CN106647814B - A kind of unmanned plane vision auxiliary positioning and flight control system and method based on the identification of two dimensional code terrestrial reference - Google Patents
A kind of unmanned plane vision auxiliary positioning and flight control system and method based on the identification of two dimensional code terrestrial reference Download PDFInfo
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Abstract
The invention discloses a kind of unmanned plane vision auxiliary positionings and flight control system and method based on the identification of two dimensional code terrestrial reference, the system includes drone body, sensor module, pursuit path generation module, vision processing module, sensor update module, flight control modules, vision auxiliary control switching module, command output module and camera, by carrying out vision extraction to the two dimensional code marker arranged on the specific position of course line, merge the calculating that inertial navigation system carries out exact position and posture information, and then assist and improve the precision of tradition GPS integrated navigation system, diversification information is provided by two dimensional code encoded information simultaneously for unmanned plane to guide, expand the diversity of aerial mission, in addition, it is proposed a kind of cascade flight control system of Adaptive Compensation Control based on deviation, realize Marker Identity state and unidentified The smooth transition of state improves the stability of flight control, and then improves the precision and rapidity of identification.
Description
Technical field
The invention belongs to unmanned vehicle technical fields, more particularly, to a kind of nothing based on the identification of two dimensional code terrestrial reference
Man-machine vision auxiliary positioning and flight control system and method.
Background technique
Recently as intelligence science and control the reach of science, unmanned plane becomes a currently more popular research
Topic.At present unmanned plane be widely used in taking photo by plane, the earth mapping, geology rescue, fire rescue, the fields such as traffic monitoring.Nobody
Not only there is machine actual social application to be worth, and also have important research significance, such as agricultural plant protection, electric power in engineering and science
The fields such as inspection, forest fire protection, inspection calamity, have vast potential for future development.
Unmanned plane it is automatic in-flight, traditional integrated navigation technology is limited to GPS accuracy problem, in position precision
About ± 2m or so is delivered in the occasion relatively high to airline operation, hovering required precision, such as Express Logistics, and the disaster relief is supported,
Upper warship operation, the application such as auto-returned charging, generally requires to use other equipment to arrive at target point when assisting to improve flight
Precision, have certain limitation.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides one kind is precisely known based on two dimensional code terrestrial reference
Other unmanned plane vision auxiliary positioning and flight control system arrange several with the mark of quick response code form on the specific position in course line
Will object is as key point, by carrying out vision extraction to two dimensional code marker, fusion inertial navigation system carry out exact position and
The calculating of posture information, and then the precision of tradition GPS integrated navigation system is assisted and improves, while believing by the coding of two dimensional code
Breath provides diversification information for unmanned plane and guides, and expands the diversity of aerial mission.In addition, proposing a kind of based on the adaptive of deviation
The cascade flight control system of control should be compensated, realizes the smooth transition of Marker Identity state and unidentified state, improves and flies
The stability of row control, and then the precision and rapidity of identification are improved, thus solve conventional combination navigation skill in the prior art
Art is limited to GPS accuracy problem, and position precision is lower, needs to use other equipment to arrive at target point when assisting to improve flight
Precision the technical issues of.
