阅读说明：本技术 基于无人机的超视距目标定位系统及方法 (Beyond-the-horizon target positioning system and method based on unmanned aerial vehicle ) 是由 周国良 李栋 *** 胡剑峰 李云 李务斌 李相莲 于 2020-05-08 设计创作，主要内容包括：本发明公开了一种基于无人机的超视距目标定位系统及方法,将无人机光电载荷的操控及视频显示都集成在综合头戴设备中,操控光电载荷的搜索、变焦等动作,并且能够自动识别目标,然后对选择的目标自动进行位置解算。无人机的观测视频以画中画的形式在综合头戴设备的显示器中显示,测得目标相对的方位和距离等信息显示在显示器的上部,同时透过显示器能够观察真实的世界,保持较好的环境观察能力。本发明减少了使用无人机观测、定位的操作步骤,简化了交互过程,降低了操作员的负荷,强化了对重点目标和远距离目标的探测能力,也能保持较好的近距离环境观察能力,形成纵深感知。本发明在探测、侦察等领域具有很好的实用价值和广阔的应用前景。(The invention discloses an over-the-horizon target positioning system and method based on an unmanned aerial vehicle, wherein the control and video display of a photoelectric load of the unmanned aerial vehicle are integrated in comprehensive head-mounted equipment, the actions of searching, zooming and the like of the photoelectric load are controlled, the target can be automatically identified, and then the position of the selected target is automatically calculated. The observation video of unmanned aerial vehicle shows in the display of synthesizing head-mounted device with the form of picture-in-picture, and information such as the relative position and the distance of target that measure shows in the upper portion of display, sees through the display simultaneously and can observe real world, keeps better environment observation ability. The invention reduces the operation steps of observation and positioning by using the unmanned aerial vehicle, simplifies the interaction process, reduces the load of operators, strengthens the detection capability of the counterweight target and the remote target, can also keep better short-distance environment observation capability and forms depth perception. The invention has good practical value and wide application prospect in the fields of detection, reconnaissance and the like.)

1. Beyond visual range target positioning system based on unmanned aerial vehicle, its characterized in that, the system includes: the system comprises an unmanned aerial vehicle photoelectric load module, a photoelectric load control module, a control end attitude detection module, a trigger module, a display module and a target positioning module;

the control end posture detection module is used for detecting the posture of the control end in real time;

the photoelectric load control module is used for receiving attitude information of the control end and controlling the photoelectric load module of the unmanned aerial vehicle to move according to the attitude of the control end according to the information;

the trigger module is used for generating a trigger signal and transmitting the signal to the unmanned aerial vehicle photoelectric load module;

the unmanned aerial vehicle photoelectric load module is used for searching a target area, identifying a target and ranging the target after receiving a trigger signal;

the display module is used for displaying video information observed by the unmanned aerial vehicle photoelectric load module and an external environment actually observed by vision;

the target positioning module is used for calculating the position information of the target by combining the ranging result and the position and posture information of the unmanned aerial vehicle photoelectric load module, then calculating the relative orientation and distance between the target and the operator according to the position information of the target and the position information of the operator, and marking the orientation and distance on the display module.

2. The beyond-the-horizon drone-based target positioning system of claim 1, wherein the control end comprises a head and or a hand of an operator, the control end pose detection module to detect pose of the head and or the hand.

3. The beyond-the-horizon drone-based target positioning system of claim 1 or 2, further comprising a marking module for marking the target with an alarm box on the display module after the drone photoelectric load module identifies the target.

4. The beyond-the-horizon drone-based target positioning system of claim 3, further comprising a tracking module to track a motion trajectory of the trigger module.

5. The beyond-the-horizon unmanned-based target positioning system of claim 4, wherein the tracking module generates a trigger signal by the trigger module to trigger the unmanned aerial vehicle photoelectric load module to measure the distance to the target when detecting that the trigger module moves to the alarm box.

6. The beyond-the-horizon unmanned aerial vehicle-based target positioning system of claim 5, wherein the optoelectronic load control module, the control end attitude detection module, the trigger module, the display module, the target positioning module, the marking module and the tracking module are integrated in a same device, and the device is a head-mounted device.

