic matching can be better achieved in the return process of the drone compared to the fixed resolution in the prior art.
  • the system error is reduced, thereby improving the positioning accuracy of the return flight.
  • determining a reverse trajectory of the drone flying from the starting position to the returning position so that the drone can directly follow the reverse trajectory when flying from the returning position to the starting position. Flying from the return position to the starting position reduces the amount of return planning for the flight path and improves the efficiency of determining the flight path when returning. In addition, drones encounter no signal Or in the case of a communication failure, the UAV can smoothly return to the starting position by flying from the returning position to the starting position in accordance with the reverse trajectory.
  • the drone will plan a better trajectory such as bypassing obstacles when flying from the starting position to the returning position, so that the reverse trajectory according to the outward trajectory is from the returning position to the starting position.
  • a better trajectory such as bypassing obstacles when flying from the starting position to the returning position, so that the reverse trajectory according to the outward trajectory is from the returning position to the starting position.
  • embodiments of the present invention can be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or a combination of software and hardware. Moreover, the invention can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) including computer usable program code.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • the computer program instructions can also be stored in a computer readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer readable memory produce an article of manufacture comprising the instruction device.
  • the device is implemented in a flow chart A function specified in a block or blocks of a process or multiple processes and/or block diagrams.
  • These computer program instructions can also be loaded onto a computer or other programmable data processing device such that a series of operational steps are performed on a computer or other programmable device to produce computer-implemented processing for execution on a computer or other programmable device.
  • the instructions provide steps for implementing the functions specified in one or more of the flow or in a block or blocks of a flow diagram.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Analysis (AREA)

Abstract

L'invention concerne un procédé et un dispositif de positionnement d'un véhicule aérien sans pilote. Le procédé consiste à : générer une image de référence pendant le vol d'un véhicule aérien sans pilote (S101) ; acquérir une image courante acquise à un instant courant (S102) ; et déterminer, conformément à l'image de référence et à l'image courante, une position courante du véhicule aérien sans pilote (S103). L'image de référence et l'image courante ont un certain degré de corrélation et, par conséquent, la position courante du véhicule aérien sans pilote peut être déterminée conformément à l'image de référence et à l'image courante. Par rapport à une résolution fixe de l'état de la technique, la présente invention permet une meilleure adaptation dynamique pendant un trajet de retour d'un véhicule aérien sans pilote, réduisant ainsi des erreurs systématiques, et améliorant la précision de positionnement du trajet de retour.
PCT/CN2017/072477 2016-12-28 2017-01-24 Procédé et dispositif de positionnement de véhicule aérien sans pilote WO2018120350A1 (fr)

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CN201611240082.2A CN106774402A (zh) 2016-12-28 2016-12-28 对无人机进行定位的方法及装置

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