To achieve the above object, according to one aspect of the present invention, a kind of nothing based on the identification of two dimensional code terrestrial reference is provided
Man-machine vision auxiliary positioning and flight control system characterized by comprising drone body, sensor module, pursuit path generate
Module, vision processing module, sensor update module, flight control modules, command output module, vision auxiliary control switching mould
Block and camera:
The sensor module be used to obtain the drone body location information and the drone body the
One movement velocity vector；
The pursuit path generation module is used to generate course line pursuit path according to preset task way point information, and to institute
It states course line pursuit path progress discrete processes and obtains N number of expectation destination, N is positive integer；
The image for the two dimensional code marker that the vision processing module is used to be acquired according to the camera obtains institute
The location information, posture information and encoded information for stating two dimensional code marker, by the location information, posture information and coding
Information obtains the camera relative to the deviation distance vector of the two dimensional code marker and the camera relative to institute
State the second movement velocity vector of two dimensional code marker；
The sensor update module is used for the location information using the drone body, first movement velocity is sweared
Amount, the deviation distance vector and the second movement velocity vector carry out multi-sensor information by Kalman filtering algorithm
Fusion obtains target position information, the first movement velocity of the target arrow through the filtered drone body of Kalman filtering algorithm
Amount, target deviation distance vector and target the second movement velocity vector；
The flight control modules are used for the desired speed of the desired locations using target expectation destination, target expectation destination
Vector, the target position information, the first movement velocity of target vector, the target deviation distance vector and the mesh
It marks the second movement velocity vector to guidance command by deviation adaptive equalization generation, described guidance command is sent to described instruction
Output module, wherein the target expectation destination is the destination that unmanned plane is currently being directed to, described to guidance command including roll
Angle and pitch angle；
The vision auxiliary control switching module, for controlling institute when the two dimensional code marker is in identification state
It states the information calculating that flight control modules are obtained according to the sensor module and the vision processing module to guidance command, in institute
When stating two dimensional code marker and being in unidentified state, control what the flight control modules were obtained according only to the sensor module
Information calculating is guidanceed command；
Described instruction output module is for exporting described guidance command.
Preferably, the camera is located at the bottom of the drone body, and the visual field direction of the camera is hung down
Directly downward.
Preferably, the vision processing module includes image gray processing module, image binaryzation module, binary map processing mould
Block, two-dimensional barcode information extraction module and position and attitude obtain module,
Described image gray processing module is used to convert single channel grayscale image for the image of the two dimensional code marker；
Described image binarization block is used to set a fixed threshold values according to single channel grayscale image, converts grayscale image to
Binary map；
The binary map processing module is used to carry out contour detecting to the binary map, traverses all sides in the binary map
Number is 4 polygon, and rejects the polygon that area is less than preset threshold, the polygon for being then 4 by remaining side number
Rectangular projection is carried out, the square-shaped image of standard is obtained；
The two-dimensional barcode information extraction module is used for according in square-shaped image described in preset encoded information Rule Extraction
Binary-coded information and angle point information；
The position and attitude obtains module and is used to obtain described take the photograph according to the binary-coded information and angle point information of extraction
As head relative to the deviation distance vector of the two dimensional code marker and the camera relative to the two dimensional code marker
The second movement velocity vector.
It is another aspect of this invention to provide that providing a kind of unmanned plane vision auxiliary positioning based on the identification of two dimensional code terrestrial reference
With winged prosecutor method characterized by comprising
S1: the location information of unmanned plane and the first movement velocity vector of unmanned plane are obtained；
S2: according to preset task way point information generate course line pursuit path, and to the course line pursuit path carry out from
Scattered processing obtains N number of expectation destination, and N is positive integer；
S3: the image of the two dimensional code marker acquired according to camera obtains the position letter of the two dimensional code marker
Breath, posture information and encoded information, it is opposite to obtain the camera by the location information, posture information and encoded information
It is transported in the deviation distance vector of the two dimensional code marker and the camera relative to the second of the two dimensional code marker
Dynamic velocity vector；
S4: using the location information of the unmanned plane, the first movement velocity vector, the deviation distance vector and
The second movement velocity vector carries out multi-sensor information fusion by Kalman filtering algorithm, obtains calculating through Kalman filtering
Target position information, the first movement velocity of target vector, target deviation distance vector and the target of the filtered unmanned plane of method
Second movement velocity vector；
S5: the desired locations of target expectation destination, the desired speed vector of target expectation destination, the target position are utilized
Information, the first movement velocity of target vector, the target deviation distance vector and the second movement velocity of target arrow
Amount is guidanceed command by deviation adaptive equalization generation, wherein the target expectation destination is what unmanned plane was currently being directed to
Destination, it is described to guidance command including roll angle and pitch angle；
S6: it is guidanceed command described in output.
Preferably, the camera is located at the bottom of the unmanned plane, and the vertical court in visual field direction of the camera
Under.