7. The drone-based beyond-line-of-sight target positioning system of claim 6, wherein the trigger module comprises a marker disposed on the display module.

8. The unmanned-aerial-vehicle-based beyond-the-horizon target positioning system of claim 1, wherein visible light, infrared, low light, and laser are integrated into the unmanned-aerial-vehicle photoelectric load module.

9. The beyond-the-horizon target positioning system based on the unmanned aerial vehicle of claim 1, wherein the display module specifically employs a binocular penetration near-eye display system.

10. The positioning method of the beyond-the-horizon drone-based target positioning system according to any one of claims 1 to 9, characterized in that it comprises the following steps:

the control end posture detection module detects the posture of the control end in real time and transmits the posture information to the photoelectric load control module in real time;

the photoelectric load control module controls the unmanned aerial vehicle photoelectric load module to move according to the attitude of the control end according to the attitude information;

searching a target area by the photoelectric load module of the unmanned aerial vehicle in the movement process, and identifying a target;

the marking module marks the target on the display module through the alarm frame;

the tracking module tracks the motion track of the trigger module in real time, and when the trigger module is detected to move to the alarm frame, the trigger module generates a trigger signal to trigger the unmanned aerial vehicle photoelectric load module to measure the distance of the target;

the target positioning module is used for calculating the position information of the target by combining the ranging result and the position and posture information of the unmanned aerial vehicle photoelectric load module, then calculating the relative orientation and distance of the target and the operator according to the position information of the target and the position information of the operator, and marking the orientation and distance on the display module.

Technical Field

The invention belongs to the technical field of unmanned aerial vehicle target positioning, and particularly relates to an beyond-the-horizon target positioning system and method based on an unmanned aerial vehicle.

Background

In a complex city or field environment, the observation is carried out by only depending on traditional personnel, the task amount is huge, the observation range is limited, and the observation cannot be carried out even in complex and dangerous areas. Because unmanned aerial vehicle security is good, environmental suitability is strong, can replace personnel to go deep into complicated even dangerous etc. region and survey, reduced danger, enlarged observation scope and observation dimension.

When the unmanned aerial vehicle is used for observation, an operator needs to control the flight of the unmanned aerial vehicle and also needs to control actions such as photoelectric load search and zooming. When an observation target is positioned, a touch screen or a rocker and the like need to be operated to select the target for positioning. The operation process is more, complicated and difficult, and the load of an operator is greatly increased.

Disclosure of Invention

The invention aims to overcome the problems in the prior art and provides an beyond-the-horizon target positioning system and method based on an unmanned aerial vehicle.

The technical solution for realizing the purpose of the invention is as follows: beyond visual range target positioning system based on unmanned aerial vehicle, the system includes: the system comprises an unmanned aerial vehicle photoelectric load module, a photoelectric load control module, a control end attitude detection module, a trigger module, a display module and a target positioning module;

the control end posture detection module is used for detecting the posture of the control end in real time;

the photoelectric load control module is used for receiving attitude information of the control end and controlling the photoelectric load module of the unmanned aerial vehicle to move according to the attitude of the control end according to the information;

the trigger module is used for generating a trigger signal and transmitting the signal to the unmanned aerial vehicle photoelectric load module;

the unmanned aerial vehicle photoelectric load module is used for searching a target area, identifying a target and ranging the target after receiving a trigger signal;

the display module is used for displaying video information observed by the unmanned aerial vehicle photoelectric load module and an external environment actually observed by vision;

the target positioning module is used for calculating the position information of the target by combining the ranging result and the position and posture information of the unmanned aerial vehicle photoelectric load module, then calculating the relative orientation and distance between the target and the operator according to the position information of the target and the position information of the operator, and marking the orientation and distance on the display module.

Further, the control end comprises the head and/or the hand of an operator, and the control end gesture detection module is used for detecting the gesture of the head and/or the hand.

Further, the system also comprises a marking module, and the marking module is used for marking the target through an alarm frame on the display module after the unmanned aerial vehicle photoelectric load module identifies the target.

Further, the system also comprises a tracking module for tracking the motion track of the trigger module.

Further, when the tracking module detects that the trigger module moves to the alarm frame, the trigger module generates a trigger signal to trigger the unmanned aerial vehicle photoelectric load module to measure the distance of the target.

