CN-121364471-B - Tunnel unmanned aerial vehicle positioning method and system based on laser ranging

CN121364471BCN 121364471 BCN121364471 BCN 121364471BCN-121364471-B

Abstract

The invention provides a method and a system for positioning a tunnel unmanned aerial vehicle based on laser ranging, and relates to the technical field of unmanned aerial vehicle positioning, wherein the method comprises the following steps of S1, at time t0, establishing an unmanned aerial vehicle coordinate system in a tunnel by taking the known position of the tunnel unmanned aerial vehicle as an origin, and controlling the tunnel unmanned aerial vehicle to fly along a Z axis; the method comprises the steps of S2, synchronously acquiring a tunnel top image shot by a camera on a YZ plane at a first elevation angle and a first distance measured by a laser range finder irradiating a reference point in the tunnel top image when the tunnel unmanned aerial vehicle is at an origin, S3, synchronously acquiring the tunnel top image shot by the camera on the YZ plane at a second elevation angle when the camera tracks the reference point and a second distance measured by the laser range finder irradiating the reference point in the tunnel top image when the camera rotates from the first elevation angle to the second elevation angle, and S4, carrying out positioning calculation according to the known position, the first elevation angle, the first distance, the second elevation angle and the second distance of the tunnel unmanned aerial vehicle.

Inventors

LIU JIE
WEN SHUYU
LIU XIN
LIU PENG
YING HENG
ZHANG JIAN
WANG DAILIANG

Assignees

成都智元汇信息技术股份有限公司

Dates

Publication Date: 20260508
Application Date: 20251219

Claims (7)

1. The utility model provides a tunnel unmanned aerial vehicle positioning method based on laser rangefinder which characterized in that carries on the tunnel unmanned aerial vehicle that physically binds camera and laser rangefinder together, tunnel unmanned aerial vehicle positioning method includes: s1, at a time t0, establishing an unmanned aerial vehicle coordinate system which comprises an X axis, a Y axis and a Z axis which are perpendicular to each other in a tunnel by taking a known position of the unmanned aerial vehicle as an origin, and controlling the unmanned aerial vehicle to fly along the Z axis; s2, synchronously acquiring a tunnel top image shot by a camera in a YZ plane at a first elevation angle when the tunnel unmanned aerial vehicle is at an origin, and irradiating a first distance measured by a reference point in the tunnel top image by a laser range finder; s2, the following steps are included: S21, acquiring a tunnel top image shot by a camera in a YZ plane at a first elevation angle when the tunnel unmanned aerial vehicle is at an origin, and identifying a reference point in the tunnel top image through a feature identification model; S22, synchronously controlling the camera and the laser range finder to rotate until a picture shot by the camera is centered on a reference point, wherein a light spot of the laser range finder falls in an area centered on the reference point; S23, acquiring a first distance obtained by measuring the distance between the light spots by the laser range finder; s3, synchronously acquiring a tunnel top image shot by the camera in a YZ plane when the camera tracks the reference point in an elevation angle range from a first elevation angle to a second elevation angle and a second distance measured by the laser range finder irradiating the reference point in the tunnel top image; When the camera tracks the reference point in the elevation range, keeping the shot picture to take the reference point as the center, synchronously controlling the camera and the laser range finder to rotate, so that the light spot of the laser range finder falls in the area taking the reference point as the center; and S4, performing positioning calculation according to the known position, the first elevation angle, the first distance, the second elevation angle and the second distance of the tunnel unmanned aerial vehicle, and calculating to obtain the position of the tunnel unmanned aerial vehicle at the time t 1.
2. The method for positioning a tunnel unmanned aerial vehicle based on laser ranging according to claim 1, wherein the rotation axes of the camera and the laser range finder are synchronous, so that a light spot of the laser range finder is fixedly located in an area taking a picture center point as an axis, wherein the area is shot by the camera.
3. The method for positioning a tunnel unmanned aerial vehicle based on laser ranging according to claim 1, wherein the process of acquiring the tunnel top image of the tunnel unmanned aerial vehicle, which is shot by the camera in the YZ plane at the first elevation angle when the tunnel unmanned aerial vehicle is at the origin, is specifically as follows: The method comprises the steps of obtaining an elevation angle range of a camera on a YZ plane in advance, obtaining the elevation angle of the current camera on the YZ plane when the tunnel unmanned aerial vehicle is at an origin point at a time t0, judging whether the elevation angle falls in the elevation angle range, if so, taking the elevation angle as a first elevation angle, and if not, controlling the current camera to rotate to a minimum value in the elevation angle range and taking the minimum value as the first elevation angle.
4. The method for positioning a tunnel unmanned aerial vehicle based on laser ranging according to claim 1, wherein the process of identifying the reference point in the tunnel top image by the feature identification model is as follows: And acquiring a feature recognition model which is trained in advance through tunnel features, carrying out feature recognition on the tunnel top image through the feature recognition model, and selecting a feature which is the smallest in deviation from the Z axis and closest to the camera as a reference point when a plurality of features are recognized.
5. The method for positioning the tunnel unmanned aerial vehicle based on the laser ranging according to claim 1, wherein the center of the tunnel top image shot by the second elevation angle is a reference point, and the second distance is obtained by measuring the distance of a light spot falling in an area with the reference point as the center by the laser ranging instrument.
6. The method for positioning a tunnel unmanned aerial vehicle based on laser ranging according to claim 1, wherein the positioning calculation process is specifically as follows: and constructing a trigonometric function relation between the tunnel unmanned aerial vehicle and the reference point on the YZ plane, substituting the known position, the first elevation angle and the first distance of the tunnel unmanned aerial vehicle, calculating to obtain the position of the reference point, substituting the position of the reference point, the second elevation angle and the second distance, and calculating to obtain the position of the tunnel unmanned aerial vehicle at the time t 1.
7. A tunnel unmanned aerial vehicle positioning system based on laser ranging, wherein the tunnel unmanned aerial vehicle positioning method based on laser ranging as claimed in any one of claims 1 to 6 is applied, comprising: The initialization module is used for establishing an unmanned aerial vehicle coordinate system which comprises an X axis, a Y axis and a Z axis which are perpendicular to each other in the tunnel by taking the known position of the unmanned aerial vehicle as an origin at the time t0, and controlling the unmanned aerial vehicle of the tunnel to fly along the Z axis; the reference point searching module synchronously acquires a tunnel top image shot by a camera in a YZ plane at a first elevation angle when the tunnel unmanned aerial vehicle is at an origin, and irradiates a first distance measured by a reference point in the tunnel top image by the laser range finder; The reference point tracking module synchronously acquires a tunnel top image shot by the camera in a YZ plane from a first elevation angle to a second elevation angle and a second distance measured by the laser range finder irradiating the reference point in the tunnel top image when the camera tracks the reference point at a time t 1; and the unmanned aerial vehicle positioning module is used for performing positioning calculation according to the known position, the first elevation angle, the first distance, the second elevation angle and the second distance of the tunnel unmanned aerial vehicle, and calculating to obtain the position of the tunnel unmanned aerial vehicle at the time t 1.