Preferably, step S3 specifically includes following sub-step:
S301: single channel grayscale image is converted by the image of the two dimensional code marker；
S302: a fixed threshold values is set according to single channel grayscale image, converts binary map for grayscale image；
S303: carrying out contour detecting to the binary map, traverse the polygon that all side numbers are 4 in the binary map,
And the polygon that area is less than preset threshold is rejected, the polygon that remaining side number is 4 is then subjected to rectangular projection, is obtained
The square-shaped image of standard；
S304: according to the binary-coded information and angle point in square-shaped image described in preset encoded information Rule Extraction
Information；
S305: the camera is obtained relative to the two dimensional code according to the binary-coded information of extraction and angle point information
Second movement velocity vector of the deviation distance vector and the camera of marker relative to the two dimensional code marker.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have skill below
Art advantage:
(1) by identifying to the two dimensional code marker arranged on the specific position of ground, the coding skill of two dimensional code is utilized
Art obtains landmark information, and merges multiple sensors information, the positioning accuracy of Lai Tigao unmanned plane, thus auxiliary and raising tradition
The precision of GPS integrated navigation system, simultaneously because two-dimensional encoded be capable of providing landmark information abundant and have cryptographic capabilities, energy
It enough provides diversification information for unmanned plane to guide, and then the diversity of extended flight task；
(2) the same cascade flight control system is used in Marker Identity state and unidentified state, and proposed
A kind of adaptive equalization prosecutor method based on deviation, under marker target identification state to the additional positional information got into
Row compensation, can be realized the smooth transition of Marker Identity state and unidentified state, improve the stability of flight control, guarantee
Rotor wing unmanned aerial vehicle can realize that fast accurate identifies under various interference environments.
Detailed description of the invention
Fig. 1 is a kind of hardware structure diagram of unmanned plane high-precision independent flight disclosed by the embodiments of the present invention；
Fig. 2 is a kind of unmanned plane vision auxiliary positioning identified based on two dimensional code terrestrial reference disclosed by the embodiments of the present invention and flown
The structural schematic diagram of control system；
Fig. 3 is a kind of unmanned plane vision auxiliary positioning identified based on two dimensional code terrestrial reference disclosed by the embodiments of the present invention and flown
The information exchange figure of each module of control system；
Fig. 4 is a kind of unmanned plane vision auxiliary positioning identified based on two dimensional code terrestrial reference disclosed by the embodiments of the present invention and flown
The flow diagram of prosecutor method；
Fig. 5 is a kind of flow diagram of unmanned plane high-precision independent flight disclosed by the embodiments of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
Fig. 1 show a kind of hardware structure diagram of unmanned plane high-precision independent flight disclosed by the embodiments of the present invention, in Fig. 1
Shown in hardware structure diagram, it may include accelerometer, gyroscope, ultrasonic wave that Fig. 1 upper left, which is navigation sensor set,
Sensor, barometer, magnetometer and GPS module etc., wherein each sensor can pass through IIC and SPI interface and Fig. 1 lower left quarter
The flight control mainboard communication divided, Fig. 1 lower right-most portion are the camera on unmanned plane, can pass through USB2.0 interface and Fig. 1 is right
The visual processes mainboard of upper part communicates, and visual processes mainboard can be communicated by TTL serial ports and flight control mainboard.
Wherein, flight control mainboard can use STM32F407 embeded processor, and operation dominant frequency is 168Mhz.Navigation
Sensor can specifically include: MPU6050 gyroscope and accelerometer, MS5611 high-precision barometer, M8NGPS receiver,
US100 ultrasonic range finder.Visual processes mainboard can use S5P4418 high-performance processor, and operation dominant frequency is 1.4Ghz, tool
There is 1GB DDR3 running memory.Camera can be KS2A17, can be USB2.0 with visual processes mainboard communication mode,
Under 640 × 480 resolution ratio, maximum frame per second is 120fps.Visual processes mainboard can be connect with flight control mainboard with TTL serial ports
Mode carry out data communication.
