CN108614572A - A kind of target identification method for tracing, equipment and storage device based on aircraft - Google Patents

Abstract

The present invention provides an aircraft-based target recognition and tracking method, device and storage device. An aircraft-based target identification and tracking method acquires images and heights through sensors, and processes the images to obtain the three-dimensional position of the aircraft relative to the tracking target. Position, using the method of Kalman filter and PID controller to obtain the desired flight attitude of the aircraft, and control the attitude of the aircraft through the flight attitude controller in the aircraft to achieve the purpose of tracking the target; an aircraft-based target recognition and tracking The device and the storage device are used to realize the target identification and tracking method based on the aircraft. The beneficial effect of the invention is that the aircraft can identify a designated target, detect and track the movement of the target object, and follow the target for autonomous tracking, ensuring that the target object is always within the visual range of the aircraft and flies precisely and stably above the target.

Description

An aircraft-based target recognition and tracking method, device and storage device

technical field

The invention relates to the field of image processing and embedded control, in particular to an aircraft-based target recognition and tracking method, device and storage device.

Background technique

The quadrotor UAV has the advantages of small size, vertical take-off and landing, hovering in the air, and omni-directional flight. It can simply and effectively obtain more comprehensive ground information in the air, and its position switching and fixing are simple and easy, and can Carry a certain amount of items. And because of its low cost, simple operation and safe operation, it is widely used in many fields such as military, civil and scientific research.

The present invention is an autonomous navigation system based on image processing technology and control technology, combined with technologies such as precision machinery, signal processing, servo control, and inertial navigation. Public security and civil fields such as aerial search and rescue and high-altitude tracking and monitoring have broad application prospects. At the same time, realizing autonomous drones is a revolutionary scientific and technological challenge.

Contents of the invention

In order to solve the above-mentioned problems, the present invention provides an aircraft-based target recognition and tracking method, device and storage device, an aircraft-based target identification and tracking method, which mainly includes the following steps:

S101: Obtain the flying height of the aircraft by using the altitude sensor, acquire the image of the tracking target by using the image sensor, and process the image of the tracking target;

S102: Obtain the three-dimensional position of the aircraft relative to the tracking target according to the obtained flying height and the processed image of the tracking target;

S103: Input the three-dimensional position into the first-level PID controller, compare it with the preset three-dimensional position of the aircraft relative to the tracking target, and obtain an expected flight speed of the aircraft relative to the tracking target;

S104: Comparing the two three-dimensional positions before and after, and dividing the position distance difference between the two times before and after by the interval time, to obtain the actual flight speed of the aircraft relative to the tracking target;

S105: Using a Kalman filter method, filter the actual flight speed of the aircraft relative to the tracking target;

S106: Input the filtered actual flight speed of the aircraft relative to the tracking target and the expected flight speed of the aircraft relative to the tracking target into the second-stage PID controller to obtain the expected flight speed of the aircraft relative to the tracking target acceleration;

S107: Calculate the expected flight attitude angle of the aircraft according to the expected acceleration of the aircraft relative to the tracking target, and obtain the expected flight attitude;

S108: According to the desired flight attitude, control the flight attitude of the aircraft through the flight attitude controller in the aircraft, so that the aircraft can track the target.

Further, in step S101, the altitude sensor and the image sensor are installed on the aircraft.

Further, in step S107, the desired flight attitude angle of the aircraft can be obtained by the formula Calculated, wherein, θ is the expected flight attitude angle of the aircraft, a is the expected acceleration of the aircraft relative to the target, and g is the acceleration due to gravity.

A storage device, the storage device stores instructions and data for realizing an aircraft-based target identification and tracking method.

An aircraft-based target identification and tracking device includes: a processor and the storage device; the processor loads and executes instructions and data in the storage device to implement an aircraft-based target identification and tracking method.

The beneficial effects brought by the technical solution provided by the present invention are: the aircraft can identify the designated target, detect and track the movement of the target object, and follow the target for autonomous tracking, ensuring that the target object is always within the visible range of the aircraft, and is accurate and stable flying over the target.

Description of drawings

The present invention will be further described below in conjunction with accompanying drawing and embodiment, in the accompanying drawing:

Fig. 1 is a flow chart of an aircraft-based target recognition and tracking method in an embodiment of the present invention;

2 is a schematic framework diagram of an aircraft-based target recognition and tracking method in an embodiment of the present invention;

3 is a schematic flow diagram of an aircraft-based target recognition and tracking system in an embodiment of the present invention;

Fig. 4 is a schematic diagram of the operation of the hardware device in the embodiment of the present invention.