Description

Tunnel unmanned aerial vehicle positioning method and system based on laser ranging Technical Field The invention relates to the technical field of unmanned aerial vehicle positioning, in particular to a tunnel unmanned aerial vehicle positioning method and system based on laser ranging. Background At present, unmanned aerial vehicles face serious positioning challenges in closed environments such as tunnels and the like, and the main reason is that GPS signals cannot be received, but existing alternative technologies such as inertial navigation have irremovable accumulated errors, visual positioning is limited by single environmental characteristics and insufficient light, technologies such as ultra-wideband and the like are dependent on preset infrastructure, and the unmanned aerial vehicle has high cost and lack of universality and is difficult to realize stable and accurate autonomous positioning. Disclosure of Invention The invention aims to provide a tunnel unmanned aerial vehicle positioning method and system based on laser ranging, wherein a camera and a laser range finder physically bound on an unmanned aerial vehicle are used for positioning a reference point in the top of a tunnel, and on the basis, the position of the current unmanned aerial vehicle is calculated according to the position of the reference point, so that a GPS signal is not needed. In order to solve the technical problems, the invention adopts the following scheme: A tunnel unmanned aerial vehicle positioning method based on laser ranging is provided, wherein a camera and a laser range finder which are physically bound together are carried on the tunnel unmanned aerial vehicle, and the tunnel unmanned aerial vehicle positioning method comprises the following steps: s1, at a time t0, establishing an unmanned aerial vehicle coordinate system which comprises an X axis, a Y axis and a Z axis which are perpendicular to each other in a tunnel by taking a known position of the unmanned aerial vehicle as an origin, and controlling the unmanned aerial vehicle to fly along the Z axis; s2, synchronously acquiring a tunnel top image shot by a camera in a YZ plane at a first elevation angle when the tunnel unmanned aerial vehicle is at an origin, and irradiating a first distance measured by a reference point in the tunnel top image by a laser range finder; s3, synchronously acquiring a tunnel top image shot by the camera in a YZ plane from a first elevation angle to a second elevation angle when the camera tracks a reference point and a second distance measured by the laser range finder irradiating the reference point in the tunnel top image at the time t 1; and S4, performing positioning calculation according to the known position, the first elevation angle, the first distance, the second elevation angle and the second distance of the tunnel unmanned aerial vehicle, and calculating to obtain the position of the tunnel unmanned aerial vehicle at the time t 1. The further preferable technical scheme is that the rotation shafts of the camera and the laser range finder are synchronous, so that the light spot of the laser range finder is fixedly located in an area taking the center point of a picture as the axis, which is shot by the camera. The further preferable technical scheme is that the step S2 comprises the following steps: S21, acquiring a tunnel top image shot by a camera in a YZ plane at a first elevation angle when the tunnel unmanned aerial vehicle is at an origin, and identifying a reference point in the tunnel top image through a feature identification model; S22, synchronously controlling the camera and the laser range finder to rotate until a picture shot by the camera is centered on a reference point, wherein a light spot of the laser range finder falls in an area centered on the reference point; s23, acquiring a first distance obtained by measuring the distance of the light spot by the laser range finder. The further preferable technical scheme is that the process of acquiring the tunnel top image shot by the camera on the YZ plane at the first elevation angle when the tunnel unmanned aerial vehicle is at the origin is specifically as follows: The method comprises the steps of obtaining an elevation angle range of a camera on a YZ plane in advance, obtaining the elevation angle of the current camera on the YZ plane when the tunnel unmanned aerial vehicle is at an origin point at a time t0, judging whether the elevation angle falls in the elevation angle range, if so, taking the elevation angle as a first elevation angle, and if not, controlling the current camera to rotate to a minimum value in the elevation angle range and taking the minimum value as the first elevation angle. The further preferable technical scheme is that the process of identifying the reference point in the tunnel top image through the feature identification model comprises the following steps: And acquiring a feature recognition model which is trained in ad