Furthermore, the photoelectric load control module, the control end posture detection module, the trigger module, the display module, the target positioning module, the marking module and the tracking module are integrated in the same device, and the device is a head-mounted device.

Further, the trigger module includes a marker disposed on the display module.

Further, integrated visible light, infrared, shimmer and laser in the unmanned aerial vehicle photoelectricity load module.

Further, the display module specifically adopts a binocular penetrating near-eye display system.

A positioning method of an beyond-the-horizon target positioning system based on an unmanned aerial vehicle comprises the following steps:

the control end posture detection module detects the posture of the control end in real time and transmits the posture information to the photoelectric load control module in real time;

the photoelectric load control module controls the unmanned aerial vehicle photoelectric load module to move according to the attitude of the control end according to the attitude information;

searching a target area by the photoelectric load module of the unmanned aerial vehicle in the movement process, and identifying a target;

the marking module marks the target on the display module through the alarm frame;

the tracking module tracks the motion track of the trigger module in real time, and when the trigger module is detected to move to the alarm frame, the trigger module generates a trigger signal to trigger the unmanned aerial vehicle photoelectric load module to measure the distance of the target;

the target positioning module is used for calculating the position information of the target by combining the ranging result and the position and posture information of the unmanned aerial vehicle photoelectric load module, then calculating the relative orientation and distance of the target and the operator according to the position information of the target and the position information of the operator, and marking the orientation and distance on the display module.

Compared with the prior art, the invention has the following remarkable advantages: 1) the photoelectric load rotation, zooming and the like can be synchronously controlled to observe by measuring data such as the head posture and the like, the target can be automatically identified, and then the position of the selected target is automatically calculated, so that the intelligent measurement system is more intelligent; 2) the observation video is displayed in a display in a picture-in-picture mode, information such as relative direction, distance and the like of a target is marked on the upper part of the display by adopting a virtual icon, and meanwhile, a real world can be observed through the display, so that better environment observation capability is kept; 3) visible light, infrared, glimmer, laser and the like are integrated in the photoelectric load module of the unmanned aerial vehicle, so that a module can realize various functions of day and night search, automatic target identification, real-time positioning and the like, and the environment adaptability of the system is strong; 4) the operation steps are reduced, the interaction process is simplified, the load of an operator is reduced, the detection capability of a focus target or a remote target is enhanced, the close-range environment observation capability can be kept well, and depth perception is formed; 5) the system has high integration level, small volume and easy carrying.

The present invention is described in further detail below with reference to the attached drawing figures.

Drawings

Fig. 1 is a schematic structural diagram of an over-the-horizon target positioning system based on an unmanned aerial vehicle in one embodiment.

Fig. 2 is a schematic flowchart of an over-the-horizon target positioning method based on an unmanned aerial vehicle in an embodiment, where the numbers in the diagram are: the system comprises a 1-photoelectric load module, a 2-comprehensive head-mounted device, a 3-binocular penetration type near-eye display and a 4-head posture detection module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

In one embodiment, in conjunction with fig. 1, there is provided a beyond-the-horizon drone-based target positioning system, the system comprising: the system comprises an unmanned aerial vehicle photoelectric load module, a photoelectric load control module, a control end attitude detection module, a trigger module, a display module and a target positioning module; wherein the content of the first and second substances,

the control end posture detection module is used for detecting the posture of the control end in real time;

the photoelectric load control module is used for receiving attitude information of the control end and controlling the unmanned aerial vehicle photoelectric load module to move according to the attitude of the control end according to the information;

the trigger module is used for generating a trigger signal and transmitting the signal to the unmanned aerial vehicle photoelectric load module;

the unmanned aerial vehicle photoelectric load module is used for searching a target area, identifying a target and ranging the target after receiving a trigger signal;

the display module is used for displaying video information observed by the unmanned aerial vehicle photoelectric load module and an external environment actually observed by vision;

and the target positioning module is used for resolving the position information of the target by combining the ranging result and the pose information of the unmanned aerial vehicle photoelectric load module, resolving the relative orientation and distance of the target and the operator according to the position information of the target and the position information of the operator, and marking the orientation and distance on the display module.

Here, the relative orientation and distance of the target and the operator may be noted on the display module using virtual icons.