Fig. 2 is a kind of unmanned plane vision auxiliary positioning identified based on two dimensional code terrestrial reference disclosed by the embodiments of the present invention and flown
The structural schematic diagram of control system, Fig. 3 are a kind of unmanned plane vision based on the identification of two dimensional code terrestrial reference disclosed by the embodiments of the present invention
The information exchange figure of auxiliary positioning and each module of flight control system.As shown in Figures 2 and 3, system of the present invention includes unmanned plane
Ontology, pursuit path generation module, vision processing module, sensor update module, flight control modules, refers to sensor module
Enable output module, vision auxiliary control switching module and camera.
Wherein, the sensor module is used to obtain the location information of drone body and the first fortune of drone body
Dynamic velocity vector；
Above-mentioned pursuit path generation module is used to generate course line pursuit path according to preset task way point information, and to upper
It states course line pursuit path progress discrete processes and obtains N number of expectation destination, N is positive integer；
The image for the two dimensional code marker that above-mentioned vision processing module is used to be acquired according to camera obtains the two dimension
Location information, posture information and the encoded information of code mark object, are obtained by above-mentioned location information, posture information and encoded information
Deviation distance vector and camera to camera relative to two dimensional code marker are transported relative to the second of two dimensional code marker
Dynamic velocity vector；
Wherein, camera is located at the bottom of drone body, and the visual field direction of camera is vertically downward.
Wherein, vision processing module includes image gray processing module, image binaryzation module, binary map processing module, two
It ties up code information extraction modules and position and attitude obtains module,
Above-mentioned image gray processing module is used to convert single channel grayscale image for the image of two dimensional code marker；
Above-mentioned image binaryzation module is used to set a fixed threshold values according to single channel grayscale image, converts grayscale image to
Binary map；
Above-mentioned binary map processing module is used to carry out contour detecting to binary map, and traversing all side numbers in binary map is 4
Polygon, and reject area be less than preset threshold polygon, then by remaining side number be 4 polygon carry out it is orthogonal
Projection, obtains the square-shaped image of standard；
Above-mentioned two-dimensional barcode information extraction module is used for according to two in preset encoded information Rule Extraction square-shaped image
Scale coding information and angle point information；
Above-mentioned position and attitude obtains module and is used to obtain camera according to the binary-coded information and angle point information of extraction
Deviation distance vector and camera relative to two dimensional code marker are sweared relative to the second movement velocity of two dimensional code marker
Amount.
Wherein, the size of two dimensional code marker is m centimetres of m cm x, the angle point information table of obtained two dimensional code marker
Show the location information under the image coordinate of camera, mainly destination flight error is compensated due to subsequent, is united
One provides four angle point real-world coordinates of two dimensional code marker respectively (m, m, 0), (m, 0,0), (0, m, 0), (0,0,
0), video camera imaging principle: sm'=A [R | T] M, wherein A is camera internal reference matrix, can be obtained by experimental calibration
It arrives, m ' is position of the camera under camera coordinate system, and M is position of the camera under real-world coordinates system, and [R | T] is
Rotational translation matrix, that is, position and posture of the camera under real-world coordinates system relative to some point, Ji Keqiu
Camera is transported relative to the deviation distance vector and camera of two dimensional code marker relative to the second of two dimensional code marker out
Dynamic velocity vector.
The sensor update module is used for using the location information of drone body, the first movement velocity vector, deviates
Distance vector and the second movement velocity vector are obtained by Kalman filtering algorithm progress multi-sensor information fusion through karr
Target position information, the first movement velocity of the target vector, target deviation distance of the graceful filtered drone body of filtering algorithm
Vector and target the second movement velocity vector.
Wherein it is possible to be merged by designing Kalman filter to multi-sensor information, Lai Tigao measurement accuracy.Card
The state of Thalmann filter more new formula are as follows:
Wherein, θ, γ are the pitch angle and roll angle in spin matrix R, and V is the unmanned plane speed under real-world coordinates
Vector, a are the unmanned plane acceleration under real-world coordinates, abIt is the acceleration under unmanned plane coordinate, Ke Yiyou
Accelerometer measures in unmanned plane obtain, wbIt is the angular velocity vector under unmanned plane coordinate, it can be by the gyro in unmanned plane
Instrument measurement obtains, and Δ t is filter update interval time.
