Real-time Sensing Technique For Environment And Target

The real-time sensing technique for the collaboration of environment and target is a measurement method based on the approach measurement idea.In order to solve the traditional shooting range photoelectric angel intersection measurement method that is limited by the angle of view,line of sight,and the number of online cameras,which will leads to insufficient measurement accuracy and sparse target state perception data,the method sets up several aerial image measurement stations near the target.When the sensor platform is not on the ground and it is difficult to manually set up high-precision auxiliary cooperative targets in the sensor field of view,how the approach measurement platform determines its own position and orientation is the core issue of the environment and target collaborative sensing technology.For this purpose,a UAV cluster collaborative sensing measurement field with a mutual positioning and orientating is designed.Considering the conditions of strong maneuverability and limited installation time of the sensor platform in the aerial measurement occasion,the real-time measurement technology of the sensors is researched.Firstly,the author analyzed the characteristics of time-series and DGPS technology in the unified technique of space-time coordinates for wide-area measurement,use parameterized pre-analysis for real-time sensing to deal with the problem of space-time coordinate unification of the measurement system and describe the integrated measurement methods and key technologies of the environment and target of the stationary platform.Position and orientation models of binocular measurement,and multi-eye measurement were built to verify the uniformity of the simulation results of the model and related data.A simulation camera system was also built to simulate and prove monocular camera motion perception model.The author proved the correctness of the research direction through experiments.Secondly,the author designed a multi-perspective UAV measurement platform and use it as mutual feature points to create a collaborative sensing measurement system,and the AP3 P algorithm is used to solve the position and orientation determination problem of the approach measurement platform.The configuration design of the collaborative sensing measurement area provides theoretical support by putting forward the layout requirements based on the P3 P dangerous cylinder problem.The image sensor sensing,camera parameter,speed accuracy models are built and the measurement system configuration is improved based on the accuracy analysis results,laying a theoretical and technical foundation for the development of a group target high-precision measurement and control system.Focusing on the real-time of the system,a multi-camera collaborative sensing process was planned.The real-time target recognition technology based on structured features and the target perception technology based on the HSV color model were studied.Theoretical supports are also provided for the automatic extraction of the target in online measurement.Finally,the environment and target real-time perception measurement field system was built,and the point target space trajectory measurement and multi-target space trajectory measurement were carried out.The real-time sensing system for environment and target has achieved the expected research goals,and realized the wide-area and high-bandwidth multi-eye multi-target real-time measurement.