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Real-time speed measuring method and system for unmanned aerial vehicle

A technology of unmanned aerial vehicle and speed measurement, applied in the field of unmanned aerial vehicle to achieve the effect of accurate real-time speed

Active Publication Date: 2016-07-27
SHENZHEN HIGHGREAT TECH DEV CO LTD
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AI Technical Summary

Problems solved by technology

[0003] The unmanned aerial vehicle itself has many sensors to monitor its own attitude, but it can only estimate the speed to a certain extent. Although the current real-time speed can be calculated through GPS, it needs to be able to search for satellites at all times before it can be implemented.

Method used

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  • Real-time speed measuring method and system for unmanned aerial vehicle
  • Real-time speed measuring method and system for unmanned aerial vehicle
  • Real-time speed measuring method and system for unmanned aerial vehicle

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Embodiment 1

[0054] Please refer to Figure 1-2 , Embodiment 1 of the present invention is:

[0055] A kind of unmanned aerial vehicle real-time velocity measuring method provided by the present invention comprises:

[0056] 1. Preset the focal length data f of the camera on the unmanned aerial vehicle, the size data Δx of the photosensitive element and the time interval data t of two consecutive frames of images; the camera set on the unmanned aerial vehicle acquires image data of two consecutive frames, according to Kanade-Lucas -Tomasi algorithm [reference 1 below] and block matching algorithm [reference 2 below] calculate the optical flow of each pixel for two images, and then use the maximum probability statistics method to calculate the optical flow flow_v of the image at the current moment; The calculation methods of optical flow include but are not limited to pyramid model, Kanade-Lucas-Tomasi algorithm and block matching, etc.; the references are as follows:

[0057] [1] ShiJ, T...

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Abstract

The invention relates to the field of unmanned aerial vehicles, in particular to a real-time speed measuring method and system for an unmanned aerial vehicle. According to the technical scheme, various sensors and a plurality of computation modules are adopted, and real-time monitoring of the speed of the unmanned aerial vehicle is achieved. In the aspect of speed measurement of the unmanned aerial vehicle at present, speed measurement based on GPS data and aircraft inertial navigation is high in precision but limited to the outdoor environment where GPS signals can be received. However, according to the real-time speed measuring method and system, height, acceleration, angular acceleration and other posture data of the unmanned aerial vehicle are collected, and more precise real-time speed is obtained through computation by means of the image optical flow algorithm. Implementation of the method is not limited to the outdoors, and more precise real-time speed can also be detected in the indoor environment.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicles, in particular to a real-time speed measurement method and system for an unmanned aerial vehicle. Background technique [0002] Nowadays, the application of unmanned aerial vehicles in all walks of life has developed rapidly, and more intelligent unmanned aerial vehicles have appeared. With the continuous increase of flight speed and altitude, the performance requirements of unmanned aerial vehicles are also continuously improved. Accurate monitoring of real-time speed and altitude information of unmanned aerial vehicles in various environments has become an important issue. The accuracy and stability of these real-time information is of great significance to the development of intelligent unmanned aerial vehicles. [0003] The unmanned aerial vehicle itself has many sensors to monitor its own attitude, but it can only estimate the speed to a certain extent. Although the current real-time ...

Claims

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Application Information

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IPC IPC(8): G01P3/38G01C23/00
CPCG01C23/005G01P3/38
Inventor 高建民
Owner SHENZHEN HIGHGREAT TECH DEV CO LTD
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