Above-mentioned flight control modules are used for the desired speed of the desired locations using target expectation destination, target expectation destination
Vector, target position information, the first movement velocity of target vector, target deviation distance vector and the second movement velocity of target arrow
Amount is guidanceed command by deviation adaptive equalization generation, this is guidanceed command and is sent to command output module, wherein target expectation
Destination is the destination that unmanned plane is currently being directed to, and is guidanceed command including roll angle and pitch angle；
Wherein, the control target of high-precision flight is exactly so that the position of unmanned plane converges to target expectation destination set
In sufficiently small neighborhood.In the high-precision mission phase for thering is vision to assist, since the precision of visual apparatus measurement is better than tradition
Navigation equipment needs to compensate the input quantity in controller at this time:
Verr(t)=[Vd(t)-w3·V(t)]-w4·Vvision(t)
Wherein, Pd(t), Vd(t) be respectively unmanned plane desired locations and desired speed input vector, Perr(t), Verr(t)
The respectively error input vector of position outer ring controller and speed inner loop control device, P (t), V (t) are respectively tradition GPS combination
The position vector and movement velocity vector for the unmanned plane that navigation system is calculated, T (t), VvisionIt (t) is respectively visual processes
The deviation distance vector sum movement velocity vector for the unmanned plane relative target two dimensional code marker that module is calculated, w1, w2, w3,
w4For backoff weight coefficient, generally desirable w1=w2, w3=w4, backoff weight coefficient can take fixed value, can also use adaptive
The mode answered determines:
w2=1-w1
During unmanned plane during flying, is limited by camera field range and practical flight environmental disturbances influence, it can be right
The marker of unmanned plane extracts accurate information degree and affects, and traditional unmanned aerial vehicle control system is in the unidentified process of surface mark object
With identify successfully after control in different control strategies is respectively adopted, therefore, flight control modules can be known in surface mark object
Not with frequent switching under unidentified two states, cause to control unstable.The present invention is in surface mark object identification state and does not know
Other state uses the same cascade flight control modules, that is, uses a flight control modules, and proposes a kind of based on inclined
The Adaptive Compensation Control Method of difference, to the additional positions and motion velocity information got under surface mark object identification state
It compensates.It can be realized surface mark object identification state and the smooth transition of unidentified state, improve the stability of flight control,
Guarantee that unmanned plane can realize that high accurancy and precision flies under circumstances.
Above-metioned instruction output module is for exporting above-mentioned guidance command.
Fig. 4 is a kind of unmanned plane vision auxiliary positioning identified based on two dimensional code terrestrial reference disclosed by the embodiments of the present invention and flown
The flow diagram of prosecutor method, wherein method shown in Fig. 4 the following steps are included:
S1: the location information of unmanned plane and the first movement velocity vector of unmanned plane are obtained；
S2: according to preset task way point information generate course line pursuit path, and to the course line pursuit path carry out from
Scattered processing obtains N number of expectation destination, and N is positive integer；
S3: the image of the two dimensional code marker arranged in advance got according to camera is precisely identified；
Wherein, the implementation of step S3 are as follows: according to the figure for the two dimensional code marker arranged in advance that camera is got
As obtain the two dimensional code marker location information, posture information and encoded information, by above-mentioned location information, posture information with
And encoded information obtain camera relative to two dimensional code marker deviation distance vector and camera relative to two dimensional code mark
Second movement velocity vector of will object；
S4: the information of two dimensional code marker, the location information of unmanned plane and the first movement velocity vector of identification are utilized
Multi-sensor information fusion is carried out by Kalman filtering algorithm；
Wherein, the specific implementation of step S4 are as follows: using the location information of unmanned plane, the first movement velocity vector, partially
Multi-sensor information fusion is carried out by Kalman filtering algorithm from distance vector and the second movement velocity vector, is obtained through card
Target position information, the first movement velocity of target vector, the target deviation distance arrow of the filtered unmanned plane of Kalman Filtering algorithm
Amount and target the second movement velocity vector.
