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Underwater UAV positioning method and device based on three-color laser

A positioning method and unmanned aerial vehicle technology, applied in positioning, measuring devices, radio wave measuring systems, etc., can solve problems such as poor visibility, limited positioning time, and difficult to meet underwater rapid positioning, and achieve accurate positioning and low cost. The effect of cost positioning

Active Publication Date: 2019-07-05
GUANGDONG UNIV OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Traditional underwater equipment uses inertial navigation system for autonomous positioning, but the inertial navigation system has accumulated errors on the one hand, and on the other hand, the positioning time is limited by the estimated position and motion state Long, it is difficult to meet the requirements of rapid underwater positioning; another method for underwater equipment positioning is to use image recognition, by obtaining reference images around the target object, and obtaining the position of the preset beacon through image recognition to confirm its own position, but Due to numerous underwater obstacles, turbid seawater, and poor visibility, traditional visual positioning is difficult to play a role, making it difficult for existing underwater drones to accurately locate in vast waters with low visibility

Method used

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  • Underwater UAV positioning method and device based on three-color laser
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  • Underwater UAV positioning method and device based on three-color laser

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Embodiment 1

[0044] This embodiment provides a positioning method for underwater drones based on three-color lasers, such as figure 1 , including the following steps:

[0045] S1: Use a laser emitting device to inject three laser beams of different colors into the water in parallel and perpendicularly to form three laser columns underwater. The positions of the three laser columns are fixed, and the underwater drone is located in the three laser beams The laser beam is within the range of the maximum distance that can propagate underwater;

[0046] S2: Use the camera of the underwater UAV to capture the position of the laser column, and take an image including three laser columns, and the appearance of the three laser columns within the maximum viewing angle of the camera is the image of the laser column captured Location;

[0047] S3: Using the controller of the underwater UAV to preprocess the image to obtain the pixel distance of the three laser beams;

[0048] S4: According to the p...

Embodiment 2

[0089] This embodiment provides a positioning device for underwater drones based on three-color lasers, such as Figure 7 , including an underwater unmanned aerial vehicle and a laser emitting device, wherein the laser emitting device emits three different colors of lasers on the water surface, which are coplanar, parallel and perpendicular to the water, and the underwater unmanned aerial vehicle includes a camera and a control device, the controller includes a steering gear and a rotating device, wherein:

[0090] Within the maximum viewing angle range of the camera, the camera acquires an image including three laser beams;

[0091] The steering gear drives the rotation device to rotate, and the rotation angle is 0°-360°. The camera is fixed on the rotation device, and the camera is controlled so that the imaging position of the laser column in the middle of the image captured by the camera is always Located on the center line of the image; the steering gear is mainly compos...

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Abstract

The invention discloses an underwater UAV positioning method and an underwater UAV positioning device based on three-color laser. The underwater UAV positioning method comprises the steps that: S1, lasers of three different colors are incident into water in a coplanar, parallel and vertical manner, so as to form three laser beams underwater; S2, an underwater UAV captures positions of the laser beams and acquires an image containing the three laser beams; S3, the image is preprocessed to obtain pixel distances of the three laser beams; S4, and relative coordinates of the underwater UAV relative to the laser beams are obtained according to the pixel distances of the three laser beams and a photographic viewing angle of the image. The underwater UAV positioning method and the underwater UAVpositioning device utilize the Tyndall Effect to perform visual capture in turbid water areas through emitting three lasers of different colors underwater from above the surface of the water, and calculates the relative positions of the UAV relative to the lasers according to the photographic viewing angle and the transverse pixel length, thereby realizing precise positioning of the UAV at low cost.

Description

technical field [0001] The present invention relates to the field of underwater positioning, and more specifically, to a positioning method and device for underwater drones based on three-color lasers. Background technique [0002] With the development of modern science and technology, especially the implementation of the ocean power strategy, higher requirements have been placed on the accuracy and reliability of underwater navigation, which is also the development direction of current underwater navigation technology. [0003] Traditional underwater equipment uses inertial navigation system for autonomous positioning, but the inertial navigation system has accumulated errors on the one hand, and on the other hand, the positioning time is limited by the estimated position and motion state, which makes it difficult to meet the requirements of rapid underwater positioning; For underwater equipment positioning, image recognition is used to obtain reference images around the ta...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/16
CPCG01S5/16Y02A90/30
Inventor 杨嘉鹏方智威卢子阳
Owner GUANGDONG UNIV OF TECH
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