Detailed ways

In order to have a clearer understanding of the technical features, purposes and effects of the present invention, the specific implementation manners of the present invention will now be described in detail with reference to the accompanying drawings.

Embodiments of the present invention provide an aircraft-based target identification and tracking method, device and storage device.

The embodiment of the present invention adopts a four-rotor aircraft, uses the F330 four-rotor frame as the hardware platform, uses a 20A electronic governor to drive four 880KV brushless motors, and cooperates with the 8045 type propeller; the autonomous tracking and detection platform control based on the four-rotor aircraft The hardware structure of the software uses the STM32F407ZGT6 microprocessor as the core of attitude acquisition and flight control, and the RX23T microprocessor provided by Renesas as the core of image processing, including nine-axis attitude sensor, height information sensor, visual sensor, function keys, OLED display, wireless modules etc. The sensors mainly include distance sensors and vision sensors mounted directly under the quadrotor. The distance sensor adopts the US-100 ultrasonic ranging module, with its own temperature compensation circuit, the ranging accuracy can reach 1mm, and the distance data is sent to the processor through the serial port; the visual sensor adopts the 320*240 pixel OV7725 camera module, which can The image data is converted into binarized data and read by the single-chip microcomputer, which saves the processing pressure of the CPU and improves the transmission speed of the image data.

Please refer to FIG. 1. FIG. 1 is a flow chart of an aircraft-based target recognition and tracking method in an embodiment of the present invention, which specifically includes the following steps:

S101: Obtain the flight altitude of the aircraft by using the altitude sensor, acquire the image of the tracking target by using the image sensor, and process the image of the tracking target; the altitude sensor and the image sensor are installed on the aircraft;

S102: Obtain the three-dimensional position of the aircraft relative to the tracking target according to the obtained flying height and the processed image of the tracking target;

S103: Input the three-dimensional position into the first-level PID controller, compare it with the preset three-dimensional position of the aircraft relative to the tracking target, and obtain an expected flight speed of the aircraft relative to the tracking target;

S104: Comparing the two three-dimensional positions before and after, and dividing the position distance difference between the two times before and after by the interval time, to obtain the actual flight speed of the aircraft relative to the tracking target;

S105: Using a Kalman filter method, filter the actual flight speed of the aircraft relative to the tracking target;

S106: Input the filtered actual flight speed of the aircraft relative to the tracking target and the expected flight speed of the aircraft relative to the tracking target into the second-stage PID controller to obtain the expected flight speed of the aircraft relative to the tracking target acceleration;

S107: According to the expected acceleration of the aircraft relative to the tracking target, calculate the expected flight attitude angle of the aircraft to obtain the expected flight attitude; the expected flight attitude angle of the aircraft can be obtained by the formula Calculated, wherein, θ is the expected flight attitude angle of the aircraft, a is the expected acceleration of the aircraft relative to the target, and g is the acceleration of gravity;

S108: According to the desired flight attitude, control the flight attitude of the aircraft through the flight attitude controller in the aircraft, so that the aircraft can track the target.

Please refer to Fig. 2. Fig. 2 is a schematic frame diagram of an aircraft-based target recognition and tracking method in an embodiment of the present invention. First, an altitude sensor is used to obtain the altitude information of the aircraft, an image sensor is used to obtain an image of the tracking target, and the tracking is carried out. The image of the target is processed, and the processed image is combined with the flight height to obtain the three-dimensional position of the aircraft relative to the tracking target; then, the three-dimensional position information is input into the first-level PID controller, and the aircraft is relative to the preset Comparing the three-dimensional positions of the tracking target to obtain the expected flight speed of the aircraft relative to the tracking target; comparing the two three-dimensional positions before and after, dividing the position distance difference between the two times before and after by the interval time to obtain the relative flight speed of the aircraft relative to the tracking target. Track the actual flight speed of the target; then, use the Kalman filter method to filter the actual flight speed of the aircraft relative to the tracking target to obtain a stable actual flight speed of the aircraft relative to the tracking target; The actual flight speed of the aircraft relative to the tracking target and the expected flight speed of the aircraft relative to the tracking target are input into the second-stage PID controller to obtain the desired acceleration of the aircraft relative to the tracking target; according to the aircraft Calculate the expected flight attitude angle of the aircraft relative to the expected acceleration of the tracking target to obtain the expected flight attitude; finally, control the aircraft through the flight attitude controller in the aircraft according to the expected flight attitude flight attitude to achieve the purpose of tracking the target.

