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Air-ground cooperative vehicle positioning and orienting method

A technology for vehicle positioning and air-ground coordination, applied in image data processing, instrument, character and pattern recognition, etc., to achieve the effects of high comprehensive evaluation index, improved positioning accuracy, and high time consumption per frame

Pending Publication Date: 2022-01-25
ROCKET FORCE UNIV OF ENG
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  • Abstract
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  • Claims
  • Application Information

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Problems solved by technology

[0003] The present invention intends to provide an air-ground collaborative vehicle positioning and orientation method, which solves the safety problems of large-scale engineering vehicles and special vehicles when performing complex road operations

Method used

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  • Air-ground cooperative vehicle positioning and orienting method
  • Air-ground cooperative vehicle positioning and orienting method
  • Air-ground cooperative vehicle positioning and orienting method

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Comparison scheme
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Embodiment

[0060] An air-ground collaborative vehicle positioning and orientation method, comprising the following steps:

[0061] S1. Build an image acquisition system:

[0062] The non-overlapping field of view camera system is constructed by using drones hanging on industrial cameras. Under the condition that the internal parameters of the first camera and the second camera are known, the external parameters of the multi-camera non-overlapping field of view are calibrated. The specific external parameters The calibration steps are as follows:

[0063] S101. Fix the two sub-targets to form a fixed target, ensure that the two sub-targets are respectively placed in the fields of view of the first camera and the second camera, and then acquire image sequences of the fixed targets at different positions through a large field of view camera. According to the PnP principle, the transformation matrix T from the small target to the large field of view camera can be solved t1,c and T t2,c , ...

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Abstract

The invention discloses an air-ground cooperative vehicle positioning and orienting method, and particularly relates to the technical field of vehicle positioning and orienting method application. An air-ground cooperative vehicle positioning and orienting method comprises the following steps that an unmanned aerial vehicle is adopted to mount industrial cameras to construct a non-overlapping view field camera system, coordinate transformation between the cameras is solved, and internal parameters and external parameters of the multiple cameras are obtained; internal parameters and external parameters obtained in the camera system are classified and recognized based on marker detection of a structural forest and PCANet, so that position information of markers is obtained; and S2, the orientation of the vehicle is estimated according to a visual reckoning positioning algorithm of time-space consistency in combination with the position information of the marker detected in S2, and the position and state information of the vehicle in real time is estimated by adopting state filtering. By the adoption of the technical scheme, the safety problem of large engineering vehicles and special vehicles during complex road operation is solved, and effective vehicle position information can be provided for drivers.

Description

technical field [0001] The invention relates to the technical field of application of vehicle positioning and orientation methods, in particular to an air-ground collaborative vehicle positioning and orientation method. Background technique [0002] In recent years, with the development of UAV technology, the use of UAVs to replace operators in three-dimensional complex environments is of great significance to reduce economic costs, reduce labor intensity, and reduce the safety risks of operators when performing work tasks. . Combined with the actual tasks of large-scale engineering vehicles and special vehicles, the use of large-scale engineering vehicles and special vehicles under complex conditions is an important part of it. Correspondingly, in the process of carrying out the task, various problems have also been highlighted, such as: insufficient ability to perceive road safety when driving at night, markers that cannot be automatically recognized at the predetermined ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T7/80G06T7/73G06T7/13G06T7/246G06T5/00G06V10/762G06V10/764G06V10/77G06V10/774G06K9/62
CPCG06T7/85G06T7/73G06T7/13G06T7/246G06T2207/10016G06T2207/20164G06T2207/20192G06T2207/30241G06T2207/30244G06F18/2135G06F18/23G06F18/24323G06F18/214G06T5/80Y02T10/40
Inventor 卢瑞涛范继伟杨小冈席建祥谢学立朱正杰王思宇
Owner ROCKET FORCE UNIV OF ENG
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