CN-121994128-A - Aircraft video ranging and positioning method for airport target monitoring area

CN121994128ACN 121994128 ACN121994128 ACN 121994128ACN-121994128-A

Abstract

The invention discloses an aircraft video ranging and positioning method for an airport target monitoring area, which comprises the steps of acquiring a video image sequence containing aircraft targets in the target monitoring area by a camera, constructing an aircraft model database containing aircraft models, identity information and geometric dimension parameters, identifying the aircraft targets and calling the corresponding geometric dimension parameters, carrying out deformation compensation and image reconstruction on video images containing the aircraft targets in the video image sequence by a thermal disturbance deformation field model according to the geometric dimension parameters, and acquiring the pixel length of an aircraft body of the video image after compensation and image reconstruction The distance between the camera and the target body of the aircraft is calculated according to the following formula . The method is applied to the unpowered towing area of the airport aircraft or the area around the parking apron as a target monitoring area, and achieves distance measurement and position coordinate positioning measurement of the airport aircraft during the period that ADS-B equipment is not started.

Inventors

GUAN MINGJIE
WAN JIAN
YAN JUN
NIU HONGCHUANG
ZHU YUFENG

Assignees

中国民航科学技术研究院

Dates

Publication Date: 20260508
Application Date: 20260119

Claims (10)

1. A video ranging and positioning method for an aircraft in an airport target monitoring area is characterized by comprising the following steps: S1, arranging a camera aiming at a target monitoring area at a high point of an airport position, and acquiring a video image sequence containing aircraft targets in the target monitoring area by the camera; S2, constructing an aircraft model database containing aircraft models, identity information and geometric dimension parameters, wherein the geometric dimension parameters comprise key structure points and dimension parameters among the key structure points, and the key structure points comprise a nose center point, a nose key endpoint, a wing key endpoint, a fuselage key endpoint and a tail wing key endpoint; S3, carrying out identity information and aircraft model identification on an aircraft target in the video image sequence, correspondingly calling geometrical size parameters corresponding to the aircraft model through an aircraft model database, constructing a thermal disturbance deformation field model based on a thin plate spline function, and carrying out deformation compensation and image reconstruction on a video image containing the aircraft target in the video image sequence according to the geometrical size parameters by using the thermal disturbance deformation field model; s4, acquiring pixel length of aircraft body of video image after compensation and image reconstruction The distance between the camera and the target body of the aircraft is calculated according to the following formula : , For the focal length of the camera, And calling the length of the airframe corresponding to the aircraft model for the aircraft model database.
2. The method for video ranging and positioning of an aircraft in an airport target surveillance zone of claim 1, further comprising the steps of: S5, the camera is provided with a camera coordinate system, the pixel coordinates of the aircraft target in the camera coordinate system are obtained, and the pixel coordinates of the aircraft target in the camera coordinate system are converted into coordinates in an airport ground coordinate system through coordinate mapping conversion.
3. The method for locating an aircraft in a surveillance area of an airport according to claim 1, wherein in the method S5, a direction vector under a camera coordinate system is constructed, a horizontal angle and a pitch angle of the camera under an airport ground coordinate system are obtained, and a synthetic rotation matrix for converting the camera coordinate system into the airport ground coordinate system is obtained by using the horizontal angle and the pitch angle of the camera The line of sight direction in the airport ground coordinate system is obtained according to the following formula : , Is the direction of the line of sight under the camera coordinate system, and the coordinates under the airport ground coordinate system The method is calculated according to the following formula: , Coordinates of the camera in an airport ground coordinate system; Pixel coordinates in a camera coordinate system for an aircraft target according to a line of sight direction Is provided.
4. The method for video ranging and positioning of an aircraft in an airport target surveillance zone according to claim 1, wherein the airport location high points comprise airport tower high points or lamp pole high points or airport building high points, the airport building high points comprise air park high points, and the target surveillance zone is an unpowered towing zone of the airport aircraft or a surrounding area of the air park.
5. The method S3 is characterized by comprising the steps of firstly identifying and detecting aircraft targets in a video image sequence based on an image identification technology to obtain target areas of the aircraft targets, then identifying and extracting identity information of the aircraft targets in the target areas, identifying and obtaining aircraft models based on the identity information, then correspondingly calling geometrical size parameters corresponding to the aircraft models of the aircraft targets from an aircraft model database, and correspondingly extracting and marking key structural points of the aircraft targets in the video image.
6. The method for locating an aircraft in an airport target monitoring area according to claim 5, wherein in the method S3, a thin plate spline function in a thermal disturbance deformation field model is constructed with deformation mapping functions in a transverse x direction and a longitudinal y direction in a camera coordinate system, and the expression is as follows: ; Wherein Is the current pixel coordinate in the camera coordinate system Deformation in the transverse direction x, Is the current pixel coordinate in the camera coordinate system Deformation in the longitudinal direction y is in the form of, 、、 Affine transformation coefficients in the lateral x-direction respectively, 、、 Affine transformation coefficients in the longitudinal y direction respectively, For controlling the total number of points, taking the key structural points of the aircraft target as the control points , To the control point for the current pixel coordinates The deformation corresponding to the Euclidean distance, As a control point The weight coefficient of the deformation in the transverse x-direction, As a control point Weight coefficient of deformation in longitudinal y direction.
7. The method for locating an aircraft video ranging from an airport target monitoring area according to claim 1 or 6, wherein the thermal disturbance deformation field model adopts an energy function and constructs an objective function of the thermal disturbance deformation field with the minimization of the energy function, and the energy function expression is as follows: Wherein At a control point for a thermal disturbance deformation field model Is the square of the fitting error of (a), As a control point Is used for the observation of the pixel position of (a), As a control point Is used to determine the pixel positions of the pixel, Is the bending energy of the thin-plate spline, In order for the bending energy weighting coefficient to be of a magnitude, In order to rigidly constrain the energy term, And outputting a continuous thermal disturbance deformation field by the thermal disturbance deformation field model.
8. A method for locating an aircraft in a surveillance area of an airport object according to claim 7, wherein the thermal disturbance deformation field is used The video image is subjected to inverse deformation compensation mapping, and the expression is as follows And carrying out resampling interpolation reconstruction processing on the video image subjected to the inverse deformation compensation mapping processing by an image resampling interpolation processing method.
9. A method for video ranging and locating an aircraft in an airport target surveillance area according to claim 6, wherein said deformation is a single-phase deformation The expression of (2) is as follows: , Wherein As a control point Is used for the image processing of the image data, For the front pixel coordinates To a control point Coordinates of Is used for the distance of the Europe type (R), Is a small positive number.
10. A method for locating an aircraft video ranging from an airport target surveillance area according to claim 3, wherein a composite rotation matrix is provided The expression is as follows: , to make use of the horizontal angle of the camera Rotation matrix rotating in horizontal plane The expression is: ; to make use of the horizontal angle of the camera Rotation matrix in pitch direction, rotation matrix The expression is: 。

