Ground targets location of UAV using vision location method

Wang Xiangjun; Wan Zijing; Wang Xin; Liu Shiting; Wen Pengcheng

The equipment of Micro Unmanned Aerial Vehicle (MUAV) was limited by weight. In this paper, the coordinate solver model based on machine vision was introduced, and on this basis, the iterative approximation algorithm which was based on Digital Elevation Model (DEM) was considered to get the altitude difference between the Unmanned Aerial Vehicle (UAV) and the target in order to locating the ground target caught by the optronics pod with the airborne equipment of an MUAV autonomously. The computer simulations and the flight experimental results from program which was transplanted to the airborne devices showed that the coordinate solver model combined with the iterative approximation algorithm could calculate the position of ground target in the video stream (25fps) timely and accurate.

1. State Key Laboratory of Precision Measuring Technology and Instruments,Tianjin University,Tianjin 300072,China;

2. MOEMS Education Ministry Key Laboratory,Tianjin University,Tianjin 300072,China

Received Date: 2013-06-10

Rev Recd Date: 2013-07-25

Publish Date: 2014-02-25

Key words:

MUAV /
DEM /
machine vision /
target location

Abstract: The equipment of Micro Unmanned Aerial Vehicle (MUAV) was limited by weight. In this paper, the coordinate solver model based on machine vision was introduced, and on this basis, the iterative approximation algorithm which was based on Digital Elevation Model (DEM) was considered to get the altitude difference between the Unmanned Aerial Vehicle (UAV) and the target in order to locating the ground target caught by the optronics pod with the airborne equipment of an MUAV autonomously. The computer simulations and the flight experimental results from program which was transplanted to the airborne devices showed that the coordinate solver model combined with the iterative approximation algorithm could calculate the position of ground target in the video stream (25fps) timely and accurate.

HTML

Reference (31)

[1]	John Tisdale, Allison Ryan, Zu Kim, et al. A multiple UAV system for vision-based search and localization[C]//2008 American Control Conference, 2008: 1985-1990.
[2]
[3]	Chitrakaranvk, Dawsondm, Chen Jian, et al. Vision assisted autonomous landing of an unmanned aerial vehicle[C]//IEEE, 2005: 1465-1470.
[4]
[5]
[6]	Ji Shengyu. Research on technology of UAV's automatic landing on ship based on computer vision[D]. Nanjing: Nanjing University of Aeronautics and Astronautics, 2008:14-25. (in Chinese)
[7]	Zhang Chunhua, Zhou Xiaodong, Liu Songtao. A small target auto-or ientationmethod of infrared image with sea-sky background[J]. Laser Infrared, 2007, 31(1): 94-97. (in Chinese)
[8]	嵇盛育. 基于计算机视觉的无人机自主着舰导引技术研究[D]. 南京: 南京航空航天大学, 2008: 14-25.
[9]
[10]	Mou Xingang, Zhang Guilin, Ding Quanxin, et al. Design of infrared multi-target detection system based on DSP+FPGA[J]. Infrared And Laser Engineering, 2007, 36(s2): 173-176. (in Chinese)
[11]	Zhu Jigui, Wang Dawei, Wang Xin, et al. Key techniques on optical coordinate measuring system[J]. Infrared And Laser Engineering, 2007, 36(3): 296-299. (in Chinese)
[12]
[13]	张春华, 周晓东, 刘松涛. 海天背景红外图像小目标自动定位方法[J]. 激光与红外, 2007, 31(1): 94-97.
[14]	Zhang Guangjun. Vision Measurement[M]. Beijing: Science Press, 2008. (in Chinese)
[15]	Xuan Jiayu, Pei Hailong. Research and realization of a altitude location method for small UAV[J]. Automation and Instrumentation, 2010, 25(12): 1-6. (in Chinese)
[16]
[17]	Zhou Zhijiu, Yan Jianguo, Chen Peng. Research and implementation of a height measuring method for small-size UAV[J]. Measurement and Control Techniques, 2008, 27(11): 92-96. (in Chinese)
[18]
[19]	Wu Rui, Zhao Hongying, Yan Lei. A method of extracting elevation without GCPs based on UAV images[J]. Science of Surveying and Mapping, 2011, 36(5): 34-36. (in Chinese)
[20]
[21]	Yu Jiaxiang, Xiao Deyun, Jiang Ludong, et al. Approach for Geo-location with unmanned aerial vehicle[J]. Opto-Electronic Engineering, 2007, 34(7): 1-7. (in Chinese)
[22]
[23]	张广军. 视觉测量[M]. 北京: 科学出版社, 2008.
[24]	Mao Zhaojun, Wang Dehu. A measuring model of bias of burst points for UAV based on DEM[J]. Fire Control Command Control, 2004, 29(2): 39-42. (in Chinese)
[25]
[26]
[27]	禤家裕, 裴海龙. 一种小型无人机高度定位方法的研究与实现[J]. 自动化与仪表, 2010, 25(12): 1-6.
[28]
[29]
[30]
[31]

Ground targets location of UAV using vision location method

Abstract

References

Proportional views

通讯作者: 陈斌, bchen63@163.com

Article Metrics

Related

Proportional views