S5: using obtained after Kalman filtering information generation guidance command, wherein in guidanceing command include roll angle and
Pitch angle；
Wherein, the specific implementation of step S5 are as follows: it is expected destination using the desired locations of target expectation destination, target
Desired speed vector, target position information, the first movement velocity of target vector, target deviation distance vector and target second are transported
Dynamic velocity vector is guidanceed command by deviation adaptive equalization generation, wherein target it is expected destination be unmanned plane currently before
Past destination, is guidanceed command including roll angle and pitch angle.
S6: output is above-mentioned to guidance command.
Fig. 5 is a kind of flow diagram of unmanned plane high-precision independent flight disclosed by the embodiments of the present invention.Have in Fig. 5
Three task destinations, wherein task destination (n) and (n+1) are crucial destination, and have marker in surface deployment: 1 He of two dimensional code
Two dimensional code 2.Unmanned plane is when flying through destination (n-1), only with traditional GPS integrated navigation system.Flying through task destination (n)
When (n+1), can position, posture and encoded information to ground marker extract, to assist traditional GPS integrated navigation
System.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (6)
1. a kind of unmanned plane vision auxiliary positioning and flight control system based on the identification of two dimensional code terrestrial reference characterized by comprising nothing
Man-machine ontology, sensor module, pursuit path generation module, vision processing module, sensor update module, flight control mould
Block, command output module, vision auxiliary control switching module and camera:
The sensor module is used to obtain the location information of the drone body and the first fortune of the drone body
Dynamic velocity vector；
The pursuit path generation module is used to generate course line pursuit path according to preset task way point information, and to the boat
Line pursuit path carries out discrete processes and obtains N number of expectation destination, and N is positive integer；
The image for the two dimensional code marker that the vision processing module is used to be acquired according to the camera obtains described two
Location information, posture information and the encoded information for tieing up code mark object, by the location information, posture information and encoded information
The camera is obtained relative to the deviation distance vector of the two dimensional code marker and the camera relative to described two
Tie up the second movement velocity vector of code mark object；
The sensor update module be used for using the location information of the drone body, the first movement velocity vector,
The deviation distance vector and the second movement velocity vector carry out multi-sensor information by Kalman filtering algorithm and melt
Close, obtain target position information through the filtered drone body of Kalman filtering algorithm, the first movement velocity of target vector,
Target deviation distance vector and target the second movement velocity vector；
The flight control modules are used for the desired locations using target expectation destination, the desired speed of target expectation destination is sweared
Amount, the target position information, the first movement velocity of target vector, the target deviation distance vector and the target
Second movement velocity vector is guidanceed command by deviation adaptive equalization generation, guidances command that be sent to described instruction defeated for described
Module out, wherein the target expectation destination is the destination that unmanned plane is currently being directed to, described to guidance command including roll angle
And pitch angle；
The vision auxiliary control switching module, for when the two dimensional code marker is in identification state, controlling described fly
The information calculating that row control module is obtained according to the sensor module and the vision processing module is guidanceed command, described two
When dimension code mark object is in unidentified state, the information that the flight control modules are obtained according only to the sensor module is controlled
Calculating is guidanceed command；
Described instruction output module is for exporting described guidance command；
Wherein, when the flight control modules are guidanceed command by deviation adaptive equalization generation, calculating position outer ring controller
Error input vector Perr(t) and the error input vector V of speed inner loop control deviceerr(t) formula is respectively as follows:
Pd(t) and Vd(t) be respectively unmanned plane desired locations and desired speed input vector, P (t) and V (t) are respectively tradition
The position vector and movement velocity vector, T (t) and V for the unmanned plane that GPS integrated navigation system is calculatedvision(t) it is respectively
The camera that the vision processing module is calculated relative to the two dimensional code marker deviation distance vector and
Second movement velocity vector of the camera relative to the two dimensional code marker, w1、w2、w3And w4For penalty coefficient.
2. system according to claim 1, which is characterized in that the camera is located at the bottom of the drone body,
And the visual field direction of the camera is vertically downward.