Further, in one embodiment, the control terminal includes a head and/or a hand of an operator, and the control terminal posture detection module is configured to detect a posture of the head and/or the hand.

The head is generally preferred, on one hand, the observation visual angle of an operator can be well combined, so that the photoelectric load module of the unmanned aerial vehicle is synchronous with the observation visual angle of the operator, a target area which the operator wants to pay attention to is observed, and the target positioning precision is improved; on the other hand, the operation action of the hand can be reduced, the operation complexity is reduced, and the safety is improved.

Further, in one embodiment, the beyond-the-horizon target positioning system further comprises a marking module, and the marking module is used for marking the target through an alarm frame on the display module after the unmanned aerial vehicle photoelectric load module identifies the target.

Here, the alert box may be the smallest outside rectangle of the target.

Further, in one embodiment, the over-the-horizon target positioning system further comprises a tracking module for tracking the motion track of the triggering module.

Further, in one embodiment, when the tracking module detects that the trigger module moves to the alarm frame, the trigger module generates a trigger signal to trigger the unmanned aerial vehicle photoelectric load module to measure the distance of the target.

Further, in one embodiment, the optoelectronic load control module, the control end posture detection module, the trigger module, the display module, the target positioning module, the marking module and the tracking module are integrated into the same device, and the device is a head-mounted device.

By adopting the scheme of the embodiment, the operation steps are reduced, the interaction process is simplified, the load of an operator is reduced, the integration level of the system is improved, the volume of the system is reduced, and the system is easy to carry.

Further, in one embodiment, the triggering module includes a marker disposed on the display module.

Here, the marker may be a cross-hair, similar to a gun aiming system.

Further, in one embodiment, the unmanned aerial vehicle photoelectric load module integrates visible light, infrared light, dim light and laser light.

Here, visible light, infrared, dim light can realize day and night search, and laser can realize the range finding of the target.

By adopting the scheme of the embodiment, the environmental adaptability of the system can be improved.

Further, in one embodiment, the display module specifically employs a binocular penetration near-eye display system.

The observation video is displayed on the display in a picture-in-picture mode, so that the detection capability of a focus target or a long-distance target is enhanced, the observation capability of a short-distance environment can be kept better, and depth perception is formed.

In one embodiment, with reference to fig. 2, a method for over-the-horizon target positioning based on a drone is provided, and the method includes the following steps:

the control end posture detection module detects the posture of the control end in real time and transmits the posture information to the photoelectric load control module in real time;

the photoelectric load control module controls the unmanned aerial vehicle photoelectric load module to move according to the attitude of the control end according to the attitude information;

searching a target area by the photoelectric load module of the unmanned aerial vehicle in the movement process, and identifying a target;

the marking module marks the target on the display module through an alarm box, as shown by a dotted line box in fig. 2 (a);

the tracking module tracks the motion track of the trigger module (shown as a plus sign in fig. 2 (a)) in real time, and when the trigger module is detected to move to the alarm frame (shown as a dashed line frame in fig. 2 (b)), the trigger module generates a trigger signal to trigger the unmanned aerial vehicle photoelectric load module to measure the distance of the target;

the target positioning module is used for calculating the position information of the target by combining the ranging result and the pose information of the unmanned aerial vehicle photoelectric load module, then calculating the relative azimuth and distance between the target and the operator according to the position information of the target and the position information of the operator, and marking the azimuth and distance on the display module (as shown in fig. 2 (c)).

In one embodiment, a storage medium is further provided, on which program instructions are stored, which when executed by a computer or processor cause the computer or processor to perform the respective steps of the unmanned aerial vehicle-based beyond-the-horizon target positioning method of an embodiment of the present invention. The storage medium may comprise, for example, a memory card of a smartphone, a storage component of a tablet computer, a hard disk of a personal computer, a read-only memory, an erasable programmable read-only memory, a portable compact disc read-only memory, a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

The invention reduces the operation steps of observation and positioning by using the unmanned aerial vehicle, simplifies the interaction process, reduces the load of operators, strengthens the detection capability of the counterweight target and the remote target, can also keep better short-distance environment observation capability and forms depth perception. The invention has good practical value and wide application prospect in the fields of detection, reconnaissance and the like.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.