Please refer to Fig. 3. Fig. 3 is a schematic flow chart of an aircraft-based target recognition and tracking system in an embodiment of the present invention. The autonomous tracking and detection platform control software based on a quadrotor aircraft mainly includes three functional modules: a nine-axis attitude detection module, An image processing module and a flight attitude position control module, the nine-axis attitude detection module is used to detect the attitude of the aircraft, the image processing module is used to process the image of the tracking target acquired by the image sensor, and the flight attitude position control module It is used to control the aircraft to track the target according to the desired flight attitude. The control software of the autonomous tracking and detection platform based on the four-rotor aircraft coordinates the operation of each module to complete the acquisition, processing and fusion of the attitude, position and motion information of the aircraft in real time, and performs real-time monitoring of the four brushless motors of the aircraft through cascade PID. The rotation speed is adjusted so that the quadrotor aircraft can achieve excellent tracking effect when flying autonomously.

Please refer to FIG. 4 . FIG. 4 is a working diagram of a hardware device according to an embodiment of the present invention. The hardware device specifically includes: an aircraft-based target recognition and tracking device 401 , a processor 402 and a storage device 403 .

An aircraft-based target recognition and tracking device 401: the aircraft-based target recognition and tracking device 401 implements the aircraft-based target recognition and tracking method.

Processor 402: the processor 402 loads and executes the instructions and data in the storage device 403 to implement the aircraft-based target identification and tracking method.

Storage device 403: the storage device 403 stores instructions and data; the storage device 403 is used to implement the aircraft-based target identification and tracking method.

The beneficial effect of the invention is that the aircraft can identify a designated target, detect and track the movement of the target object, and follow the target for autonomous tracking, ensuring that the target object is always within the visual range of the aircraft and flies precisely and stably above the target.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (5)

1. A target recognition and tracking method based on aircraft, characterized in that: comprise the following steps: S101: Obtain the flying height of the aircraft by using the altitude sensor, acquire the image of the tracking target by using the image sensor, and process the image of the tracking target; S102: Obtain the three-dimensional position of the aircraft relative to the tracking target according to the obtained flying height and the processed image of the tracking target; S103: Input the three-dimensional position into the first-level PID controller, compare it with the preset three-dimensional position of the aircraft relative to the tracking target, and obtain an expected flight speed of the aircraft relative to the tracking target; S104: Comparing the two three-dimensional positions before and after, and dividing the position distance difference between the two times before and after by the interval time, to obtain the actual flight speed of the aircraft relative to the tracking target; S105: Using a Kalman filter method, filter the actual flight speed of the aircraft relative to the tracking target; S106: Input the filtered actual flight speed of the aircraft relative to the tracking target and the expected flight speed of the aircraft relative to the tracking target into the second-stage PID controller to obtain the expected flight speed of the aircraft relative to the tracking target acceleration; S107: Calculate the expected flight attitude angle of the aircraft according to the expected acceleration of the aircraft relative to the tracking target, and obtain the expected flight attitude; S108: According to the desired flight attitude, control the flight attitude of the aircraft through the flight attitude controller in the aircraft, so that the aircraft can track the target. 2 . The aircraft-based target recognition and tracking method according to claim 1 , wherein in step S101 , the altitude sensor and the image sensor are installed on the aircraft. 3 . 3. A kind of target recognition and tracking method based on aircraft as claimed in claim 1, is characterized in that: in step S107, the expected flight attitude angle of described aircraft can be obtained by formula Calculated, wherein, θ is the expected flight attitude angle of the aircraft, a is the expected acceleration of the aircraft relative to the target, and g is the acceleration due to gravity. 4. A storage device, characterized in that the storage device stores instructions and data for realizing any one of the aircraft-based target recognition and tracking methods according to claims 1-3. 5. An aircraft-based target recognition and tracking device, characterized in that: comprising: a processor and the storage device; the processor loads and executes instructions and data in the storage device for realizing claims 1-3 Any one of the aircraft-based target recognition and tracking methods.