3. system according to claim 1, which is characterized in that the vision processing module include image gray processing module,
Image binaryzation module, binary map processing module, two-dimensional barcode information extraction module and position and attitude obtain module,
Described image gray processing module is used to convert single channel grayscale image for the image of the two dimensional code marker；
Described image binarization block is used to set a fixed threshold values according to single channel grayscale image, converts two-value for grayscale image
Figure；
The binary map processing module is used to carry out contour detecting to the binary map, traverses all side numbers in the binary map
For 4 polygon, and the polygon that area is less than preset threshold is rejected, then carries out the polygon that remaining side number is 4
Rectangular projection obtains the square-shaped image of standard；
The two-dimensional barcode information extraction module is used for according to two in square-shaped image described in preset encoded information Rule Extraction
Scale coding information and angle point information；
The position and attitude obtains module and is used to obtain the camera according to the binary-coded information and angle point information of extraction
Deviation distance vector and the camera relative to the two dimensional code marker relative to the two dimensional code marker
Two movement velocity vectors.
4. a kind of unmanned plane vision auxiliary positioning and winged prosecutor method based on the identification of two dimensional code terrestrial reference characterized by comprising
S1: the location information of unmanned plane and the first movement velocity vector of unmanned plane are obtained；
S2: course line pursuit path is generated according to preset task way point information, and discrete place is carried out to the course line pursuit path
Reason obtains N number of expectation destination, and N is positive integer；
S3: the image of the two dimensional code marker acquired according to camera obtain the two dimensional code marker location information,
Posture information and encoded information, by the location information, posture information and encoded information obtain the camera relative to
Second movement of the deviation distance vector and the camera of the two dimensional code marker relative to the two dimensional code marker
Velocity vector；
S4: the location information of the unmanned plane, the first movement velocity vector, the deviation distance vector and described are utilized
Second movement velocity vector carries out multi-sensor information fusion by Kalman filtering algorithm, obtains filtering through Kalman filtering algorithm
Target position information, the first movement velocity of target vector, target deviation distance vector and the target second of unmanned plane after wave
Movement velocity vector；
S5: believed using the desired locations of target expectation destination, the desired speed vector of target expectation destination, the target position
Breath, the first movement velocity of target vector, the target deviation distance vector and the target the second movement velocity vector
It is guidanceed command by deviation adaptive equalization generation, wherein the target expectation destination is the boat that unmanned plane is currently being directed to
Point, it is described to guidance command including roll angle and pitch angle；
Wherein, when being guidanceed command by deviation adaptive equalization generation, the error input vector P of calculating position outer ring controllererr
(t) and the error input vector V of speed inner loop control deviceerr(t) formula is respectively as follows:
Pd(t) and Vd(t) be respectively unmanned plane desired locations and desired speed input vector, P (t) and V (t) are respectively tradition
The position vector and movement velocity vector, T (t) and V for the unmanned plane that GPS integrated navigation system is calculatedvision(t) it is respectively
The camera that the vision processing module is calculated relative to the two dimensional code marker deviation distance vector and
Second movement velocity vector of the camera relative to the two dimensional code marker, w1、w2、w3And w4For penalty coefficient；
S6: it is guidanceed command described in output.
5. according to the method described in claim 4, it is characterized in that, the camera is located at the bottom of the unmanned plane, and
The visual field direction of the camera is vertically downward.
6. according to the method described in claim 4, it is characterized in that, step S3 specifically includes following sub-step:
S301: single channel grayscale image is converted by the image of the two dimensional code marker；
S302: a fixed threshold values is set according to single channel grayscale image, converts binary map for grayscale image；
S303: carrying out contour detecting to the binary map, traverses all side numbers in the binary map and is 4 polygon, and picks
Except area is less than the polygon of preset threshold, the polygon that remaining side number is 4 is then subjected to rectangular projection, obtains standard
Square-shaped image；
S304: according to the binary-coded information and angle point letter in square-shaped image described in preset encoded information Rule Extraction
Breath；
S305: the camera is obtained relative to the two-dimentional code mark according to the binary-coded information of extraction and angle point information
Second movement velocity vector of the deviation distance vector and the camera of object relative to the two dimensional code marker.
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