Description

Aircraft video ranging and positioning method for airport target monitoring area Technical Field The invention relates to the field of aircraft operation monitoring and video image processing, in particular to an aircraft video ranging and positioning method of an airport target monitoring area. Background The aircraft is in an unpowered state and airborne equipment such as an automatic relevant monitoring broadcast ADS-B is in a closed state in an unpowered towing area of an airport or an area around an air pad (such as pushing out the aircraft in the air pad), and the data including longitude and latitude, altitude, speed and the like cannot be actively broadcast, so that the distance measurement positioning processing of the aircraft at the airport cannot be realized. The method is mainly used for manual monitoring and post-safety evidence taking of running situations, the aircraft can not realize ranging and positioning on the airport ground, the aircraft targets in the video images have near-large and far-small size perspective, and meanwhile, the video images are nonlinear deformed due to air refractive index spatial distribution uneven caused by airport ground heating, particularly local distortion caused by thermal disturbance also influences the aircraft target identification and aircraft ranging positioning. Disclosure of Invention The invention aims to provide an aircraft video ranging and positioning method for an airport target monitoring area, which is applied to an unpowered towing area or an area around an air park of an airport aircraft as a target monitoring area, wherein a video image sequence is acquired through a camera in the target monitoring area, and deformation compensation and image reconstruction are carried out on video images in the video image sequence through a thermal disturbance deformation field model, so that the distance measurement and position coordinate positioning measurement of the airport aircraft during the period when ADS-B equipment is not started are realized, the method is suitable for the operation scene which is not available in the aircraft sliding stage and the airborne equipment, and the ground operation monitoring and ranging and positioning functionality is improved. The aim of the invention is achieved by the following technical scheme: an aircraft video ranging and positioning method for an airport target monitoring area, comprising the following steps: S1, arranging a camera aiming at a target monitoring area at a high point of an airport position, and acquiring a video image sequence containing aircraft targets in the target monitoring area by the camera; S2, constructing an aircraft model database containing aircraft models, identity information and geometric dimension parameters, wherein the geometric dimension parameters comprise key structure points and dimension parameters among the key structure points, and the key structure points comprise a nose center point, a nose key endpoint, a wing key endpoint, a fuselage key endpoint and a tail wing key endpoint; S3, carrying out identity information and aircraft model identification on an aircraft target in the video image sequence, correspondingly calling geometrical size parameters corresponding to the aircraft model through an aircraft model database, constructing a thermal disturbance deformation field model based on a thin plate spline function, and carrying out deformation compensation and image reconstruction on a video image containing the aircraft target in the video image sequence according to the geometrical size parameters by using the thermal disturbance deformation field model; s4, acquiring pixel length of aircraft body of video image after compensation and image reconstruction The distance between the camera and the target body of the aircraft is calculated according to the following formula:,For the focal length of the camera,And calling the length of the airframe corresponding to the aircraft model for the aircraft model database. In order to better realize the invention, the invention also comprises the following steps: S5, the camera is provided with a camera coordinate system, the pixel coordinates of the aircraft target in the camera coordinate system are obtained, and the pixel coordinates of the aircraft target in the camera coordinate system are converted into coordinates in an airport ground coordinate system through coordinate mapping conversion. Preferably, in the method S5, a direction vector under the camera coordinate system is constructed, a horizontal angle and a pitch angle of the camera under the airport ground coordinate system are obtained, and a synthetic rotation matrix converted from the camera coordinate system to the airport ground coordinate system is obtained by using the horizontal angle and the pitch angle of the cameraThe line of sight direction in the airport ground coordinate system is obtained according to the following formula:,Is the direction of th